2025-08-11T14:37:02.282Z,1754923022.282 [CommandExec](IMPORTANT): got command restart logs
2025-08-11T14:37:02.616Z,1754923022.616 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-11T14:37:02.616Z,1754923022.616 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-11T14:37:36.777Z,1754923056.777 [NAL9602](INFO): SBD MO Status=2, MOMSN=711, MT Status=2, MTMSN=0
2025-08-11T14:37:36.778Z,1754923056.778 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-11T14:37:49.782Z,1754923069.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:37:49.929Z,1754923069.929 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:37:49.929Z,1754923069.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:37:50.180Z,1754923070.180 [DAT](INFO): DAT read: user:16>

2025-08-11T14:37:50.181Z,1754923070.181 [DAT](INFO): DAT read: Tx time:14:37:51.4201

2025-08-11T14:37:50.181Z,1754923070.181 [DAT](INFO): Ping request sent.
2025-08-11T14:37:50.181Z,1754923070.181 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:37:50.181Z,1754923070.181 [DAT](INFO): publishing transmit ping time
2025-08-11T14:37:50.182Z,1754923070.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-11T14:37:50.432Z,1754923070.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250814
2025-08-11T14:37:50.684Z,1754923070.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502821
2025-08-11T14:37:50.940Z,1754923070.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758754
2025-08-11T14:37:51.192Z,1754923071.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010719
2025-08-11T14:37:51.444Z,1754923071.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262805
2025-08-11T14:37:51.699Z,1754923071.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517237
2025-08-11T14:37:51.949Z,1754923071.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767342
2025-08-11T14:37:52.201Z,1754923072.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019520
2025-08-11T14:37:52.452Z,1754923072.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270881
2025-08-11T14:37:52.705Z,1754923072.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523190
2025-08-11T14:37:52.956Z,1754923072.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774838
2025-08-11T14:37:53.212Z,1754923073.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030518
2025-08-11T14:37:53.461Z,1754923073.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279396
2025-08-11T14:37:53.716Z,1754923073.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534259
2025-08-11T14:37:53.964Z,1754923073.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782874
2025-08-11T14:37:54.216Z,1754923074.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034973
2025-08-11T14:37:54.468Z,1754923074.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286796
2025-08-11T14:37:54.720Z,1754923074.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538841
2025-08-11T14:37:54.972Z,1754923074.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790859
2025-08-11T14:37:55.224Z,1754923075.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043166
2025-08-11T14:37:55.476Z,1754923075.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294860
2025-08-11T14:37:55.730Z,1754923075.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548777
2025-08-11T14:37:55.984Z,1754923075.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802808
2025-08-11T14:37:56.233Z,1754923076.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051257
2025-08-11T14:37:56.484Z,1754923076.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302810
2025-08-11T14:37:56.736Z,1754923076.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554768
2025-08-11T14:37:56.988Z,1754923076.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806966
2025-08-11T14:37:57.241Z,1754923077.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059074
2025-08-11T14:37:57.493Z,1754923077.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311359
2025-08-11T14:37:57.747Z,1754923077.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564758
2025-08-11T14:37:57.996Z,1754923077.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814674
2025-08-11T14:37:58.249Z,1754923078.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067066
2025-08-11T14:37:58.500Z,1754923078.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318812
2025-08-11T14:37:58.752Z,1754923078.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571132
2025-08-11T14:37:59.004Z,1754923079.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822881
2025-08-11T14:37:59.256Z,1754923079.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074867
2025-08-11T14:37:59.509Z,1754923079.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327452
2025-08-11T14:37:59.764Z,1754923079.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582478
2025-08-11T14:38:00.012Z,1754923080.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830846
2025-08-11T14:38:00.264Z,1754923080.264 [DAT](INFO): Reached modem response timeout
2025-08-11T14:38:02.532Z,1754923082.532 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:38:02.532Z,1754923082.532 [DAT](INFO): response not received
2025-08-11T14:38:02.533Z,1754923082.533 [DAT](ERROR): No response from remote modem.
2025-08-11T14:38:39.624Z,1754923119.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-11T14:38:42.636Z,1754923122.636 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243462
2025-08-11T14:38:42.646Z,1754923122.646 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-11T14:38:42.646Z,1754923122.646 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-11T14:38:42.647Z,1754923122.647 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-11T14:38:42.647Z,1754923122.647 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-11T14:38:42.647Z,1754923122.647 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-11T14:38:42.647Z,1754923122.647 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-11T14:38:42.648Z,1754923122.648 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-11T14:38:45.776Z,1754923125.776 [Radio_Surface](INFO): Powering down
2025-08-11T14:38:50.002Z,1754923130.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:38:50.224Z,1754923130.224 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:38:50.224Z,1754923130.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:38:50.476Z,1754923130.476 [DAT](INFO): DAT read: user:17>

2025-08-11T14:38:50.477Z,1754923130.477 [DAT](INFO): DAT read: Tx time:14:38:51.7202

2025-08-11T14:38:50.477Z,1754923130.477 [DAT](INFO): Ping request sent.
2025-08-11T14:38:50.477Z,1754923130.477 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:38:50.477Z,1754923130.477 [DAT](INFO): publishing transmit ping time
2025-08-11T14:38:50.478Z,1754923130.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-08-11T14:38:50.728Z,1754923130.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251018
2025-08-11T14:38:50.980Z,1754923130.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502985
2025-08-11T14:38:51.232Z,1754923131.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755219
2025-08-11T14:38:51.486Z,1754923131.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008207
2025-08-11T14:38:51.739Z,1754923131.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261242
2025-08-11T14:38:51.989Z,1754923131.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512088
2025-08-11T14:38:52.240Z,1754923132.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763012
2025-08-11T14:38:52.493Z,1754923132.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015288
2025-08-11T14:38:52.745Z,1754923132.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267404
2025-08-11T14:38:52.997Z,1754923132.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519819
2025-08-11T14:38:53.248Z,1754923133.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771354
2025-08-11T14:38:53.502Z,1754923133.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024568
2025-08-11T14:38:53.757Z,1754923133.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279250
2025-08-11T14:38:54.005Z,1754923134.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528069
2025-08-11T14:38:54.256Z,1754923134.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779019
2025-08-11T14:38:54.509Z,1754923134.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031977
2025-08-11T14:38:54.760Z,1754923134.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283035
2025-08-11T14:38:55.012Z,1754923135.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535298
2025-08-11T14:38:55.265Z,1754923135.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787485
2025-08-11T14:38:55.516Z,1754923135.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039063
2025-08-11T14:38:55.771Z,1754923135.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293093
2025-08-11T14:38:56.020Z,1754923136.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543108
2025-08-11T14:38:56.272Z,1754923136.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794979
2025-08-11T14:38:56.524Z,1754923136.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047034
2025-08-11T14:38:56.776Z,1754923136.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299185
2025-08-11T14:38:57.028Z,1754923137.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551133
2025-08-11T14:38:57.280Z,1754923137.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803307
2025-08-11T14:38:57.532Z,1754923137.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055171
2025-08-11T14:38:57.784Z,1754923137.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307019
2025-08-11T14:38:58.036Z,1754923138.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559109
2025-08-11T14:38:58.288Z,1754923138.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811046
2025-08-11T14:38:58.540Z,1754923138.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063023
2025-08-11T14:38:58.792Z,1754923138.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315143
2025-08-11T14:38:59.044Z,1754923139.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567049
2025-08-11T14:38:59.296Z,1754923139.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819021
2025-08-11T14:38:59.548Z,1754923139.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071288
2025-08-11T14:38:59.800Z,1754923139.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323067
2025-08-11T14:39:00.052Z,1754923140.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575099
2025-08-11T14:39:00.305Z,1754923140.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827434
2025-08-11T14:39:00.556Z,1754923140.556 [DAT](INFO): Reached modem response timeout
2025-08-11T14:39:02.824Z,1754923142.824 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:39:02.825Z,1754923142.825 [DAT](INFO): response not received
2025-08-11T14:39:02.825Z,1754923142.825 [DAT](ERROR): No response from remote modem.
2025-08-11T14:39:14.763Z,1754923154.763 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-11T14:39:15.768Z,1754923155.768 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-11T14:39:50.189Z,1754923190.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:39:50.256Z,1754923190.256 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:39:50.256Z,1754923190.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:39:50.512Z,1754923190.512 [DAT](INFO): DAT read: user:18>

2025-08-11T14:39:50.513Z,1754923190.513 [DAT](INFO): DAT read: Tx time:14:39:51.7703

2025-08-11T14:39:50.513Z,1754923190.513 [DAT](INFO): Ping request sent.
2025-08-11T14:39:50.513Z,1754923190.513 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:39:50.513Z,1754923190.513 [DAT](INFO): publishing transmit ping time
2025-08-11T14:39:50.514Z,1754923190.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-11T14:39:50.764Z,1754923190.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250830
2025-08-11T14:39:51.016Z,1754923191.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503086
2025-08-11T14:39:51.268Z,1754923191.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754950
2025-08-11T14:39:51.520Z,1754923191.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007047
2025-08-11T14:39:51.772Z,1754923191.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258923
2025-08-11T14:39:52.024Z,1754923192.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510841
2025-08-11T14:39:52.277Z,1754923192.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763242
2025-08-11T14:39:52.528Z,1754923192.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014771
2025-08-11T14:39:52.780Z,1754923192.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266952
2025-08-11T14:39:53.034Z,1754923193.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521182
2025-08-11T14:39:53.284Z,1754923193.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770691
2025-08-11T14:39:53.536Z,1754923193.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022893
2025-08-11T14:39:53.788Z,1754923193.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274876
2025-08-11T14:39:54.040Z,1754923194.040 [DAT](INFO): DAT read: Rx Time:14:39:54.8462

2025-08-11T14:39:54.041Z,1754923194.041 [DAT](INFO): Rx dataTimestamp_ set to:1754923194.040612
2025-08-11T14:39:54.041Z,1754923194.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528178
2025-08-11T14:39:54.293Z,1754923194.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779375
2025-08-11T14:39:54.549Z,1754923194.549 [DAT](INFO): DAT read: 14:39:54.8462 LVL= 24736, 15777, 31026, 32755, AGC= 79, IDX= 156, 0.20,-1.421,-0.242,-2.469,-0.952, PHS=-0.367, 0.755,-1.561, RAW=   1.0,  11.7, CAL=   1.3,  13.6, ROT= 148.7, -13.6

2025-08-11T14:39:54.550Z,1754923194.550 [DAT](INFO): got valid direction response:
 14:39:54.8462 LVL= 24736, 15777, 31026, 32755, AGC= 79, IDX= 156, 0.20,-1.421,-0.242,-2.469,-0.952, PHS=-0.367, 0.755,-1.561, RAW=   1.0,  11.7, CAL=   1.3,  13.6, ROT= 148.7, -13.6

2025-08-11T14:39:54.551Z,1754923194.551 [DAT](INFO): DAT read: Bearing 351.9,   0.3 (Local)

2025-08-11T14:39:54.552Z,1754923194.552 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,   0.3 (Local)

2025-08-11T14:39:54.553Z,1754923194.553 [DAT](INFO): DAT read: Range 11 to 50 : 503.8 m  (Round-trip  671.8 ms) speed -0.6 m/s

2025-08-11T14:39:54.553Z,1754923194.553 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:39:54.554Z,1754923194.554 [DAT](INFO): direction in FSK: [-0.830501,0.504952,0.235142]
2025-08-11T14:39:54.555Z,1754923194.555 [DAT](INFO): publishing direction and range info
2025-08-11T14:40:13.760Z,1754923213.760 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:InitialDive] Stopped
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-11T14:40:13.761Z,1754923213.761 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-11T14:40:14.168Z,1754923214.168 [lineCaptureHoming:RepeatHack] Stopped
2025-08-11T14:40:14.169Z,1754923214.169 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-11T14:40:14.169Z,1754923214.169 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-11T14:40:14.169Z,1754923214.169 [lineCaptureHoming:Lap] Running Loop=1
2025-08-11T14:40:14.169Z,1754923214.169 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-11T14:40:14.169Z,1754923214.169 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-11T14:40:14.606Z,1754923214.606 [lineCaptureHoming:Lap:A] Stopped
2025-08-11T14:40:14.606Z,1754923214.606 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-11T14:40:14.606Z,1754923214.606 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-11T14:40:14.961Z,1754923214.961 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-11T14:40:14.961Z,1754923214.961 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-11T14:40:14.961Z,1754923214.961 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-11T14:40:14.961Z,1754923214.961 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-11T14:40:14.962Z,1754923214.962 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-11T14:40:14.963Z,1754923214.963 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-11T14:40:14.963Z,1754923214.963 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-11T14:40:14.963Z,1754923214.963 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-11T14:40:14.963Z,1754923214.963 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-11T14:40:14.964Z,1754923214.964 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-11T14:40:14.964Z,1754923214.964 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-11T14:40:14.964Z,1754923214.964 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-11T14:40:14.965Z,1754923214.965 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-11T14:40:14.965Z,1754923214.965 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-11T14:40:14.965Z,1754923214.965 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-11T14:40:14.965Z,1754923214.965 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-11T14:40:14.965Z,1754923214.965 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-11T14:40:14.966Z,1754923214.966 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-11T14:40:14.966Z,1754923214.966 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-11T14:40:14.966Z,1754923214.966 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-11T14:40:14.966Z,1754923214.966 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-11T14:40:14.967Z,1754923214.967 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-11T14:40:14.967Z,1754923214.967 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-11T14:40:14.968Z,1754923214.968 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-11T14:40:14.968Z,1754923214.968 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-11T14:40:15.341Z,1754923215.341 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-11T14:40:15.341Z,1754923215.341 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-11T14:40:15.341Z,1754923215.341 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-11T14:40:15.343Z,1754923215.343 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 503.799988 m (mode  0.000000 count ).
2025-08-11T14:40:15.343Z,1754923215.343 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-11T14:40:15.343Z,1754923215.343 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-11T14:40:15.346Z,1754923215.346 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-11T14:40:15.346Z,1754923215.346 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-11T14:40:15.797Z,1754923215.797 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-11T14:40:15.798Z,1754923215.798 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-11T14:40:15.798Z,1754923215.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:15.800Z,1754923215.800 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-11T14:40:15.800Z,1754923215.800 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-11T14:40:15.972Z,1754923215.972 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:15.972Z,1754923215.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:16.155Z,1754923216.155 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-11T14:40:16.155Z,1754923216.155 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-11T14:40:16.157Z,1754923216.157 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-11T14:40:16.157Z,1754923216.157 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-11T14:40:16.224Z,1754923216.224 [DAT](INFO): DAT read: user:19>

2025-08-11T14:40:16.225Z,1754923216.225 [DAT](INFO): DAT read: Tx time:14:40:17.4703

2025-08-11T14:40:16.225Z,1754923216.225 [DAT](INFO): Ping request sent.
2025-08-11T14:40:16.225Z,1754923216.225 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:40:16.225Z,1754923216.225 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:16.226Z,1754923216.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-11T14:40:16.476Z,1754923216.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250755
2025-08-11T14:40:16.626Z,1754923216.626 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-11T14:40:16.626Z,1754923216.626 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-11T14:40:16.626Z,1754923216.626 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-11T14:40:16.626Z,1754923216.626 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-11T14:40:16.629Z,1754923216.629 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-11T14:40:16.629Z,1754923216.629 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-11T14:40:16.629Z,1754923216.629 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-11T14:40:16.629Z,1754923216.629 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-11T14:40:16.629Z,1754923216.629 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-11T14:40:16.630Z,1754923216.630 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-11T14:40:16.630Z,1754923216.630 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-11T14:40:16.630Z,1754923216.630 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-11T14:40:16.630Z,1754923216.630 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-11T14:40:16.630Z,1754923216.630 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-11T14:40:16.631Z,1754923216.631 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-11T14:40:16.631Z,1754923216.631 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-11T14:40:16.639Z,1754923216.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-11T14:40:16.639Z,1754923216.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-11T14:40:16.639Z,1754923216.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-11T14:40:16.639Z,1754923216.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-11T14:40:16.640Z,1754923216.640 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-11T14:40:16.640Z,1754923216.640 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-11T14:40:16.640Z,1754923216.640 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-11T14:40:16.640Z,1754923216.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-11T14:40:16.640Z,1754923216.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-11T14:40:16.640Z,1754923216.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-11T14:40:16.640Z,1754923216.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-11T14:40:16.640Z,1754923216.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-11T14:40:16.641Z,1754923216.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-11T14:40:16.729Z,1754923216.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503204
2025-08-11T14:40:16.960Z,1754923216.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-11T14:40:16.960Z,1754923216.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-11T14:40:16.960Z,1754923216.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-11T14:40:16.960Z,1754923216.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-11T14:40:16.961Z,1754923216.961 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-11T14:40:16.962Z,1754923216.962 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-11T14:40:16.962Z,1754923216.962 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-11T14:40:16.962Z,1754923216.962 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-11T14:40:16.962Z,1754923216.962 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-11T14:40:16.962Z,1754923216.962 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-11T14:40:16.962Z,1754923216.962 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-11T14:40:16.962Z,1754923216.962 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-11T14:40:16.980Z,1754923216.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754756
2025-08-11T14:40:16.981Z,1754923216.981 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.638023 m.
2025-08-11T14:40:17.232Z,1754923217.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006756
2025-08-11T14:40:17.484Z,1754923217.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258772
2025-08-11T14:40:17.736Z,1754923217.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510773
2025-08-11T14:40:17.873Z,1754923217.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:17.923Z,1754923217.923 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-11T14:40:17.924Z,1754923217.924 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-11T14:40:17.988Z,1754923217.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762757
2025-08-11T14:40:18.241Z,1754923218.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015280
2025-08-11T14:40:18.492Z,1754923218.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266835
2025-08-11T14:40:18.744Z,1754923218.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518724
2025-08-11T14:40:18.996Z,1754923218.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770905
2025-08-11T14:40:19.248Z,1754923219.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022817
2025-08-11T14:40:19.500Z,1754923219.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274742
2025-08-11T14:40:19.757Z,1754923219.757 [DAT](INFO): DAT read: Rx Time:14:40:20.5683

2025-08-11T14:40:19.758Z,1754923219.758 [DAT](INFO): Rx dataTimestamp_ set to:1754923219.757533
2025-08-11T14:40:19.759Z,1754923219.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533568
2025-08-11T14:40:20.008Z,1754923220.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782845
2025-08-11T14:40:20.190Z,1754923220.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:20.270Z,1754923220.270 [DAT](INFO): DAT read: 14:40:20.5683 LVL= 28512, 16225, 24498, 29779, AGC= 74, IDX= 142, 0.27, 0.541, 1.477,-0.506, 0.625, PHS= 0.018, 0.897,-1.175, RAW=   5.0,   2.9, CAL=   4.9,   0.5, ROT= 145.1,  -0.5

2025-08-11T14:40:20.273Z,1754923220.273 [DAT](INFO): got valid direction response:
 14:40:20.5683 LVL= 28512, 16225, 24498, 29779, AGC= 74, IDX= 142, 0.27, 0.541, 1.477,-0.506, 0.625, PHS= 0.018, 0.897,-1.175, RAW=   5.0,   2.9, CAL=   4.9,   0.5, ROT= 145.1,  -0.5

2025-08-11T14:40:20.274Z,1754923220.274 [DAT](INFO): DAT read: Bearing  17.1,  28.3 (Local)

2025-08-11T14:40:20.275Z,1754923220.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.1,  28.3 (Local)

2025-08-11T14:40:20.277Z,1754923220.277 [DAT](INFO): DAT read: Range 11 to 50 : 520.4 m  (Round-trip  693.9 ms) speed -0.7 m/s

2025-08-11T14:40:20.278Z,1754923220.278 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:40:20.298Z,1754923220.298 [DAT](INFO): direction in FSK: [-0.820121,0.572124,0.008727]
2025-08-11T14:40:20.298Z,1754923220.298 [DAT](INFO): publishing direction and range info
2025-08-11T14:40:20.306Z,1754923220.306 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:20.306Z,1754923220.306 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:20.306Z,1754923220.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:20.512Z,1754923220.512 [DAT](INFO): DAT read: user:20>

2025-08-11T14:40:20.513Z,1754923220.513 [DAT](INFO): DAT read: Tx time:14:40:21.8203

2025-08-11T14:40:20.513Z,1754923220.513 [DAT](INFO): Ping request sent.
2025-08-11T14:40:20.513Z,1754923220.513 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:40:20.513Z,1754923220.513 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:20.514Z,1754923220.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-11T14:40:20.765Z,1754923220.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251761
2025-08-11T14:40:21.016Z,1754923221.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503080
2025-08-11T14:40:21.269Z,1754923221.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755827
2025-08-11T14:40:21.463Z,1754923221.463 [DockingStepper](INFO): Changing to mode: 3
2025-08-11T14:40:21.521Z,1754923221.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007397
2025-08-11T14:40:21.773Z,1754923221.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259532
2025-08-11T14:40:22.024Z,1754923222.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510956
2025-08-11T14:40:22.213Z,1754923222.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:22.277Z,1754923222.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764220
2025-08-11T14:40:22.528Z,1754923222.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014934
2025-08-11T14:40:22.782Z,1754923222.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268750
2025-08-11T14:40:23.032Z,1754923223.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519148
2025-08-11T14:40:23.284Z,1754923223.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770917
2025-08-11T14:40:23.537Z,1754923223.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023430
2025-08-11T14:40:23.788Z,1754923223.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275104
2025-08-11T14:40:24.040Z,1754923224.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526944
2025-08-11T14:40:24.267Z,1754923224.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:24.292Z,1754923224.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779126
2025-08-11T14:40:24.544Z,1754923224.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031027
2025-08-11T14:40:24.797Z,1754923224.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283785
2025-08-11T14:40:25.035Z,1754923225.035 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021618273471,35.20.00, 73.05
2025-08-11T14:40:25.048Z,1754923225.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535087
2025-08-11T14:40:25.300Z,1754923225.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786972
2025-08-11T14:40:25.552Z,1754923225.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039034
2025-08-11T14:40:25.804Z,1754923225.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291234
2025-08-11T14:40:26.056Z,1754923226.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543042
2025-08-11T14:40:26.309Z,1754923226.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795800
2025-08-11T14:40:26.560Z,1754923226.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046901
2025-08-11T14:40:26.682Z,1754923226.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:26.813Z,1754923226.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300175
2025-08-11T14:40:27.064Z,1754923227.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551061
2025-08-11T14:40:27.316Z,1754923227.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803256
2025-08-11T14:40:27.469Z,1754923227.469 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-11T14:40:27.568Z,1754923227.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055002
2025-08-11T14:40:27.821Z,1754923227.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308045
2025-08-11T14:40:28.073Z,1754923228.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559378
2025-08-11T14:40:28.326Z,1754923228.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812870
2025-08-11T14:40:28.576Z,1754923228.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062960
2025-08-11T14:40:28.705Z,1754923228.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:28.829Z,1754923228.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315741
2025-08-11T14:40:29.080Z,1754923229.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567076
2025-08-11T14:40:29.332Z,1754923229.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818964
2025-08-11T14:40:29.585Z,1754923229.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071336
2025-08-11T14:40:29.836Z,1754923229.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323003
2025-08-11T14:40:30.088Z,1754923230.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574902
2025-08-11T14:40:30.340Z,1754923230.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827193
2025-08-11T14:40:30.592Z,1754923230.592 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:30.592Z,1754923230.592 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:30.592Z,1754923230.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:30.844Z,1754923230.844 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:30.845Z,1754923230.845 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:30.845Z,1754923230.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:31.096Z,1754923231.096 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:31.096Z,1754923231.096 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:31.097Z,1754923231.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:31.116Z,1754923231.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:31.348Z,1754923231.348 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:31.348Z,1754923231.348 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:31.348Z,1754923231.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:31.600Z,1754923231.600 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:31.600Z,1754923231.600 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:31.601Z,1754923231.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:31.852Z,1754923231.852 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:31.852Z,1754923231.852 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:31.852Z,1754923231.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:32.104Z,1754923232.104 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:32.104Z,1754923232.104 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:32.104Z,1754923232.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:32.356Z,1754923232.356 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:32.356Z,1754923232.356 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:32.356Z,1754923232.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:32.608Z,1754923232.608 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:32.608Z,1754923232.608 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:32.608Z,1754923232.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:32.862Z,1754923232.862 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:40:32.862Z,1754923232.862 [DAT](INFO): response not received
2025-08-11T14:40:32.863Z,1754923232.863 [DAT](INFO): DAT read: user:21>

2025-08-11T14:40:32.863Z,1754923232.863 [DAT](INFO): DAT read: Tx time:14:40:34.2703

2025-08-11T14:40:32.864Z,1754923232.864 [DAT](INFO): Ping request sent.
2025-08-11T14:40:32.864Z,1754923232.864 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:40:32.864Z,1754923232.864 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:32.865Z,1754923232.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-11T14:40:33.112Z,1754923233.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248118
2025-08-11T14:40:33.157Z,1754923233.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:33.364Z,1754923233.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500527
2025-08-11T14:40:33.617Z,1754923233.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753187
2025-08-11T14:40:33.868Z,1754923233.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004295
2025-08-11T14:40:34.120Z,1754923234.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256267
2025-08-11T14:40:34.372Z,1754923234.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508435
2025-08-11T14:40:34.624Z,1754923234.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760243
2025-08-11T14:40:34.878Z,1754923234.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013749
2025-08-11T14:40:35.128Z,1754923235.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264554
2025-08-11T14:40:35.162Z,1754923235.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:35.380Z,1754923235.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516258
2025-08-11T14:40:35.634Z,1754923235.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770594
2025-08-11T14:40:35.884Z,1754923235.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020328
2025-08-11T14:40:36.136Z,1754923236.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272213
2025-08-11T14:40:36.388Z,1754923236.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524356
2025-08-11T14:40:36.640Z,1754923236.640 [DAT](INFO): DAT read: Rx Time:14:40:37.3700

2025-08-11T14:40:36.641Z,1754923236.641 [DAT](INFO): Rx dataTimestamp_ set to:1754923236.640390
2025-08-11T14:40:36.641Z,1754923236.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777389
2025-08-11T14:40:36.893Z,1754923236.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028659
2025-08-11T14:40:37.150Z,1754923237.150 [DAT](INFO): DAT read: 14:40:37.3700 LVL= 29264, 20721, 32098, 32755, AGC= 75, IDX= 415, 0.17, 2.583,-3.071, 1.294, 2.518, PHS= 0.168, 0.740,-1.268, RAW=  14.0,   4.1, CAL=  14.0,   2.7, ROT= 136.0,  -2.7

2025-08-11T14:40:37.151Z,1754923237.151 [DAT](INFO): got valid direction response:
 14:40:37.3700 LVL= 29264, 20721, 32098, 32755, AGC= 75, IDX= 415, 0.17, 2.583,-3.071, 1.294, 2.518, PHS= 0.168, 0.740,-1.268, RAW=  14.0,   4.1, CAL=  14.0,   2.7, ROT= 136.0,  -2.7

2025-08-11T14:40:37.152Z,1754923237.152 [DAT](INFO): DAT read: Bearing  19.8,  52.6 (Local)

2025-08-11T14:40:37.152Z,1754923237.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.8,  52.6 (Local)

2025-08-11T14:40:37.154Z,1754923237.154 [DAT](INFO): DAT read: Range 11 to 50 : 521.7 m  (Round-trip  695.6 ms) speed -0.4 m/s

2025-08-11T14:40:37.154Z,1754923237.154 [DAT](INFO): DAT read: user:22>

2025-08-11T14:40:37.175Z,1754923237.175 [DAT](INFO): DAT read: Tx time:14:40:38.4703

2025-08-11T14:40:37.176Z,1754923237.176 [DAT](INFO): Ping request sent.
2025-08-11T14:40:37.176Z,1754923237.176 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:40:37.176Z,1754923237.176 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:40:37.177Z,1754923237.177 [DAT](INFO): direction in FSK: [-0.718541,0.693887,0.047106]
2025-08-11T14:40:37.177Z,1754923237.177 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:37.178Z,1754923237.178 [DAT](INFO): publishing direction and range info
2025-08-11T14:40:37.205Z,1754923237.205 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:37.205Z,1754923237.205 [DAT](INFO): publishing direction and range info
2025-08-11T14:40:37.574Z,1754923237.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:37.648Z,1754923237.648 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:37.648Z,1754923237.648 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:37.648Z,1754923237.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:37.900Z,1754923237.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.724450
2025-08-11T14:40:38.152Z,1754923238.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976173
2025-08-11T14:40:38.404Z,1754923238.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228244
2025-08-11T14:40:38.656Z,1754923238.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480162
2025-08-11T14:40:38.908Z,1754923238.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732222
2025-08-11T14:40:39.160Z,1754923239.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984258
2025-08-11T14:40:39.412Z,1754923239.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236178
2025-08-11T14:40:39.618Z,1754923239.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:39.664Z,1754923239.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488239
2025-08-11T14:40:39.919Z,1754923239.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742508
2025-08-11T14:40:40.168Z,1754923240.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992202
2025-08-11T14:40:40.420Z,1754923240.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244320
2025-08-11T14:40:40.672Z,1754923240.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496155
2025-08-11T14:40:40.924Z,1754923240.924 [DAT](INFO): DAT read: Rx Time:14:40:41.5722

2025-08-11T14:40:40.925Z,1754923240.925 [DAT](INFO): Rx dataTimestamp_ set to:1754923240.924458
2025-08-11T14:40:40.925Z,1754923240.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749362
2025-08-11T14:40:41.176Z,1754923241.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000293
2025-08-11T14:40:41.433Z,1754923241.433 [DAT](INFO): DAT read: 14:40:41.5722 LVL= 22672, 21377, 25202, 3C= 72, IDX= 454,-0.08, 3.133,-2.662, 1.757, 3.008, PHS= 0.227, 0.658,-1.295, RAW=  17.9,   4.7, CAL=  18.0,   3.6, ROT= 132.0,  -3.6

2025-08-11T14:40:41.434Z,1754923241.434 [DAT](INFO): unknown deviceResponse_: 14:40:41.5722 LVL= 22672, 21377, 25202, 3C= 72, IDX= 454,-0.08, 3.133,-2.662, 1.757, 3.008, PHS= 0.227, 0.658,-1.295, RAW=  17.9,   4.7, CAL=  18.0,   3.6, ROT= 132.0,  -3.6

2025-08-11T14:40:41.435Z,1754923241.435 [DAT](INFO): DAT read: Bearing  17.8,  57.7 (Local)

2025-08-11T14:40:41.436Z,1754923241.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.8,  57.7 (Local)

2025-08-11T14:40:41.437Z,1754923241.437 [DAT](INFO): DAT read: Range 11 to 50 : 523.3 m  (Round-trip  697.8 ms) speed -0.4 m/s

2025-08-11T14:40:41.438Z,1754923241.438 [DAT](INFO): DAT read: user:23>

2025-08-11T14:40:41.439Z,1754923241.439 [DAT](INFO): DAT read: Tx time:14:40:42.6703

2025-08-11T14:40:41.439Z,1754923241.439 [DAT](INFO): Ping request sent.
2025-08-11T14:40:41.439Z,1754923241.439 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:40:41.440Z,1754923241.440 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-11T14:40:41.440Z,1754923241.440 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:41.440Z,1754923241.440 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:42.031Z,1754923242.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:42.184Z,1754923242.184 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:42.184Z,1754923242.184 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:42.184Z,1754923242.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:42.436Z,1754923242.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997297
2025-08-11T14:40:42.689Z,1754923242.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249640
2025-08-11T14:40:42.945Z,1754923242.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503975
2025-08-11T14:40:43.192Z,1754923243.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753122
2025-08-11T14:40:43.444Z,1754923243.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005234
2025-08-11T14:40:43.696Z,1754923243.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257257
2025-08-11T14:40:43.951Z,1754923243.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511395
2025-08-11T14:40:44.058Z,1754923244.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:44.200Z,1754923244.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761394
2025-08-11T14:40:44.452Z,1754923244.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013290
2025-08-11T14:40:44.705Z,1754923244.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266085
2025-08-11T14:40:44.959Z,1754923244.959 [DAT](INFO): DAT read: Rx Time:14:40:45.7812

2025-08-11T14:40:44.960Z,1754923244.960 [DAT](INFO): Rx dataTimestamp_ set to:1754923244.959261
2025-08-11T14:40:44.962Z,1754923244.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522794
2025-08-11T14:40:45.208Z,1754923245.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769430
2025-08-11T14:40:45.468Z,1754923245.468 [DAT](INFO): DAT read: 14:40:45.7812 LVL= 20208, 18817, 24898, 27731, AGC= 79, IDX=   2, 0.30,-0.475,-0.001,-1.924,-0.657, PHS= 0.283, 0.701,-1.311, RAW=  18.7,   3.6, CAL=  18.9,   2.2, ROT= 131.1,  -2.2

2025-08-11T14:40:45.469Z,1754923245.469 [DAT](INFO): got valid direction response:
 14:40:45.7812 LVL= 20208, 18817, 24898, 27731, AGC= 79, IDX=   2, 0.30,-0.475,-0.001,-1.924,-0.657, PHS= 0.283, 0.701,-1.311, RAW=  18.7,   3.6, CAL=  18.9,   2.2, ROT= 131.1,  -2.2

2025-08-11T14:40:45.470Z,1754923245.470 [DAT](INFO): DAT read: Bearing  21.2,  59.1 (Local)

2025-08-11T14:40:45.470Z,1754923245.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing  21.2,  59.1 (Local)

2025-08-11T14:40:45.472Z,1754923245.472 [DAT](INFO): DAT read: Range 11 to 50 : 530.1 m  (Round-trip  706.8 ms) speed  0.0 m/s

2025-08-11T14:40:45.472Z,1754923245.472 [DAT](INFO): DAT read: user:24>

2025-08-11T14:40:45.473Z,1754923245.473 [DAT](INFO): DAT read: Tx time:14:40:46.8703

2025-08-11T14:40:45.473Z,1754923245.473 [DAT](INFO): Ping request sent.
2025-08-11T14:40:45.473Z,1754923245.473 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:40:45.474Z,1754923245.474 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:40:45.475Z,1754923245.475 [DAT](INFO): direction in FSK: [-0.656891,0.753008,0.038388]
2025-08-11T14:40:45.475Z,1754923245.475 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:45.476Z,1754923245.476 [DAT](INFO): publishing direction and range info
2025-08-11T14:40:45.478Z,1754923245.478 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:45.479Z,1754923245.479 [DAT](INFO): publishing direction and range info
2025-08-11T14:40:46.099Z,1754923246.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:46.216Z,1754923246.216 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:46.217Z,1754923246.217 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:46.217Z,1754923246.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:46.468Z,1754923246.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994772
2025-08-11T14:40:46.721Z,1754923246.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247613
2025-08-11T14:40:46.977Z,1754923246.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500960
2025-08-11T14:40:47.225Z,1754923247.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751147
2025-08-11T14:40:47.476Z,1754923247.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002543
2025-08-11T14:40:47.713Z,1754923247.713 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 530.10 m. Transitioning docking module to standby.
2025-08-11T14:40:47.728Z,1754923247.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254734
2025-08-11T14:40:47.983Z,1754923247.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508848
2025-08-11T14:40:48.123Z,1754923248.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:48.165Z,1754923248.165 [DockingStepper](INFO): Changing to mode: 1
2025-08-11T14:40:48.236Z,1754923248.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761709
2025-08-11T14:40:48.484Z,1754923248.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010676
2025-08-11T14:40:48.736Z,1754923248.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262675
2025-08-11T14:40:48.991Z,1754923248.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517010
2025-08-11T14:40:49.240Z,1754923249.240 [DAT](INFO): DAT read: Rx Time:14:40:49.9820

2025-08-11T14:40:49.241Z,1754923249.241 [DAT](INFO): Rx dataTimestamp_ set to:1754923249.240332
2025-08-11T14:40:49.241Z,1754923249.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767667
2025-08-11T14:40:49.492Z,1754923249.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018648
2025-08-11T14:40:49.750Z,1754923249.750 [DAT](INFO): DAT read: 14:40:49.9820 LVL= 19440, 20593, 21778, 23107, AGC= 66, IDX= 441,-0.44,-2.525,-2.361, 2.172, 3.051, PHS= 0.809, 0.916,-0.923, RAW=  27.0,  -9.0, CAL=  28.1, -10.6, ROT= 121.9,  10.6

2025-08-11T14:40:49.752Z,1754923249.752 [DAT](INFO): got valid direction response:
 14:40:49.9820 LVL= 19440, 20593, 21778, 23107, AGC= 66, IDX= 441,-0.44,-2.525,-2.361, 2.172, 3.051, PHS= 0.809, 0.916,-0.923, RAW=  27.0,  -9.0, CAL=  28.1, -10.6, ROT= 121.9,  10.6

2025-08-11T14:40:49.752Z,1754923249.752 [DAT](INFO): DAT read: $Error in header

2025-08-11T14:40:49.753Z,1754923249.753 [DAT](INFO): Received a bad header
2025-08-11T14:40:49.764Z,1754923249.764 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:40:49.765Z,1754923249.765 [DAT](INFO): direction in FSK: [-0.519421,0.834484,-0.183951]
2025-08-11T14:40:49.768Z,1754923249.768 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:49.768Z,1754923249.768 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:49.768Z,1754923249.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:49.996Z,1754923249.996 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:49.996Z,1754923249.996 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:49.996Z,1754923249.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:50.141Z,1754923250.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:50.248Z,1754923250.248 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:50.248Z,1754923250.248 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:50.248Z,1754923250.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:50.500Z,1754923250.500 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:50.500Z,1754923250.500 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:50.500Z,1754923250.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:50.752Z,1754923250.752 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:50.752Z,1754923250.752 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:50.752Z,1754923250.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:51.004Z,1754923251.004 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:51.005Z,1754923251.005 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:51.005Z,1754923251.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:51.256Z,1754923251.256 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:51.256Z,1754923251.256 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:51.256Z,1754923251.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:51.512Z,1754923251.512 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:51.512Z,1754923251.512 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:51.512Z,1754923251.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:51.764Z,1754923251.764 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:51.764Z,1754923251.764 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:51.765Z,1754923251.765 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:52.016Z,1754923252.016 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:52.016Z,1754923252.016 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:52.016Z,1754923252.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:52.153Z,1754923252.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:52.268Z,1754923252.268 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:52.268Z,1754923252.268 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:52.268Z,1754923252.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:52.520Z,1754923252.520 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:52.520Z,1754923252.520 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:52.520Z,1754923252.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:52.772Z,1754923252.772 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:52.772Z,1754923252.772 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:52.772Z,1754923252.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:53.027Z,1754923253.027 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:53.027Z,1754923253.027 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:53.027Z,1754923253.027 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:53.280Z,1754923253.280 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:53.280Z,1754923253.280 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:53.280Z,1754923253.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:53.532Z,1754923253.532 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:53.532Z,1754923253.532 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:53.532Z,1754923253.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:53.786Z,1754923253.786 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:53.786Z,1754923253.786 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:53.786Z,1754923253.786 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:54.036Z,1754923254.036 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:54.036Z,1754923254.036 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:54.036Z,1754923254.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:54.206Z,1754923254.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:54.213Z,1754923254.213 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-11T14:40:54.288Z,1754923254.288 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:54.289Z,1754923254.289 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:54.289Z,1754923254.289 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:54.536Z,1754923254.536 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-11T14:40:54.536Z,1754923254.536 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-11T14:40:54.537Z,1754923254.537 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-11T14:40:54.540Z,1754923254.540 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:54.540Z,1754923254.540 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:54.540Z,1754923254.540 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:54.792Z,1754923254.792 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:54.792Z,1754923254.792 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:54.792Z,1754923254.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:54.972Z,1754923254.972 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-11T14:40:54.972Z,1754923254.972 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-11T14:40:54.973Z,1754923254.973 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-11T14:40:55.044Z,1754923255.044 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:55.044Z,1754923255.044 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:55.044Z,1754923255.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:55.299Z,1754923255.299 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:40:55.299Z,1754923255.299 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:40:55.299Z,1754923255.299 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:40:55.381Z,1754923255.381 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-11T14:40:55.382Z,1754923255.382 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-11T14:40:55.382Z,1754923255.382 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-11T14:40:55.382Z,1754923255.382 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-11T14:40:55.382Z,1754923255.382 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-11T14:40:55.548Z,1754923255.548 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:55.548Z,1754923255.548 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:55.548Z,1754923255.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:55.778Z,1754923255.778 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-11T14:40:55.778Z,1754923255.778 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-11T14:40:55.778Z,1754923255.778 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-11T14:40:55.778Z,1754923255.778 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-11T14:40:55.778Z,1754923255.778 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-11T14:40:55.778Z,1754923255.778 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-11T14:40:55.779Z,1754923255.779 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-11T14:40:55.779Z,1754923255.779 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-11T14:40:55.779Z,1754923255.779 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-11T14:40:55.779Z,1754923255.779 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-11T14:40:55.779Z,1754923255.779 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-11T14:40:55.780Z,1754923255.780 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-11T14:40:55.780Z,1754923255.780 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-11T14:40:55.780Z,1754923255.780 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-11T14:40:55.780Z,1754923255.780 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-11T14:40:55.781Z,1754923255.781 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 530.099976 m 
2025-08-11T14:40:55.781Z,1754923255.781 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-11T14:40:55.781Z,1754923255.781 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-11T14:40:55.782Z,1754923255.782 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-08-11T14:40:55.782Z,1754923255.782 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-11T14:40:55.782Z,1754923255.782 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-11T14:40:55.782Z,1754923255.782 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-11T14:40:55.800Z,1754923255.800 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:55.800Z,1754923255.800 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:55.800Z,1754923255.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:55.805Z,1754923255.805 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-08-11T14:40:56.052Z,1754923256.052 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:56.052Z,1754923256.052 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:56.053Z,1754923256.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:56.270Z,1754923256.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:56.276Z,1754923256.276 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-08-11T14:40:56.278Z,1754923256.278 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-11T14:40:56.278Z,1754923256.278 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-11T14:40:56.278Z,1754923256.278 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-11T14:40:56.278Z,1754923256.278 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-11T14:40:56.302Z,1754923256.302 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-11T14:40:56.303Z,1754923256.303 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-11T14:40:56.304Z,1754923256.304 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:56.304Z,1754923256.304 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:56.304Z,1754923256.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:56.307Z,1754923256.307 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-08-11T14:40:56.556Z,1754923256.556 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:56.556Z,1754923256.556 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:56.556Z,1754923256.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:56.605Z,1754923256.605 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-11T14:40:56.605Z,1754923256.605 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-11T14:40:56.605Z,1754923256.605 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-11T14:40:56.606Z,1754923256.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-11T14:40:56.607Z,1754923256.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-11T14:40:56.607Z,1754923256.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-11T14:40:56.607Z,1754923256.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-11T14:40:56.607Z,1754923256.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-11T14:40:56.607Z,1754923256.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-11T14:40:56.607Z,1754923256.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-11T14:40:56.607Z,1754923256.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-11T14:40:56.608Z,1754923256.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-11T14:40:56.608Z,1754923256.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-11T14:40:56.608Z,1754923256.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-11T14:40:56.608Z,1754923256.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-11T14:40:56.608Z,1754923256.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-11T14:40:56.608Z,1754923256.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-11T14:40:56.608Z,1754923256.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-11T14:40:56.608Z,1754923256.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-11T14:40:56.609Z,1754923256.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-11T14:40:56.609Z,1754923256.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-11T14:40:56.609Z,1754923256.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-11T14:40:56.609Z,1754923256.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-11T14:40:56.609Z,1754923256.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-11T14:40:56.609Z,1754923256.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-11T14:40:56.610Z,1754923256.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-11T14:40:56.611Z,1754923256.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-11T14:40:56.611Z,1754923256.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-11T14:40:56.611Z,1754923256.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-11T14:40:56.611Z,1754923256.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-11T14:40:56.611Z,1754923256.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-11T14:40:56.611Z,1754923256.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-11T14:40:56.612Z,1754923256.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-11T14:40:56.613Z,1754923256.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-08-11T14:40:56.613Z,1754923256.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-11T14:40:56.613Z,1754923256.613 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-11T14:40:56.613Z,1754923256.613 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-11T14:40:56.613Z,1754923256.613 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-11T14:40:56.614Z,1754923256.614 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-11T14:40:56.614Z,1754923256.614 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-11T14:40:56.614Z,1754923256.614 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-11T14:40:56.614Z,1754923256.614 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-11T14:40:56.614Z,1754923256.614 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-11T14:40:56.614Z,1754923256.614 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-11T14:40:56.808Z,1754923256.808 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:56.808Z,1754923256.808 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:56.808Z,1754923256.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:56.977Z,1754923256.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 530.099976 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-11T14:40:56.991Z,1754923256.991 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-11T14:40:56.991Z,1754923256.991 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-11T14:40:57.060Z,1754923257.060 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:57.060Z,1754923257.060 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:57.061Z,1754923257.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:57.312Z,1754923257.312 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:57.312Z,1754923257.312 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:57.312Z,1754923257.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:57.564Z,1754923257.564 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:57.564Z,1754923257.564 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:57.564Z,1754923257.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:57.817Z,1754923257.817 [DAT](INFO): Reached modem response timeout
2025-08-11T14:40:57.817Z,1754923257.817 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:40:57.818Z,1754923257.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:40:57.950Z,1754923257.950 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-11T14:40:57.950Z,1754923257.950 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-11T14:40:58.068Z,1754923258.068 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:40:58.068Z,1754923258.068 [DAT](INFO): response not received
2025-08-11T14:40:58.069Z,1754923258.069 [DAT](INFO): DAT read: user:26>

2025-08-11T14:40:58.070Z,1754923258.070 [DAT](INFO): DAT read: Tx time:14:40:59.3204

2025-08-11T14:40:58.070Z,1754923258.070 [DAT](INFO): Ping request sent.
2025-08-11T14:40:58.070Z,1754923258.070 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:40:58.070Z,1754923258.070 [DAT](INFO): publishing transmit ping time
2025-08-11T14:40:58.071Z,1754923258.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-11T14:40:58.320Z,1754923258.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250240
2025-08-11T14:40:58.572Z,1754923258.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502181
2025-08-11T14:40:58.631Z,1754923258.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:40:58.824Z,1754923258.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754174
2025-08-11T14:40:59.077Z,1754923259.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006737
2025-08-11T14:40:59.328Z,1754923259.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258271
2025-08-11T14:40:59.580Z,1754923259.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510130
2025-08-11T14:40:59.832Z,1754923259.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762140
2025-08-11T14:41:00.084Z,1754923260.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014235
2025-08-11T14:41:00.337Z,1754923260.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266783
2025-08-11T14:41:00.588Z,1754923260.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518227
2025-08-11T14:41:00.672Z,1754923260.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:00.840Z,1754923260.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770242
2025-08-11T14:41:01.092Z,1754923261.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022173
2025-08-11T14:41:01.344Z,1754923261.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274515
2025-08-11T14:41:01.596Z,1754923261.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526288
2025-08-11T14:41:01.600Z,1754923261.600 [DockingStepper](INFO): Changing to mode: 1
2025-08-11T14:41:01.849Z,1754923261.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778567
2025-08-11T14:41:02.103Z,1754923262.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031866
2025-08-11T14:41:02.352Z,1754923262.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282366
2025-08-11T14:41:02.605Z,1754923262.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534664
2025-08-11T14:41:02.798Z,1754923262.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:02.856Z,1754923262.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786357
2025-08-11T14:41:03.108Z,1754923263.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038306
2025-08-11T14:41:03.361Z,1754923263.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291001
2025-08-11T14:41:03.614Z,1754923263.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544083
2025-08-11T14:41:03.864Z,1754923263.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794246
2025-08-11T14:41:04.116Z,1754923264.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046242
2025-08-11T14:41:04.368Z,1754923264.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298218
2025-08-11T14:41:04.621Z,1754923264.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551456
2025-08-11T14:41:04.866Z,1754923264.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:04.872Z,1754923264.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802290
2025-08-11T14:41:05.126Z,1754923265.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055846
2025-08-11T14:41:05.376Z,1754923265.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306348
2025-08-11T14:41:05.628Z,1754923265.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558162
2025-08-11T14:41:05.880Z,1754923265.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810177
2025-08-11T14:41:06.132Z,1754923266.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062324
2025-08-11T14:41:06.384Z,1754923266.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314209
2025-08-11T14:41:06.637Z,1754923266.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567197
2025-08-11T14:41:06.889Z,1754923266.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818565
2025-08-11T14:41:06.985Z,1754923266.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:07.140Z,1754923267.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070198
2025-08-11T14:41:07.392Z,1754923267.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322282
2025-08-11T14:41:07.645Z,1754923267.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574797
2025-08-11T14:41:07.897Z,1754923267.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826761
2025-08-11T14:41:08.148Z,1754923268.148 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:08.149Z,1754923268.149 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:08.149Z,1754923268.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:08.400Z,1754923268.400 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:08.400Z,1754923268.400 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:08.400Z,1754923268.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:08.653Z,1754923268.653 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:08.653Z,1754923268.653 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:08.654Z,1754923268.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:08.904Z,1754923268.904 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:08.905Z,1754923268.905 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:08.905Z,1754923268.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:09.008Z,1754923269.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:09.156Z,1754923269.156 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:09.157Z,1754923269.157 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:09.157Z,1754923269.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:09.408Z,1754923269.408 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:09.408Z,1754923269.408 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:09.408Z,1754923269.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:09.661Z,1754923269.661 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:09.661Z,1754923269.661 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:09.662Z,1754923269.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:09.913Z,1754923269.913 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:09.913Z,1754923269.913 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:09.913Z,1754923269.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:10.164Z,1754923270.164 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:10.165Z,1754923270.165 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:10.165Z,1754923270.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:10.416Z,1754923270.416 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:41:10.416Z,1754923270.416 [DAT](INFO): response not received
2025-08-11T14:41:10.417Z,1754923270.417 [DAT](INFO): DAT read: user:27>

2025-08-11T14:41:10.418Z,1754923270.418 [DAT](INFO): DAT read: Tx time:14:41:11.7704

2025-08-11T14:41:10.418Z,1754923270.418 [DAT](INFO): Ping request sent.
2025-08-11T14:41:10.418Z,1754923270.418 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:41:10.418Z,1754923270.418 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:10.419Z,1754923270.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-11T14:41:10.669Z,1754923270.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251304
2025-08-11T14:41:10.921Z,1754923270.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502581
2025-08-11T14:41:11.072Z,1754923271.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:11.173Z,1754923271.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755288
2025-08-11T14:41:11.424Z,1754923271.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006342
2025-08-11T14:41:11.676Z,1754923271.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258249
2025-08-11T14:41:11.933Z,1754923271.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515061
2025-08-11T14:41:12.184Z,1754923272.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766264
2025-08-11T14:41:12.436Z,1754923272.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018188
2025-08-11T14:41:12.688Z,1754923272.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270457
2025-08-11T14:41:12.941Z,1754923272.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522994
2025-08-11T14:41:13.192Z,1754923273.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774194
2025-08-11T14:41:13.444Z,1754923273.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026295
2025-08-11T14:41:13.507Z,1754923273.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:13.696Z,1754923273.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278222
2025-08-11T14:41:13.949Z,1754923273.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530876
2025-08-11T14:41:14.200Z,1754923274.200 [DAT](INFO): DAT read: Rx Time:14:41:14.8839

2025-08-11T14:41:14.201Z,1754923274.201 [DAT](INFO): Rx dataTimestamp_ set to:1754923274.200360
2025-08-11T14:41:14.201Z,1754923274.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783290
2025-08-11T14:41:14.452Z,1754923274.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034258
2025-08-11T14:41:14.710Z,1754923274.710 [DAT](INFO): DAT read: 14:41:14.8839 LVL= 20336, 19777, 27554, 32755, AGC= 70, IDX= 413,-0.32, 2.420, 2.612, 0.701, 2.302, PHS= 0.220, 0.354,-1.645, RAW=  26.5,  11.1, CAL=  25.3,  12.1, ROT= 124.7, -12.1

2025-08-11T14:41:14.711Z,1754923274.711 [DAT](INFO): got valid direction response:
 14:41:14.8839 LVL= 20336, 19777, 27554, 32755, AGC= 70, IDX= 413,-0.32, 2.420, 2.612, 0.701, 2.302, PHS= 0.220, 0.354,-1.645, RAW=  26.5,  11.1, CAL=  25.3,  12.1, ROT= 124.7, -12.1

2025-08-11T14:41:14.712Z,1754923274.712 [DAT](INFO): DAT read: Bearing   8.2,  51.0 (Local)

2025-08-11T14:41:14.713Z,1754923274.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,  51.0 (Local)

2025-08-11T14:41:14.714Z,1754923274.714 [DAT](INFO): DAT read: Range 11 to 50 : 532.0 m  (Round-trip  709.4 ms) speed -0.4 m/s

2025-08-11T14:41:14.715Z,1754923274.715 [DAT](INFO): DAT read: user:28>

2025-08-11T14:41:14.716Z,1754923274.716 [DAT](INFO): DAT read: Tx time:14:41:15.9704

2025-08-11T14:41:14.716Z,1754923274.716 [DAT](INFO): Ping request sent.
2025-08-11T14:41:14.716Z,1754923274.716 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:41:14.716Z,1754923274.716 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:41:14.717Z,1754923274.717 [DAT](INFO): direction in FSK: [-0.556632,0.803879,0.209619]
2025-08-11T14:41:14.718Z,1754923274.718 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:14.718Z,1754923274.718 [DAT](INFO): publishing direction and range info
2025-08-11T14:41:14.721Z,1754923274.721 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:14.721Z,1754923274.721 [DAT](INFO): publishing direction and range info
2025-08-11T14:41:14.804Z,1754923274.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 532.000000 m,
      deltaT: 29.242840 s,
      deltaX: 1.900024 m,
      approachRate: 0.064974 m/s,
      rangeRepo size: 2

2025-08-11T14:41:15.584Z,1754923275.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:15.712Z,1754923275.712 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:15.712Z,1754923275.712 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:15.712Z,1754923275.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:15.965Z,1754923275.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249047
2025-08-11T14:41:16.217Z,1754923276.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500983
2025-08-11T14:41:16.471Z,1754923276.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754888
2025-08-11T14:41:16.720Z,1754923276.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004200
2025-08-11T14:41:16.972Z,1754923276.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256302
2025-08-11T14:41:17.224Z,1754923277.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508424
2025-08-11T14:41:17.476Z,1754923277.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760261
2025-08-11T14:41:17.728Z,1754923277.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012202
2025-08-11T14:41:17.776Z,1754923277.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:17.980Z,1754923277.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264087
2025-08-11T14:41:18.233Z,1754923278.233 [DAT](INFO): DAT read: Rx Time:14:41:19.0934

2025-08-11T14:41:18.234Z,1754923278.234 [DAT](INFO): Rx dataTimestamp_ set to:1754923278.233660
2025-08-11T14:41:18.235Z,1754923278.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518843
2025-08-11T14:41:18.487Z,1754923278.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770433
2025-08-11T14:41:18.741Z,1754923278.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023930
2025-08-11T14:41:18.996Z,1754923278.996 [DAT](INFO): DAT read: 14:41:19.0934 LVL= 20832, 15553, 19986, 23203, AGC= 78, IDX=  30, 0.11,-1.899,-1.724, 2.669,-2.012, PHS= 0.215, 0.332,-1.646, RAW=  27.0,  11.4, CAL=  25.6,  12.5, ROT= 124.4, -12.5

2025-08-11T14:41:18.997Z,1754923278.997 [DAT](INFO): got valid direction response:
 14:41:19.0934 LVL= 20832, 15553, 19986, 23203, AGC= 78, IDX=  30, 0.11,-1.899,-1.724, 2.669,-2.012, PHS= 0.215, 0.332,-1.646, RAW=  27.0,  11.4, CAL=  25.6,  12.5, ROT= 124.4, -12.5

2025-08-11T14:41:18.998Z,1754923278.998 [DAT](INFO): DAT read: Bearing   7.7,  48.6 (Local)

2025-08-11T14:41:18.998Z,1754923278.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.7,  48.6 (Local)

2025-08-11T14:41:19.001Z,1754923279.001 [DAT](INFO): DAT read: Range 11 to 50 : 539.1 m  (Round-trip  718.9 ms) speed -0.4 m/s

2025-08-11T14:41:19.002Z,1754923279.002 [DAT](INFO): DAT read: user:29>

2025-08-11T14:41:19.003Z,1754923279.003 [DAT](INFO): DAT read: Tx time:14:41:20.2204

2025-08-11T14:41:19.003Z,1754923279.003 [DAT](INFO): Ping request sent.
2025-08-11T14:41:19.004Z,1754923279.004 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:41:19.004Z,1754923279.004 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:41:19.005Z,1754923279.005 [DAT](INFO): direction in FSK: [-0.551575,0.805555,0.216440]
2025-08-11T14:41:19.006Z,1754923279.006 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:19.007Z,1754923279.007 [DAT](INFO): publishing direction and range info
2025-08-11T14:41:19.018Z,1754923279.018 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:19.018Z,1754923279.018 [DAT](INFO): publishing direction and range info
2025-08-11T14:41:19.357Z,1754923279.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 539.099976 m,
      deltaT: 4.285850 s,
      deltaX: 7.099976 m,
      approachRate: 1.656608 m/s,
      rangeRepo size: 3

2025-08-11T14:41:19.361Z,1754923279.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 539.099976 m,
      bearing: 180.850873 deg,
      lat: 36.905850 deg,
      lon: -122.116317 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-11T14:41:19.362Z,1754923279.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.10 m.
2025-08-11T14:41:19.365Z,1754923279.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 539.099976 m,
      nav range: 534.776489 m,
      bearing: 180.850873 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 52.368676 deg,
      new cmd heading: 180.850873 deg.

2025-08-11T14:41:19.793Z,1754923279.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:19.795Z,1754923279.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.10 m.
2025-08-11T14:41:19.798Z,1754923279.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 539.099976 m,
      nav range: 534.956604 m,
      bearing: 180.864796 deg,
      approach rate: 0.410840 m/s,
      LOS rate: 0.031747 deg/s,
      cmd heading: 180.850869 deg,
      new cmd heading: 180.864796 deg.

2025-08-11T14:41:19.996Z,1754923279.996 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:19.996Z,1754923279.996 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:19.996Z,1754923279.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:20.174Z,1754923280.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.10 m.
2025-08-11T14:41:20.182Z,1754923280.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 539.099976 m,
      nav range: 535.111877 m,
      bearing: 180.876790 deg,
      approach rate: 0.409443 m/s,
      LOS rate: 0.031619 deg/s,
      cmd heading: 180.864789 deg,
      new cmd heading: 180.876790 deg.

2025-08-11T14:41:20.249Z,1754923280.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246015
2025-08-11T14:41:20.503Z,1754923280.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499203
2025-08-11T14:41:20.607Z,1754923280.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.10 m.
2025-08-11T14:41:20.610Z,1754923280.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 539.099976 m,
      nav range: 535.288086 m,
      bearing: 180.891114 deg,
      approach rate: 0.406794 m/s,
      LOS rate: 0.033057 deg/s,
      cmd heading: 180.876796 deg,
      new cmd heading: 180.891114 deg.

2025-08-11T14:41:20.753Z,1754923280.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749470
2025-08-11T14:41:20.976Z,1754923280.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.10 m.
2025-08-11T14:41:20.978Z,1754923280.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 539.099976 m,
      nav range: 535.438293 m,
      bearing: 180.903326 deg,
      approach rate: 0.407372 m/s,
      LOS rate: 0.033110 deg/s,
      cmd heading: 180.891112 deg,
      new cmd heading: 180.903326 deg.

2025-08-11T14:41:21.005Z,1754923281.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001481
2025-08-11T14:41:21.256Z,1754923281.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253118
2025-08-11T14:41:21.378Z,1754923281.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.10 m.
2025-08-11T14:41:21.381Z,1754923281.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 539.099976 m,
      nav range: 535.601807 m,
      bearing: 180.916629 deg,
      approach rate: 0.406731 m/s,
      LOS rate: 0.033080 deg/s,
      cmd heading: 180.903325 deg,
      new cmd heading: 180.916629 deg.

2025-08-11T14:41:21.512Z,1754923281.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508411
2025-08-11T14:41:21.760Z,1754923281.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757320
2025-08-11T14:41:21.827Z,1754923281.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:21.829Z,1754923281.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.10 m.
2025-08-11T14:41:21.832Z,1754923281.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 539.099976 m,
      nav range: 535.778625 m,
      bearing: 180.931329 deg,
      approach rate: 0.391682 m/s,
      LOS rate: 0.032553 deg/s,
      cmd heading: 180.916630 deg,
      new cmd heading: 180.931329 deg.

2025-08-11T14:41:22.015Z,1754923282.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012327
2025-08-11T14:41:22.214Z,1754923282.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.10 m.
2025-08-11T14:41:22.240Z,1754923282.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 539.099976 m,
      nav range: 535.945740 m,
      bearing: 180.945296 deg,
      approach rate: 0.434648 m/s,
      LOS rate: 0.036315 deg/s,
      cmd heading: 180.931329 deg,
      new cmd heading: 180.945296 deg.

2025-08-11T14:41:22.264Z,1754923282.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261067
2025-08-11T14:41:22.519Z,1754923282.519 [DAT](INFO): DAT read: Rx Time:14:41:23.3458

2025-08-11T14:41:22.521Z,1754923282.521 [DAT](INFO): Rx dataTimestamp_ set to:1754923282.519835
2025-08-11T14:41:22.523Z,1754923282.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519346
2025-08-11T14:41:22.674Z,1754923282.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.10 m.
2025-08-11T14:41:22.676Z,1754923282.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 539.099976 m,
      nav range: 536.134216 m,
      bearing: 180.961003 deg,
      approach rate: 0.409927 m/s,
      LOS rate: 0.034149 deg/s,
      cmd heading: 180.945290 deg,
      new cmd heading: 180.961003 deg.

2025-08-11T14:41:22.768Z,1754923282.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765247
2025-08-11T14:41:23.033Z,1754923283.033 [DAT](INFO): DAT read: 14:41:23.3458 LVL= 32752, 21921, 31554, 32755, AGC= 72, IDX= 454, 0.28, 0.116, 0.238,-1.626,-0.031, PHS= 0.249, 0.314,-1.639, RAW=  28.3,  11.2, CAL=  26.9,  12.1, ROT= 123.1, -12.1

2025-08-11T14:41:23.034Z,1754923283.034 [DAT](INFO): got valid direction response:
 14:41:23.3458 LVL= 32752, 21921, 31554, 32755, AGC= 72, IDX= 454, 0.28, 0.116, 0.238,-1.626,-0.031, PHS= 0.249, 0.314,-1.639, RAW=  28.3,  11.2, CAL=  26.9,  12.1, ROT= 123.1, -12.1

2025-08-11T14:41:23.035Z,1754923283.035 [DAT](INFO): DAT read: Bearing   9.7,  49.1 (Local)

2025-08-11T14:41:23.035Z,1754923283.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.7,  49.1 (Local)

2025-08-11T14:41:23.036Z,1754923283.036 [DAT](INFO): DAT read: Range 11 to 50 : 540.9 m  (Round-trip  721.2 ms) speed -0.6 m/s

2025-08-11T14:41:23.037Z,1754923283.037 [DAT](INFO): DAT read: user:30>

2025-08-11T14:41:23.038Z,1754923283.038 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:41:23.043Z,1754923283.043 [DAT](INFO): direction in FSK: [-0.533969,0.819107,0.209619]
2025-08-11T14:41:23.044Z,1754923283.044 [DAT](INFO): publishing direction and range info
2025-08-11T14:41:23.047Z,1754923283.047 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:23.047Z,1754923283.047 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:23.067Z,1754923283.067 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:23.142Z,1754923283.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 540.900024 m,
      deltaT: 4.031072 s,
      deltaX: 1.800049 m,
      approachRate: 0.446543 m/s,
      rangeRepo size: 4

2025-08-11T14:41:23.153Z,1754923283.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 540.900024 m,
      bearing: 179.745297 deg,
      lat: 36.905850 deg,
      lon: -122.116187 deg,
      deltaT: 4.031072 s,
      deltaX: 1.800049 m,
      approachRate: 0.446543 m/s,
      posRepo size: 2

2025-08-11T14:41:23.154Z,1754923283.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:23.172Z,1754923283.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 536.235962 m,
      bearing: 179.745297 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034149 deg/s,
      cmd heading: 180.960999 deg,
      new cmd heading: 181.008816 deg.

2025-08-11T14:41:23.273Z,1754923283.273 [DAT](INFO): DAT read: Tx time:14:41:24.4704

2025-08-11T14:41:23.273Z,1754923283.273 [DAT](INFO): Ping request sent.
2025-08-11T14:41:23.273Z,1754923283.273 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:41:23.273Z,1754923283.273 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:23.274Z,1754923283.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-11T14:41:23.527Z,1754923283.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253363
2025-08-11T14:41:23.707Z,1754923283.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:23.710Z,1754923283.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 536.479370 m,
      bearing: 179.767823 deg,
      approach rate: 0.429756 m/s,
      LOS rate: 0.039753 deg/s,
      cmd heading: 181.008810 deg,
      new cmd heading: 181.076357 deg.

2025-08-11T14:41:23.776Z,1754923283.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503302
2025-08-11T14:41:24.028Z,1754923284.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755145
2025-08-11T14:41:24.080Z,1754923284.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:24.082Z,1754923284.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:24.101Z,1754923284.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 536.629395 m,
      bearing: 179.781973 deg,
      approach rate: 0.399744 m/s,
      LOS rate: 0.037693 deg/s,
      cmd heading: 181.076361 deg,
      new cmd heading: 181.118800 deg.

2025-08-11T14:41:24.280Z,1754923284.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007180
2025-08-11T14:41:24.535Z,1754923284.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261704
2025-08-11T14:41:24.692Z,1754923284.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:24.695Z,1754923284.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 536.879517 m,
      bearing: 179.805367 deg,
      approach rate: 0.409979 m/s,
      LOS rate: 0.038328 deg/s,
      cmd heading: 181.118804 deg,
      new cmd heading: 181.188954 deg.

2025-08-11T14:41:24.785Z,1754923284.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512214
2025-08-11T14:41:25.028Z,1754923285.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:25.031Z,1754923285.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 537.012024 m,
      bearing: 179.818939 deg,
      approach rate: 0.394013 m/s,
      LOS rate: 0.040345 deg/s,
      cmd heading: 181.188950 deg,
      new cmd heading: 181.229654 deg.

2025-08-11T14:41:25.036Z,1754923285.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763308
2025-08-11T14:41:25.288Z,1754923285.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015190
2025-08-11T14:41:25.443Z,1754923285.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:25.452Z,1754923285.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 537.166138 m,
      bearing: 179.835325 deg,
      approach rate: 0.371954 m/s,
      LOS rate: 0.039536 deg/s,
      cmd heading: 181.229658 deg,
      new cmd heading: 181.278802 deg.

2025-08-11T14:41:25.543Z,1754923285.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269752
2025-08-11T14:41:25.792Z,1754923285.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519165
2025-08-11T14:41:25.865Z,1754923285.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:25.872Z,1754923285.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 537.329407 m,
      bearing: 179.853251 deg,
      approach rate: 0.386580 m/s,
      LOS rate: 0.042431 deg/s,
      cmd heading: 181.278808 deg,
      new cmd heading: 181.332569 deg.

2025-08-11T14:41:26.044Z,1754923286.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771112
2025-08-11T14:41:26.261Z,1754923286.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:26.275Z,1754923286.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:26.278Z,1754923286.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 537.489197 m,
      bearing: 179.871507 deg,
      approach rate: 0.401444 m/s,
      LOS rate: 0.045852 deg/s,
      cmd heading: 181.332575 deg,
      new cmd heading: 181.387328 deg.

2025-08-11T14:41:26.297Z,1754923286.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023574
2025-08-11T14:41:26.566Z,1754923286.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277653
2025-08-11T14:41:26.700Z,1754923286.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:26.703Z,1754923286.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 537.655396 m,
      bearing: 179.891309 deg,
      approach rate: 0.380232 m/s,
      LOS rate: 0.045289 deg/s,
      cmd heading: 181.387326 deg,
      new cmd heading: 181.446713 deg.

2025-08-11T14:41:26.809Z,1754923286.809 [DAT](INFO): DAT read: 14:41:27.5906 LVL= 23248, 25297, 28434, 32755, AGC= 73, IDX= 368, 0.30,-1.438,-1.855, 2.962,-2.009, PHS= 0.673, 0.199,-1.357, RAW=  42.9,   5.3, CAL=  42.2,   4.6, ROT= 107.8,  -4.6

2025-08-11T14:41:26.810Z,1754923286.810 [DAT](INFO): got valid direction response:
 14:41:27.5906 LVL= 23248, 25297, 28434, 32755, AGC= 73, IDX= 368, 0.30,-1.438,-1.855, 2.962,-2.009, PHS= 0.673, 0.199,-1.357, RAW=  42.9,   5.3, CAL=  42.2,   4.6, ROT= 107.8,  -4.6

2025-08-11T14:41:26.812Z,1754923286.812 [DAT](INFO): DAT read: Rx Time:14:41:27.5906

2025-08-11T14:41:26.813Z,1754923286.813 [DAT](INFO): Rx dataTimestamp_ set to:1754923286.812599
2025-08-11T14:41:26.814Z,1754923286.814 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-11T14:41:26.814Z,1754923286.814 [DAT](INFO): Received low SNR in chirp
2025-08-11T14:41:26.830Z,1754923286.830 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:41:26.831Z,1754923286.831 [DAT](INFO): direction in FSK: [-0.304711,0.949062,0.080199]
2025-08-11T14:41:26.834Z,1754923286.834 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:26.834Z,1754923286.834 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:26.834Z,1754923286.834 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:27.052Z,1754923287.052 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:27.052Z,1754923287.052 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:27.052Z,1754923287.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:27.071Z,1754923287.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:27.094Z,1754923287.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 537.795593 m,
      bearing: 179.908689 deg,
      approach rate: 0.378692 m/s,
      LOS rate: 0.046933 deg/s,
      cmd heading: 181.446707 deg,
      new cmd heading: 181.498834 deg.

2025-08-11T14:41:27.307Z,1754923287.307 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:27.307Z,1754923287.307 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:27.307Z,1754923287.307 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:27.510Z,1754923287.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:27.513Z,1754923287.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 537.950073 m,
      bearing: 179.928603 deg,
      approach rate: 0.351323 m/s,
      LOS rate: 0.045276 deg/s,
      cmd heading: 181.498835 deg,
      new cmd heading: 181.558560 deg.

2025-08-11T14:41:27.572Z,1754923287.572 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:27.572Z,1754923287.572 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:27.573Z,1754923287.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:27.824Z,1754923287.824 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:27.824Z,1754923287.824 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:27.824Z,1754923287.824 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:27.942Z,1754923287.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:27.946Z,1754923287.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 538.114441 m,
      bearing: 179.950221 deg,
      approach rate: 0.380983 m/s,
      LOS rate: 0.050093 deg/s,
      cmd heading: 181.558559 deg,
      new cmd heading: 181.623393 deg.

2025-08-11T14:41:28.076Z,1754923288.076 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:28.076Z,1754923288.076 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:28.076Z,1754923288.076 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:28.310Z,1754923288.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:28.317Z,1754923288.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:28.320Z,1754923288.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 538.253967 m,
      bearing: 179.968558 deg,
      approach rate: 0.371499 m/s,
      LOS rate: 0.048811 deg/s,
      cmd heading: 181.623391 deg,
      new cmd heading: 181.678387 deg.

2025-08-11T14:41:28.344Z,1754923288.344 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:28.344Z,1754923288.344 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:28.344Z,1754923288.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:28.598Z,1754923288.598 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:28.599Z,1754923288.599 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:28.601Z,1754923288.601 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:28.741Z,1754923288.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:28.744Z,1754923288.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 538.407532 m,
      bearing: 179.990135 deg,
      approach rate: 0.362176 m/s,
      LOS rate: 0.050875 deg/s,
      cmd heading: 181.678387 deg,
      new cmd heading: 181.743101 deg.

2025-08-11T14:41:28.848Z,1754923288.848 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:28.848Z,1754923288.848 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:28.848Z,1754923288.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:29.100Z,1754923289.100 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:29.100Z,1754923289.100 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:29.100Z,1754923289.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:29.110Z,1754923289.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:29.115Z,1754923289.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 538.528748 m,
      bearing: 180.007867 deg,
      approach rate: 0.329472 m/s,
      LOS rate: 0.048186 deg/s,
      cmd heading: 181.743097 deg,
      new cmd heading: 181.796281 deg.

2025-08-11T14:41:29.352Z,1754923289.352 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:29.352Z,1754923289.352 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:29.352Z,1754923289.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:29.529Z,1754923289.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:29.532Z,1754923289.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 538.676575 m,
      bearing: 180.029465 deg,
      approach rate: 0.351714 m/s,
      LOS rate: 0.051373 deg/s,
      cmd heading: 181.796276 deg,
      new cmd heading: 181.861053 deg.

2025-08-11T14:41:29.608Z,1754923289.608 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:29.608Z,1754923289.608 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:29.609Z,1754923289.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:29.856Z,1754923289.856 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:29.856Z,1754923289.856 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:29.856Z,1754923289.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:30.012Z,1754923290.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:30.015Z,1754923290.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 538.843079 m,
      bearing: 180.055185 deg,
      approach rate: 0.345663 m/s,
      LOS rate: 0.053377 deg/s,
      cmd heading: 181.861054 deg,
      new cmd heading: 181.938188 deg.

2025-08-11T14:41:30.109Z,1754923290.109 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:30.109Z,1754923290.109 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:30.109Z,1754923290.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:30.346Z,1754923290.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:30.349Z,1754923290.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:30.360Z,1754923290.360 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:30.360Z,1754923290.360 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:30.360Z,1754923290.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:30.367Z,1754923290.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 538.952454 m,
      bearing: 180.072785 deg,
      approach rate: 0.324108 m/s,
      LOS rate: 0.052143 deg/s,
      cmd heading: 181.938194 deg,
      new cmd heading: 181.990983 deg.

2025-08-11T14:41:30.616Z,1754923290.616 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:30.617Z,1754923290.617 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:30.617Z,1754923290.617 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:30.786Z,1754923290.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:30.805Z,1754923290.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.089172 m,
      bearing: 180.094848 deg,
      approach rate: 0.312566 m/s,
      LOS rate: 0.050429 deg/s,
      cmd heading: 181.990978 deg,
      new cmd heading: 182.057152 deg.

2025-08-11T14:41:30.864Z,1754923290.864 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:30.864Z,1754923290.864 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:30.864Z,1754923290.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:31.116Z,1754923291.116 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:31.117Z,1754923291.117 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:31.117Z,1754923291.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:31.194Z,1754923291.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:31.197Z,1754923291.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.212952 m,
      bearing: 180.115685 deg,
      approach rate: 0.303259 m/s,
      LOS rate: 0.051040 deg/s,
      cmd heading: 182.057149 deg,
      new cmd heading: 182.119646 deg.

2025-08-11T14:41:31.368Z,1754923291.368 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:31.368Z,1754923291.368 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:31.368Z,1754923291.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:31.624Z,1754923291.624 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:31.625Z,1754923291.625 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:31.625Z,1754923291.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:31.690Z,1754923291.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:31.697Z,1754923291.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.350586 m,
      bearing: 180.139848 deg,
      approach rate: 0.277818 m/s,
      LOS rate: 0.048760 deg/s,
      cmd heading: 182.119645 deg,
      new cmd heading: 182.192114 deg.

2025-08-11T14:41:31.872Z,1754923291.872 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:31.872Z,1754923291.872 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:31.872Z,1754923291.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:32.061Z,1754923292.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:32.068Z,1754923292.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.458618 m,
      bearing: 180.159845 deg,
      approach rate: 0.291059 m/s,
      LOS rate: 0.053864 deg/s,
      cmd heading: 182.192113 deg,
      new cmd heading: 182.252091 deg.

2025-08-11T14:41:32.125Z,1754923292.125 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:32.125Z,1754923292.125 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:32.126Z,1754923292.126 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:32.376Z,1754923292.376 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:32.376Z,1754923292.376 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:32.376Z,1754923292.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:32.441Z,1754923292.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:32.443Z,1754923292.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:32.446Z,1754923292.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.560852 m,
      bearing: 180.179596 deg,
      approach rate: 0.267662 m/s,
      LOS rate: 0.051701 deg/s,
      cmd heading: 182.252096 deg,
      new cmd heading: 182.311338 deg.

2025-08-11T14:41:32.629Z,1754923292.629 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:32.629Z,1754923292.629 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:32.629Z,1754923292.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:32.870Z,1754923292.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:32.873Z,1754923292.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.665955 m,
      bearing: 180.200188 deg,
      approach rate: 0.245906 m/s,
      LOS rate: 0.048169 deg/s,
      cmd heading: 182.311341 deg,
      new cmd heading: 182.373104 deg.

2025-08-11T14:41:32.880Z,1754923292.880 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:32.880Z,1754923292.880 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:32.880Z,1754923292.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:33.132Z,1754923293.132 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:33.132Z,1754923293.132 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:33.132Z,1754923293.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:41:33.259Z,1754923293.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:33.262Z,1754923293.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.758362 m,
      bearing: 180.219093 deg,
      approach rate: 0.237586 m/s,
      LOS rate: 0.048599 deg/s,
      cmd heading: 182.373100 deg,
      new cmd heading: 182.429806 deg.

2025-08-11T14:41:33.384Z,1754923293.384 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:33.384Z,1754923293.384 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:33.384Z,1754923293.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:33.636Z,1754923293.636 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:33.636Z,1754923293.636 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:33.636Z,1754923293.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:33.730Z,1754923293.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:33.745Z,1754923293.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.862610 m,
      bearing: 180.241400 deg,
      approach rate: 0.221427 m/s,
      LOS rate: 0.047372 deg/s,
      cmd heading: 182.429804 deg,
      new cmd heading: 182.496712 deg.

2025-08-11T14:41:33.888Z,1754923293.888 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:33.888Z,1754923293.888 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:33.888Z,1754923293.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:34.079Z,1754923294.079 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,002768,-32768,-32768,-32768,V
2025-08-11T14:41:34.141Z,1754923294.141 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:34.142Z,1754923294.142 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:34.142Z,1754923294.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:34.145Z,1754923294.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:34.152Z,1754923294.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.952515 m,
      bearing: 180.261488 deg,
      approach rate: 0.216779 m/s,
      LOS rate: 0.048428 deg/s,
      cmd heading: 182.496712 deg,
      new cmd heading: 182.556966 deg.

2025-08-11T14:41:34.392Z,1754923294.392 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:34.392Z,1754923294.392 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:34.392Z,1754923294.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:34.496Z,1754923294.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:34.498Z,1754923294.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:34.505Z,1754923294.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.029419 m,
      bearing: 180.279467 deg,
      approach rate: 0.217585 m/s,
      LOS rate: 0.050860 deg/s,
      cmd heading: 182.556968 deg,
      new cmd heading: 182.610897 deg.

2025-08-11T14:41:34.644Z,1754923294.644 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:34.644Z,1754923294.644 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:34.644Z,1754923294.644 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:34.896Z,1754923294.896 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:34.896Z,1754923294.896 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:34.896Z,1754923294.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:34.920Z,1754923294.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:34.925Z,1754923294.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.099976 m,
      bearing: 180.298747 deg,
      approach rate: 0.167130 m/s,
      LOS rate: 0.045665 deg/s,
      cmd heading: 182.610899 deg,
      new cmd heading: 182.668733 deg.

2025-08-11T14:41:35.148Z,1754923295.148 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:35.148Z,1754923295.148 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:35.148Z,1754923295.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:35.311Z,1754923295.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:35.314Z,1754923295.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.158020 m,
      bearing: 180.315462 deg,
      approach rate: 0.156495 m/s,
      LOS rate: 0.045061 deg/s,
      cmd heading: 182.668738 deg,
      new cmd heading: 182.718877 deg.

2025-08-11T14:41:35.400Z,1754923295.400 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:35.400Z,1754923295.400 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:35.400Z,1754923295.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:35.655Z,1754923295.655 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:41:35.655Z,1754923295.655 [DAT](INFO): response not received
2025-08-11T14:41:35.655Z,1754923295.655 [DAT](INFO): DAT read: user:32>

2025-08-11T14:41:35.656Z,1754923295.656 [DAT](INFO): DAT read: Tx time:14:41:36.9204

2025-08-11T14:41:35.656Z,1754923295.656 [DAT](INFO): Ping request sent.
2025-08-11T14:41:35.656Z,1754923295.656 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:41:35.657Z,1754923295.657 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:35.657Z,1754923295.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-11T14:41:35.841Z,1754923295.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:35.848Z,1754923295.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.233093 m,
      bearing: 180.339057 deg,
      approach rate: 0.136567 m/s,
      LOS rate: 0.042916 deg/s,
      cmd heading: 182.718871 deg,
      new cmd heading: 182.789646 deg.

2025-08-11T14:41:35.904Z,1754923295.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247804
2025-08-11T14:41:36.152Z,1754923296.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:36.154Z,1754923296.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.272095 m,
      bearing: 180.352895 deg,
      approach rate: 0.125586 m/s,
      LOS rate: 0.044555 deg/s,
      cmd heading: 182.789646 deg,
      new cmd heading: 182.831156 deg.

2025-08-11T14:41:36.164Z,1754923296.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507859
2025-08-11T14:41:36.416Z,1754923296.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759767
2025-08-11T14:41:36.558Z,1754923296.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:36.560Z,1754923296.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:36.563Z,1754923296.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.323364 m,
      bearing: 180.371067 deg,
      approach rate: 0.125451 m/s,
      LOS rate: 0.044461 deg/s,
      cmd heading: 182.831159 deg,
      new cmd heading: 182.885671 deg.

2025-08-11T14:41:36.668Z,1754923296.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011856
2025-08-11T14:41:36.921Z,1754923296.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264787
2025-08-11T14:41:37.007Z,1754923297.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:37.009Z,1754923297.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.358337 m,
      bearing: 180.390386 deg,
      approach rate: 0.078343 m/s,
      LOS rate: 0.043273 deg/s,
      cmd heading: 182.885664 deg,
      new cmd heading: 182.943617 deg.

2025-08-11T14:41:37.172Z,1754923297.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515745
2025-08-11T14:41:37.375Z,1754923297.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:37.378Z,1754923297.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.389526 m,
      bearing: 180.407583 deg,
      approach rate: 0.084631 m/s,
      LOS rate: 0.046660 deg/s,
      cmd heading: 182.943612 deg,
      new cmd heading: 182.995198 deg.

2025-08-11T14:41:37.425Z,1754923297.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768350
2025-08-11T14:41:37.676Z,1754923297.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019690
2025-08-11T14:41:37.822Z,1754923297.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:37.825Z,1754923297.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.411987 m,
      bearing: 180.428521 deg,
      approach rate: 0.050225 m/s,
      LOS rate: 0.046817 deg/s,
      cmd heading: 182.995193 deg,
      new cmd heading: 183.058004 deg.

2025-08-11T14:41:37.929Z,1754923297.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272241
2025-08-11T14:41:38.180Z,1754923298.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523728
2025-08-11T14:41:38.274Z,1754923298.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:38.276Z,1754923298.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.430481 m,
      bearing: 180.449149 deg,
      approach rate: 0.040975 m/s,
      LOS rate: 0.045705 deg/s,
      cmd heading: 183.058004 deg,
      new cmd heading: 183.119888 deg.

2025-08-11T14:41:38.432Z,1754923298.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775741
2025-08-11T14:41:38.659Z,1754923298.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:38.661Z,1754923298.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:38.664Z,1754923298.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.444153 m,
      bearing: 180.467990 deg,
      approach rate: 0.035282 m/s,
      LOS rate: 0.048618 deg/s,
      cmd heading: 183.119885 deg,
      new cmd heading: 183.176404 deg.

2025-08-11T14:41:38.684Z,1754923298.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027890
2025-08-11T14:41:38.937Z,1754923298.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280329
2025-08-11T14:41:39.050Z,1754923299.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:39.052Z,1754923299.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.450073 m,
      bearing: 180.487015 deg,
      approach rate: 0.015237 m/s,
      LOS rate: 0.048963 deg/s,
      cmd heading: 183.176398 deg,
      new cmd heading: 183.233472 deg.

2025-08-11T14:41:39.188Z,1754923299.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531990
2025-08-11T14:41:39.432Z,1754923299.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:39.435Z,1754923299.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.452393 m,
      bearing: 180.505741 deg,
      approach rate: 0.006062 m/s,
      LOS rate: 0.048949 deg/s,
      cmd heading: 183.233471 deg,
      new cmd heading: 183.289651 deg.

2025-08-11T14:41:39.440Z,1754923299.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783912
2025-08-11T14:41:39.693Z,1754923299.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036188
2025-08-11T14:41:39.862Z,1754923299.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:39.869Z,1754923299.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.448425 m,
      bearing: 180.527177 deg,
      approach rate: -0.009237 m/s,
      LOS rate: 0.049911 deg/s,
      cmd heading: 183.289656 deg,
      new cmd heading: 183.353964 deg.

2025-08-11T14:41:39.945Z,1754923299.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288487
2025-08-11T14:41:40.196Z,1754923300.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539908
2025-08-11T14:41:40.200Z,1754923300.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:40.202Z,1754923300.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.441467 m,
      bearing: 180.545834 deg,
      approach rate: -0.020578 m/s,
      LOS rate: 0.055179 deg/s,
      cmd heading: 183.353969 deg,
      new cmd heading: 183.409942 deg.

2025-08-11T14:41:40.448Z,1754923300.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791797
2025-08-11T14:41:40.625Z,1754923300.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:40.628Z,1754923300.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.429077 m,
      bearing: 180.567953 deg,
      approach rate: -0.029153 m/s,
      LOS rate: 0.052046 deg/s,
      cmd heading: 183.409936 deg,
      new cmd heading: 183.476296 deg.

2025-08-11T14:41:40.703Z,1754923300.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046133
2025-08-11T14:41:40.956Z,1754923300.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299793
2025-08-11T14:41:41.046Z,1754923301.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:41.053Z,1754923301.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:41.064Z,1754923301.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.415833 m,
      bearing: 180.589265 deg,
      approach rate: -0.030915 m/s,
      LOS rate: 0.049745 deg/s,
      cmd heading: 183.476298 deg,
      new cmd heading: 183.540233 deg.

2025-08-11T14:41:41.209Z,1754923301.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.552144
2025-08-11T14:41:41.415Z,1754923301.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:41.418Z,1754923301.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.400146 m,
      bearing: 180.608696 deg,
      approach rate: -0.043348 m/s,
      LOS rate: 0.053700 deg/s,
      cmd heading: 183.540229 deg,
      new cmd heading: 183.598524 deg.

2025-08-11T14:41:41.460Z,1754923301.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804097
2025-08-11T14:41:41.712Z,1754923301.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055780
2025-08-11T14:41:41.886Z,1754923301.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:41.889Z,1754923301.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.382019 m,
      bearing: 180.632704 deg,
      approach rate: -0.038455 m/s,
      LOS rate: 0.050931 deg/s,
      cmd heading: 183.598531 deg,
      new cmd heading: 183.670557 deg.

2025-08-11T14:41:41.964Z,1754923301.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307927
2025-08-11T14:41:42.216Z,1754923302.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559815
2025-08-11T14:41:42.302Z,1754923302.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:42.305Z,1754923302.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.362854 m,
      bearing: 180.653058 deg,
      approach rate: -0.046142 m/s,
      LOS rate: 0.049006 deg/s,
      cmd heading: 183.670562 deg,
      new cmd heading: 183.731627 deg.

2025-08-11T14:41:42.469Z,1754923302.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813041
2025-08-11T14:41:42.720Z,1754923302.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.064120
2025-08-11T14:41:42.856Z,1754923302.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:42.863Z,1754923302.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.334900 m,
      bearing: 180.677950 deg,
      approach rate: -0.050409 m/s,
      LOS rate: 0.044891 deg/s,
      cmd heading: 183.731624 deg,
      new cmd heading: 183.806306 deg.

2025-08-11T14:41:42.972Z,1754923302.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.316033
2025-08-11T14:41:43.214Z,1754923303.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:43.216Z,1754923303.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:43.219Z,1754923303.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.310852 m,
      bearing: 180.699795 deg,
      approach rate: -0.066853 m/s,
      LOS rate: 0.060732 deg/s,
      cmd heading: 183.806306 deg,
      new cmd heading: 183.871844 deg.

2025-08-11T14:41:43.224Z,1754923303.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567855
2025-08-11T14:41:43.476Z,1754923303.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.819782
2025-08-11T14:41:43.631Z,1754923303.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:43.634Z,1754923303.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.284851 m,
      bearing: 180.720144 deg,
      approach rate: -0.063254 m/s,
      LOS rate: 0.049504 deg/s,
      cmd heading: 183.871848 deg,
      new cmd heading: 183.932895 deg.

2025-08-11T14:41:43.728Z,1754923303.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.072089
2025-08-11T14:41:43.980Z,1754923303.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.323814
2025-08-11T14:41:44.051Z,1754923304.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:44.053Z,1754923304.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.259277 m,
      bearing: 180.740568 deg,
      approach rate: -0.060386 m/s,
      LOS rate: 0.048229 deg/s,
      cmd heading: 183.932896 deg,
      new cmd heading: 183.994171 deg.

2025-08-11T14:41:44.232Z,1754923304.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575779
2025-08-11T14:41:44.484Z,1754923304.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827613
2025-08-11T14:41:44.497Z,1754923304.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:44.500Z,1754923304.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.224915 m,
      bearing: 180.761968 deg,
      approach rate: -0.077018 m/s,
      LOS rate: 0.047969 deg/s,
      cmd heading: 183.994177 deg,
      new cmd heading: 184.058383 deg.

2025-08-11T14:41:44.736Z,1754923304.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079780
2025-08-11T14:41:44.971Z,1754923304.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:44.974Z,1754923304.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.190308 m,
      bearing: 180.782676 deg,
      approach rate: -0.073561 m/s,
      LOS rate: 0.044020 deg/s,
      cmd heading: 184.058380 deg,
      new cmd heading: 184.120508 deg.

2025-08-11T14:41:44.988Z,1754923304.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331789
2025-08-11T14:41:45.241Z,1754923305.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584233
2025-08-11T14:41:45.334Z,1754923305.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:45.336Z,1754923305.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:45.339Z,1754923305.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.159241 m,
      bearing: 180.799540 deg,
      approach rate: -0.084200 m/s,
      LOS rate: 0.045707 deg/s,
      cmd heading: 184.120508 deg,
      new cmd heading: 184.171101 deg.

2025-08-11T14:41:45.492Z,1754923305.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835778
2025-08-11T14:41:45.744Z,1754923305.744 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:45.744Z,1754923305.744 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:45.744Z,1754923305.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:45.768Z,1754923305.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:45.770Z,1754923305.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.122498 m,
      bearing: 180.817751 deg,
      approach rate: -0.086028 m/s,
      LOS rate: 0.042641 deg/s,
      cmd heading: 184.171106 deg,
      new cmd heading: 184.225742 deg.

2025-08-11T14:41:45.996Z,1754923305.996 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:45.997Z,1754923305.997 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:45.997Z,1754923305.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:46.173Z,1754923306.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:46.180Z,1754923306.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.079590 m,
      bearing: 180.835264 deg,
      approach rate: -0.104731 m/s,
      LOS rate: 0.042751 deg/s,
      cmd heading: 184.225747 deg,
      new cmd heading: 184.278292 deg.

2025-08-11T14:41:46.249Z,1754923306.249 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:46.249Z,1754923306.249 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:46.249Z,1754923306.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:46.500Z,1754923306.500 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:46.500Z,1754923306.500 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:46.500Z,1754923306.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:46.556Z,1754923306.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:46.563Z,1754923306.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 540.035889 m,
      bearing: 180.851863 deg,
      approach rate: -0.114028 m/s,
      LOS rate: 0.043316 deg/s,
      cmd heading: 184.278299 deg,
      new cmd heading: 184.328101 deg.

2025-08-11T14:41:46.752Z,1754923306.752 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:46.752Z,1754923306.752 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:46.753Z,1754923306.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:46.994Z,1754923306.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:46.998Z,1754923306.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.977173 m,
      bearing: 180.871125 deg,
      approach rate: -0.134065 m/s,
      LOS rate: 0.043984 deg/s,
      cmd heading: 184.328105 deg,
      new cmd heading: 184.385895 deg.

2025-08-11T14:41:47.004Z,1754923307.004 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:47.004Z,1754923307.004 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:47.004Z,1754923307.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:47.257Z,1754923307.257 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:47.257Z,1754923307.257 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:47.257Z,1754923307.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:47.362Z,1754923307.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:47.364Z,1754923307.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:47.367Z,1754923307.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.927979 m,
      bearing: 180.886303 deg,
      approach rate: -0.133005 m/s,
      LOS rate: 0.041041 deg/s,
      cmd heading: 184.385902 deg,
      new cmd heading: 184.431441 deg.

2025-08-11T14:41:47.508Z,1754923307.508 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:47.508Z,1754923307.508 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:47.508Z,1754923307.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:47.760Z,1754923307.760 [DAT](INFO): Reached modem response timeout
2025-08-11T14:41:47.760Z,1754923307.760 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:41:47.760Z,1754923307.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:47.791Z,1754923307.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:47.794Z,1754923307.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.868835 m,
      bearing: 180.904587 deg,
      approach rate: -0.138462 m/s,
      LOS rate: 0.042810 deg/s,
      cmd heading: 184.431445 deg,
      new cmd heading: 184.486303 deg.

2025-08-11T14:41:48.013Z,1754923308.013 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:41:48.013Z,1754923308.013 [DAT](INFO): response not received
2025-08-11T14:41:48.013Z,1754923308.013 [DAT](INFO): DAT read: user:33>

2025-08-11T14:41:48.014Z,1754923308.014 [DAT](INFO): DAT read: Tx time:14:41:49.3704

2025-08-11T14:41:48.014Z,1754923308.014 [DAT](INFO): Ping request sent.
2025-08-11T14:41:48.014Z,1754923308.014 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:41:48.014Z,1754923308.014 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:48.015Z,1754923308.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000850
2025-08-11T14:41:48.264Z,1754923308.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249995
2025-08-11T14:41:48.275Z,1754923308.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:48.278Z,1754923308.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.792236 m,
      bearing: 180.922917 deg,
      approach rate: -0.165179 m/s,
      LOS rate: 0.039533 deg/s,
      cmd heading: 184.486305 deg,
      new cmd heading: 184.541304 deg.

2025-08-11T14:41:48.516Z,1754923308.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501748
2025-08-11T14:41:48.623Z,1754923308.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:48.626Z,1754923308.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.728821 m,
      bearing: 180.937356 deg,
      approach rate: -0.172300 m/s,
      LOS rate: 0.039235 deg/s,
      cmd heading: 184.541302 deg,
      new cmd heading: 184.584624 deg.

2025-08-11T14:41:48.768Z,1754923308.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753786
2025-08-11T14:41:49.020Z,1754923309.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005857
2025-08-11T14:41:49.123Z,1754923309.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:49.126Z,1754923309.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.634216 m,
      bearing: 180.956549 deg,
      approach rate: -0.189238 m/s,
      LOS rate: 0.038399 deg/s,
      cmd heading: 184.584619 deg,
      new cmd heading: 184.642210 deg.

2025-08-11T14:41:49.272Z,1754923309.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257824
2025-08-11T14:41:49.490Z,1754923309.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:49.492Z,1754923309.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:49.495Z,1754923309.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.564941 m,
      bearing: 180.969981 deg,
      approach rate: -0.187471 m/s,
      LOS rate: 0.036353 deg/s,
      cmd heading: 184.642211 deg,
      new cmd heading: 184.682511 deg.

2025-08-11T14:41:49.530Z,1754923309.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515312
2025-08-11T14:41:49.780Z,1754923309.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765937
2025-08-11T14:41:49.957Z,1754923309.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:49.965Z,1754923309.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.473206 m,
      bearing: 180.986969 deg,
      approach rate: -0.197603 m/s,
      LOS rate: 0.036599 deg/s,
      cmd heading: 184.682509 deg,
      new cmd heading: 184.733481 deg.

2025-08-11T14:41:50.033Z,1754923310.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018866
2025-08-11T14:41:50.284Z,1754923310.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269860
2025-08-11T14:41:50.345Z,1754923310.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:50.347Z,1754923310.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.374695 m,
      bearing: 181.002042 deg,
      approach rate: -0.253990 m/s,
      LOS rate: 0.038872 deg/s,
      cmd heading: 184.733476 deg,
      new cmd heading: 184.778706 deg.

2025-08-11T14:41:50.537Z,1754923310.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522377
2025-08-11T14:41:50.716Z,1754923310.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:50.719Z,1754923310.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.288391 m,
      bearing: 181.014739 deg,
      approach rate: -0.232411 m/s,
      LOS rate: 0.034197 deg/s,
      cmd heading: 184.778706 deg,
      new cmd heading: 184.816803 deg.

2025-08-11T14:41:50.789Z,1754923310.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774623
2025-08-11T14:41:51.040Z,1754923311.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025790
2025-08-11T14:41:51.118Z,1754923311.118 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,    -6,  +41,A
2025-08-11T14:41:51.133Z,1754923311.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:51.136Z,1754923311.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.180420 m,
      bearing: 181.030012 deg,
      approach rate: -0.258554 m/s,
      LOS rate: 0.036580 deg/s,
      cmd heading: 184.816805 deg,
      new cmd heading: 184.862631 deg.

2025-08-11T14:41:51.292Z,1754923311.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277767
2025-08-11T14:41:51.506Z,1754923311.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:51.508Z,1754923311.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:51.511Z,1754923311.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 539.084900 m,
      bearing: 181.043026 deg,
      approach rate: -0.254818 m/s,
      LOS rate: 0.034725 deg/s,
      cmd heading: 184.862635 deg,
      new cmd heading: 184.901686 deg.

2025-08-11T14:41:51.547Z,1754923311.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532162
2025-08-11T14:41:51.796Z,1754923311.796 [DAT](INFO): DAT read: Rx Time:14:41:52.4930

2025-08-11T14:41:51.797Z,1754923311.797 [DAT](INFO): Rx dataTimestamp_ set to:1754923311.796424
2025-08-11T14:41:51.797Z,1754923311.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782925
2025-08-11T14:41:51.986Z,1754923311.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.90 m.
2025-08-11T14:41:51.994Z,1754923311.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.900024 m,
      nav range: 538.966064 m,
      bearing: 181.058634 deg,
      approach rate: -0.248597 m/s,
      LOS rate: 0.032658 deg/s,
      cmd heading: 184.901690 deg,
      new cmd heading: 184.948524 deg.

2025-08-11T14:41:52.048Z,1754923312.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033952
2025-08-11T14:41:52.306Z,1754923312.306 [DAT](INFO): DAT read: 14:41:52.4930 LVL= 31552, 32753, 32754, 32755, AGC= 75, IDX= 441, 0.28, 1.967, 0.108, 0.799, 1.257, PHS= 0.812,-1.104,-0.502, RAW= 107.9,   9.4, CAL= 109.5,  10.7, ROT=  40.5, -10.7

2025-08-11T14:41:52.307Z,1754923312.307 [DAT](INFO): got valid direction response:
 14:41:52.4930 LVL= 31552, 32753, 32754, 32755, AGC= 75, IDX= 441, 0.28, 1.967, 0.108, 0.799, 1.257, PHS= 0.812,-1.104,-0.502, RAW= 107.9,   9.4, CAL= 109.5,  10.7, ROT=  40.5, -10.7

2025-08-11T14:41:52.308Z,1754923312.308 [DAT](INFO): DAT read: Bearing 301.5,  41.2 (Local)

2025-08-11T14:41:52.308Z,1754923312.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.5,  41.2 (Local)

2025-08-11T14:41:52.310Z,1754923312.310 [DAT](INFO): DAT read: Range 11 to 50 : 538.8 m  (Round-trip  718.5 ms) speed  0.1 m/s

2025-08-11T14:41:52.310Z,1754923312.310 [DAT](INFO): DAT read: user:34>

2025-08-11T14:41:52.315Z,1754923312.315 [DAT](INFO): DAT read: Tx time:14:41:53.6204

2025-08-11T14:41:52.315Z,1754923312.315 [DAT](INFO): Ping request sent.
2025-08-11T14:41:52.316Z,1754923312.316 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:41:52.316Z,1754923312.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:41:52.317Z,1754923312.317 [DAT](INFO): direction in FSK: [0.747185,0.638156,0.185667]
2025-08-11T14:41:52.317Z,1754923312.317 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:52.317Z,1754923312.317 [DAT](INFO): publishing direction and range info
2025-08-11T14:41:52.333Z,1754923312.333 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:52.333Z,1754923312.333 [DAT](INFO): publishing direction and range info
2025-08-11T14:41:52.588Z,1754923312.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 538.799988 m,
      deltaT: 29.279029 s,
      deltaX: -2.100037 m,
      approachRate: -0.071725 m/s,
      rangeRepo size: 4

2025-08-11T14:41:52.590Z,1754923312.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 538.799988 m,
      bearing: 180.932741 deg,
      lat: 36.905850 deg,
      lon: -122.116172 deg,
      deltaT: 29.279029 s,
      deltaX: -2.100037 m,
      approachRate: -0.071725 m/s,
      posRepo size: 3

2025-08-11T14:41:52.591Z,1754923312.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:52.609Z,1754923312.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 538.772156 m,
      bearing: 180.932741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032658 deg/s,
      cmd heading: 184.948518 deg,
      new cmd heading: 185.007321 deg.

2025-08-11T14:41:53.009Z,1754923313.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:53.018Z,1754923313.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 538.660278 m,
      bearing: 180.944271 deg,
      approach rate: -0.264675 m/s,
      LOS rate: 0.027283 deg/s,
      cmd heading: 185.007326 deg,
      new cmd heading: 185.041924 deg.

2025-08-11T14:41:53.531Z,1754923313.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:53.534Z,1754923313.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:53.536Z,1754923313.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 538.477295 m,
      bearing: 180.960110 deg,
      approach rate: -0.349050 m/s,
      LOS rate: 0.030224 deg/s,
      cmd heading: 185.041928 deg,
      new cmd heading: 185.089461 deg.

2025-08-11T14:41:53.561Z,1754923313.561 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:53.561Z,1754923313.561 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:53.561Z,1754923313.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:53.836Z,1754923313.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520920
2025-08-11T14:41:53.926Z,1754923313.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:53.931Z,1754923313.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 538.354736 m,
      bearing: 180.970335 deg,
      approach rate: -0.312494 m/s,
      LOS rate: 0.026078 deg/s,
      cmd heading: 185.089466 deg,
      new cmd heading: 185.120148 deg.

2025-08-11T14:41:54.088Z,1754923314.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772705
2025-08-11T14:41:54.340Z,1754923314.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024613
2025-08-11T14:41:54.401Z,1754923314.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:54.405Z,1754923314.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 538.191345 m,
      bearing: 180.982581 deg,
      approach rate: -0.343438 m/s,
      LOS rate: 0.025747 deg/s,
      cmd heading: 185.120147 deg,
      new cmd heading: 185.156895 deg.

2025-08-11T14:41:54.592Z,1754923314.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276714
2025-08-11T14:41:54.792Z,1754923314.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:54.795Z,1754923314.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 538.058411 m,
      bearing: 180.992144 deg,
      approach rate: -0.340234 m/s,
      LOS rate: 0.024482 deg/s,
      cmd heading: 185.156893 deg,
      new cmd heading: 185.185590 deg.

2025-08-11T14:41:54.844Z,1754923314.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528787
2025-08-11T14:41:55.096Z,1754923315.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780557
2025-08-11T14:41:55.211Z,1754923315.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:55.214Z,1754923315.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 537.904663 m,
      bearing: 181.002029 deg,
      approach rate: -0.367239 m/s,
      LOS rate: 0.023619 deg/s,
      cmd heading: 185.185594 deg,
      new cmd heading: 185.215259 deg.

2025-08-11T14:41:55.348Z,1754923315.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032571
2025-08-11T14:41:55.600Z,1754923315.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284377
2025-08-11T14:41:55.624Z,1754923315.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:55.626Z,1754923315.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:55.629Z,1754923315.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 537.750488 m,
      bearing: 181.011512 deg,
      approach rate: -0.371307 m/s,
      LOS rate: 0.022845 deg/s,
      cmd heading: 185.215264 deg,
      new cmd heading: 185.243722 deg.

2025-08-11T14:41:55.852Z,1754923315.852 [DAT](INFO): DAT read: Rx Time:14:41:56.7488

2025-08-11T14:41:55.853Z,1754923315.853 [DAT](INFO): Rx dataTimestamp_ set to:1754923315.852645
2025-08-11T14:41:55.853Z,1754923315.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537937
2025-08-11T14:41:56.058Z,1754923316.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:56.088Z,1754923316.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 537.594055 m,
      bearing: 181.020719 deg,
      approach rate: -0.361932 m/s,
      LOS rate: 0.021307 deg/s,
      cmd heading: 185.243719 deg,
      new cmd heading: 185.271346 deg.

2025-08-11T14:41:56.104Z,1754923316.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788745
2025-08-11T14:41:56.356Z,1754923316.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040638
2025-08-11T14:41:56.475Z,1754923316.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.80 m.
2025-08-11T14:41:56.478Z,1754923316.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 538.799988 m,
      nav range: 537.425537 m,
      bearing: 181.029901 deg,
      approach rate: -0.404745 m/s,
      LOS rate: 0.022061 deg/s,
      cmd heading: 185.271340 deg,
      new cmd heading: 185.298896 deg.

2025-08-11T14:41:56.614Z,1754923316.614 [DAT](INFO): DAT read: 14:41:56.7488 LVL= 30816, 32753, 32754, 32755, AGC= 78, IDX= 502,-0.26,-2.222, 2.083, 3.017,-2.960, PHS= 0.841,-1.195,-0.350, RAW= 114.4,   8.0, CAL= 115.8,   9.1, ROT=  34.2,  -9.1

2025-08-11T14:41:56.615Z,1754923316.615 [DAT](INFO): got valid direction response:
 14:41:56.7488 LVL= 30816, 32753, 32754, 32755, AGC= 78, IDX= 502,-0.26,-2.222, 2.083, 3.017,-2.960, PHS= 0.841,-1.195,-0.350, RAW= 114.4,   8.0, CAL= 115.8,   9.1, ROT=  34.2,  -9.1

2025-08-11T14:41:56.616Z,1754923316.616 [DAT](INFO): DAT read: Bearing 310.6,  36.4 (Local)

2025-08-11T14:41:56.616Z,1754923316.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.6,  36.4 (Local)

2025-08-11T14:41:56.618Z,1754923316.618 [DAT](INFO): DAT read: Range 11 to 50 : 543.2 m  (Round-trip  724.3 ms) speed  0.4 m/s

2025-08-11T14:41:56.619Z,1754923316.619 [DAT](INFO): DAT read: user:35>

2025-08-11T14:41:56.619Z,1754923316.619 [DAT](INFO): DAT read: Tx time:14:41:57.8704

2025-08-11T14:41:56.620Z,1754923316.620 [DAT](INFO): Ping request sent.
2025-08-11T14:41:56.620Z,1754923316.620 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:41:56.620Z,1754923316.620 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:41:56.621Z,1754923316.621 [DAT](INFO): direction in FSK: [0.816671,0.555009,0.158158]
2025-08-11T14:41:56.621Z,1754923316.621 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:56.621Z,1754923316.621 [DAT](INFO): publishing direction and range info
2025-08-11T14:41:56.625Z,1754923316.625 [DAT](INFO): publishing transmit ping time
2025-08-11T14:41:56.625Z,1754923316.625 [DAT](INFO): publishing direction and range info
2025-08-11T14:41:56.817Z,1754923316.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 543.200012 m,
      deltaT: 4.308057 s,
      deltaX: 4.400024 m,
      approachRate: 1.021348 m/s,
      rangeRepo size: 4

2025-08-11T14:41:56.819Z,1754923316.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 543.200012 m,
      bearing: 180.992837 deg,
      lat: 36.905905 deg,
      lon: -122.116166 deg,
      deltaT: 4.308057 s,
      deltaX: 4.400024 m,
      approachRate: 1.021348 m/s,
      posRepo size: 4

2025-08-11T14:41:56.824Z,1754923316.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:41:56.826Z,1754923316.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 531.221863 m,
      bearing: 180.992837 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022061 deg/s,
      cmd heading: 185.298893 deg,
      new cmd heading: 185.321480 deg.

2025-08-11T14:41:57.225Z,1754923317.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:41:57.228Z,1754923317.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 531.047668 m,
      bearing: 181.001937 deg,
      approach rate: -0.425891 m/s,
      LOS rate: 0.022256 deg/s,
      cmd heading: 185.321474 deg,
      new cmd heading: 185.348783 deg.

2025-08-11T14:41:57.603Z,1754923317.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:41:57.606Z,1754923317.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 530.890564 m,
      bearing: 181.009758 deg,
      approach rate: -0.415375 m/s,
      LOS rate: 0.020684 deg/s,
      cmd heading: 185.348781 deg,
      new cmd heading: 185.372250 deg.

2025-08-11T14:41:58.085Z,1754923318.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:41:58.087Z,1754923318.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:41:58.098Z,1754923318.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 530.720703 m,
      bearing: 181.017806 deg,
      approach rate: -0.351272 m/s,
      LOS rate: 0.016649 deg/s,
      cmd heading: 185.372249 deg,
      new cmd heading: 185.396402 deg.

2025-08-11T14:41:58.120Z,1754923318.120 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:41:58.120Z,1754923318.120 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:41:58.120Z,1754923318.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:41:58.372Z,1754923318.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752389
2025-08-11T14:41:58.476Z,1754923318.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:41:58.479Z,1754923318.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 530.528625 m,
      bearing: 181.026992 deg,
      approach rate: -0.493155 m/s,
      LOS rate: 0.023592 deg/s,
      cmd heading: 185.396401 deg,
      new cmd heading: 185.423968 deg.

2025-08-11T14:41:58.624Z,1754923318.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004347
2025-08-11T14:41:58.876Z,1754923318.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256400
2025-08-11T14:41:58.913Z,1754923318.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:41:58.917Z,1754923318.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 530.347046 m,
      bearing: 181.035256 deg,
      approach rate: -0.415983 m/s,
      LOS rate: 0.018940 deg/s,
      cmd heading: 185.423968 deg,
      new cmd heading: 185.448770 deg.

2025-08-11T14:41:59.128Z,1754923319.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508388
2025-08-11T14:41:59.353Z,1754923319.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:41:59.360Z,1754923319.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 530.162170 m,
      bearing: 181.043415 deg,
      approach rate: -0.419798 m/s,
      LOS rate: 0.018532 deg/s,
      cmd heading: 185.448775 deg,
      new cmd heading: 185.473258 deg.

2025-08-11T14:41:59.380Z,1754923319.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760437
2025-08-11T14:41:59.632Z,1754923319.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012586
2025-08-11T14:41:59.749Z,1754923319.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:41:59.752Z,1754923319.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 529.989136 m,
      bearing: 181.050665 deg,
      approach rate: -0.437286 m/s,
      LOS rate: 0.018329 deg/s,
      cmd heading: 185.473254 deg,
      new cmd heading: 185.495013 deg.

2025-08-11T14:41:59.884Z,1754923319.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264389
2025-08-11T14:42:00.140Z,1754923320.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519022
2025-08-11T14:42:00.215Z,1754923320.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:00.217Z,1754923320.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:00.220Z,1754923320.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 529.786255 m,
      bearing: 181.059006 deg,
      approach rate: -0.433065 m/s,
      LOS rate: 0.017811 deg/s,
      cmd heading: 185.495015 deg,
      new cmd heading: 185.520047 deg.

2025-08-11T14:42:00.394Z,1754923320.394 [DAT](INFO): DAT read: 14:42:01.0034 LVL= 23888, 32753, 31666, 32755, AGC= 73, IDX= 409,-0.32, 2.802, 0.908, 2.111, 2.228, PHS= 0.677,-1.275,-0.161, RAW= 124.7,   9.0, CAL= 125.2,  10.2, ROT=  24.8, -10.2

2025-08-11T14:42:00.395Z,1754923320.395 [DAT](INFO): got valid direction response:
 14:42:01.0034 LVL= 23888, 32753, 31666, 32755, AGC= 73, IDX= 409,-0.32, 2.802, 0.908, 2.111, 2.228, PHS= 0.677,-1.275,-0.161, RAW= 124.7,   9.0, CAL= 125.2,  10.2, ROT=  24.8, -10.2

2025-08-11T14:42:00.396Z,1754923320.396 [DAT](INFO): DAT read: Rx Time:14:42:01.0034

2025-08-11T14:42:00.396Z,1754923320.396 [DAT](INFO): Rx dataTimestamp_ set to:1754923320.395780
2025-08-11T14:42:00.397Z,1754923320.397 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-11T14:42:00.397Z,1754923320.397 [DAT](INFO): Received low SNR in chirp
2025-08-11T14:42:00.411Z,1754923320.411 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:42:00.412Z,1754923320.412 [DAT](INFO): direction in FSK: [0.893431,0.412823,0.177085]
2025-08-11T14:42:00.417Z,1754923320.417 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:00.418Z,1754923320.418 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:00.418Z,1754923320.418 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:00.570Z,1754923320.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:00.580Z,1754923320.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 529.646851 m,
      bearing: 181.064430 deg,
      approach rate: -0.399395 m/s,
      LOS rate: 0.015545 deg/s,
      cmd heading: 185.520041 deg,
      new cmd heading: 185.536318 deg.

2025-08-11T14:42:00.641Z,1754923320.641 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:00.641Z,1754923320.641 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:00.641Z,1754923320.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:00.892Z,1754923320.892 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:00.892Z,1754923320.892 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:00.892Z,1754923320.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:00.978Z,1754923320.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:00.981Z,1754923320.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 529.460388 m,
      bearing: 181.071298 deg,
      approach rate: -0.452605 m/s,
      LOS rate: 0.016676 deg/s,
      cmd heading: 185.536324 deg,
      new cmd heading: 185.556934 deg.

2025-08-11T14:42:01.144Z,1754923321.144 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:01.144Z,1754923321.144 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:01.144Z,1754923321.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:01.351Z,1754923321.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:01.354Z,1754923321.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 529.293152 m,
      bearing: 181.077466 deg,
      approach rate: -0.448770 m/s,
      LOS rate: 0.016556 deg/s,
      cmd heading: 185.556938 deg,
      new cmd heading: 185.575446 deg.

2025-08-11T14:42:01.396Z,1754923321.396 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:01.396Z,1754923321.396 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:01.396Z,1754923321.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:01.648Z,1754923321.648 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:01.648Z,1754923321.648 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:01.648Z,1754923321.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:01.761Z,1754923321.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:01.769Z,1754923321.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 529.121033 m,
      bearing: 181.083453 deg,
      approach rate: -0.420120 m/s,
      LOS rate: 0.014620 deg/s,
      cmd heading: 185.575447 deg,
      new cmd heading: 185.593416 deg.

2025-08-11T14:42:01.900Z,1754923321.900 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:01.900Z,1754923321.900 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:01.900Z,1754923321.900 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:02.152Z,1754923322.152 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:02.152Z,1754923322.152 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:02.152Z,1754923322.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:02.204Z,1754923322.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:02.206Z,1754923322.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 528.946289 m,
      bearing: 181.089336 deg,
      approach rate: -0.421394 m/s,
      LOS rate: 0.014191 deg/s,
      cmd heading: 185.593411 deg,
      new cmd heading: 185.611066 deg.

2025-08-11T14:42:02.404Z,1754923322.404 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:02.404Z,1754923322.404 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:02.404Z,1754923322.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:02.528Z,1754923322.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:02.530Z,1754923322.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:02.553Z,1754923322.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 528.796265 m,
      bearing: 181.094075 deg,
      approach rate: -0.422429 m/s,
      LOS rate: 0.013348 deg/s,
      cmd heading: 185.611060 deg,
      new cmd heading: 185.625281 deg.

2025-08-11T14:42:02.656Z,1754923322.656 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:02.656Z,1754923322.656 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:02.656Z,1754923322.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:02.908Z,1754923322.908 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:02.908Z,1754923322.908 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:02.908Z,1754923322.908 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:02.978Z,1754923322.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:02.985Z,1754923322.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 528.615234 m,
      bearing: 181.099417 deg,
      approach rate: -0.404643 m/s,
      LOS rate: 0.011945 deg/s,
      cmd heading: 185.625281 deg,
      new cmd heading: 185.641312 deg.

2025-08-11T14:42:03.160Z,1754923323.160 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:03.160Z,1754923323.160 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:03.160Z,1754923323.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:03.362Z,1754923323.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:03.365Z,1754923323.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 528.453125 m,
      bearing: 181.103862 deg,
      approach rate: -0.421554 m/s,
      LOS rate: 0.011562 deg/s,
      cmd heading: 185.641318 deg,
      new cmd heading: 185.654656 deg.

2025-08-11T14:42:03.413Z,1754923323.413 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:03.413Z,1754923323.413 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:03.413Z,1754923323.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:03.664Z,1754923323.664 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:03.664Z,1754923323.664 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:03.664Z,1754923323.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:03.740Z,1754923323.740 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-08-11T14:42:03.757Z,1754923323.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:03.760Z,1754923323.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 528.293152 m,
      bearing: 181.107913 deg,
      approach rate: -0.405736 m/s,
      LOS rate: 0.010279 deg/s,
      cmd heading: 185.654650 deg,
      new cmd heading: 185.666808 deg.

2025-08-11T14:42:03.919Z,1754923323.919 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:03.919Z,1754923323.919 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:03.919Z,1754923323.919 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:04.169Z,1754923324.169 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:04.170Z,1754923324.170 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:04.170Z,1754923324.170 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:04.292Z,1754923324.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:04.294Z,1754923324.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 528.079163 m,
      bearing: 181.113363 deg,
      approach rate: -0.399874 m/s,
      LOS rate: 0.010188 deg/s,
      cmd heading: 185.666808 deg,
      new cmd heading: 185.683164 deg.

2025-08-11T14:42:04.421Z,1754923324.421 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:04.421Z,1754923324.421 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:04.421Z,1754923324.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:04.666Z,1754923324.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:04.668Z,1754923324.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:04.672Z,1754923324.672 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:04.672Z,1754923324.672 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:04.672Z,1754923324.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:04.673Z,1754923324.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 527.927246 m,
      bearing: 181.116276 deg,
      approach rate: -0.403316 m/s,
      LOS rate: 0.007735 deg/s,
      cmd heading: 185.683160 deg,
      new cmd heading: 185.691900 deg.

2025-08-11T14:42:04.925Z,1754923324.925 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:04.925Z,1754923324.925 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:04.925Z,1754923324.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:05.178Z,1754923325.178 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:05.179Z,1754923325.179 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:05.179Z,1754923325.179 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:05.233Z,1754923325.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:05.236Z,1754923325.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 527.688354 m,
      bearing: 181.120043 deg,
      approach rate: -0.423135 m/s,
      LOS rate: 0.006675 deg/s,
      cmd heading: 185.691902 deg,
      new cmd heading: 185.703207 deg.

2025-08-11T14:42:05.428Z,1754923325.428 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:05.428Z,1754923325.428 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:05.428Z,1754923325.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:05.574Z,1754923325.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:05.577Z,1754923325.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 527.543640 m,
      bearing: 181.122013 deg,
      approach rate: -0.424274 m/s,
      LOS rate: 0.005778 deg/s,
      cmd heading: 185.703213 deg,
      new cmd heading: 185.709125 deg.

2025-08-11T14:42:05.680Z,1754923325.680 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:05.680Z,1754923325.680 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:05.681Z,1754923325.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:05.933Z,1754923325.933 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:05.933Z,1754923325.933 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:05.933Z,1754923325.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:05.984Z,1754923325.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:05.991Z,1754923325.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 527.379578 m,
      bearing: 181.123889 deg,
      approach rate: -0.400010 m/s,
      LOS rate: 0.004576 deg/s,
      cmd heading: 185.709128 deg,
      new cmd heading: 185.714759 deg.

2025-08-11T14:42:06.185Z,1754923326.185 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:06.185Z,1754923326.185 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:06.185Z,1754923326.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:06.379Z,1754923326.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:06.382Z,1754923326.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 527.204773 m,
      bearing: 181.125082 deg,
      approach rate: -0.443195 m/s,
      LOS rate: 0.003026 deg/s,
      cmd heading: 185.714756 deg,
      new cmd heading: 185.718337 deg.

2025-08-11T14:42:06.437Z,1754923326.437 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:06.437Z,1754923326.437 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:06.437Z,1754923326.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:42:06.688Z,1754923326.688 [DAT](INFO): Reached modem response timeout
2025-08-11T14:42:06.688Z,1754923326.688 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:42:06.688Z,1754923326.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:06.835Z,1754923326.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:06.855Z,1754923326.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:06.858Z,1754923326.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 527.013367 m,
      bearing: 181.125975 deg,
      approach rate: -0.401698 m/s,
      LOS rate: 0.001875 deg/s,
      cmd heading: 185.718335 deg,
      new cmd heading: 185.721015 deg.

2025-08-11T14:42:06.940Z,1754923326.940 [DAT](INFO): Reached modem response timeout
2025-08-11T14:42:06.941Z,1754923326.941 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:42:06.941Z,1754923326.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:07.195Z,1754923327.195 [DAT](INFO): Reached modem response timeout
2025-08-11T14:42:07.196Z,1754923327.196 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:42:07.197Z,1754923327.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:07.287Z,1754923327.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:07.290Z,1754923327.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 526.817993 m,
      bearing: 181.125521 deg,
      approach rate: -0.456730 m/s,
      LOS rate: -0.001062 deg/s,
      cmd heading: 185.721012 deg,
      new cmd heading: 185.719650 deg.

2025-08-11T14:42:07.444Z,1754923327.444 [DAT](INFO): Reached modem response timeout
2025-08-11T14:42:07.444Z,1754923327.444 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:42:07.444Z,1754923327.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:07.641Z,1754923327.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:07.644Z,1754923327.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 526.655273 m,
      bearing: 181.124813 deg,
      approach rate: -0.454754 m/s,
      LOS rate: -0.001981 deg/s,
      cmd heading: 185.719646 deg,
      new cmd heading: 185.717520 deg.

2025-08-11T14:42:07.697Z,1754923327.697 [DAT](INFO): Reached modem response timeout
2025-08-11T14:42:07.697Z,1754923327.697 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:42:07.697Z,1754923327.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:07.949Z,1754923327.949 [DAT](INFO): Reached modem response timeout
2025-08-11T14:42:07.949Z,1754923327.949 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:42:07.949Z,1754923327.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:08.077Z,1754923328.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:08.084Z,1754923328.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 526.462585 m,
      bearing: 181.123579 deg,
      approach rate: -0.441485 m/s,
      LOS rate: -0.002827 deg/s,
      cmd heading: 185.717515 deg,
      new cmd heading: 185.713813 deg.

2025-08-11T14:42:08.202Z,1754923328.202 [DAT](INFO): Reached modem response timeout
2025-08-11T14:42:08.204Z,1754923328.204 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:42:08.205Z,1754923328.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:08.452Z,1754923328.452 [DAT](INFO): Reached modem response timeout
2025-08-11T14:42:08.452Z,1754923328.452 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:42:08.452Z,1754923328.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:08.455Z,1754923328.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:08.458Z,1754923328.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 526.284302 m,
      bearing: 181.121674 deg,
      approach rate: -0.476557 m/s,
      LOS rate: -0.005094 deg/s,
      cmd heading: 185.713813 deg,
      new cmd heading: 185.708096 deg.

2025-08-11T14:42:08.704Z,1754923328.704 [DAT](INFO): Reached modem response timeout
2025-08-11T14:42:08.704Z,1754923328.704 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:42:08.705Z,1754923328.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:08.847Z,1754923328.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:08.850Z,1754923328.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 526.106201 m,
      bearing: 181.119086 deg,
      approach rate: -0.469249 m/s,
      LOS rate: -0.006822 deg/s,
      cmd heading: 185.708090 deg,
      new cmd heading: 185.700322 deg.

2025-08-11T14:42:08.956Z,1754923328.956 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:42:08.957Z,1754923328.957 [DAT](INFO): response not received
2025-08-11T14:42:08.957Z,1754923328.957 [DAT](INFO): DAT read: user:37>

2025-08-11T14:42:08.958Z,1754923328.958 [DAT](INFO): DAT read: Tx time:14:42:10.3204

2025-08-11T14:42:08.958Z,1754923328.958 [DAT](INFO): Ping request sent.
2025-08-11T14:42:08.958Z,1754923328.958 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:08.958Z,1754923328.958 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:08.959Z,1754923328.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-11T14:42:09.211Z,1754923329.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252621
2025-08-11T14:42:09.302Z,1754923329.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:09.304Z,1754923329.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:09.307Z,1754923329.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 525.868042 m,
      bearing: 181.113649 deg,
      approach rate: -0.503210 m/s,
      LOS rate: -0.011493 deg/s,
      cmd heading: 185.700317 deg,
      new cmd heading: 185.683998 deg.

2025-08-11T14:42:09.460Z,1754923329.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502027
2025-08-11T14:42:09.661Z,1754923329.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:09.668Z,1754923329.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 525.694641 m,
      bearing: 181.109371 deg,
      approach rate: -0.485562 m/s,
      LOS rate: -0.011982 deg/s,
      cmd heading: 185.683993 deg,
      new cmd heading: 185.671156 deg.

2025-08-11T14:42:09.712Z,1754923329.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754233
2025-08-11T14:42:09.964Z,1754923329.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006080
2025-08-11T14:42:10.074Z,1754923330.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:10.093Z,1754923330.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 525.482117 m,
      bearing: 181.103756 deg,
      approach rate: -0.514532 m/s,
      LOS rate: -0.013601 deg/s,
      cmd heading: 185.671152 deg,
      new cmd heading: 185.654298 deg.

2025-08-11T14:42:10.219Z,1754923330.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260612
2025-08-11T14:42:10.468Z,1754923330.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510298
2025-08-11T14:42:10.497Z,1754923330.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:10.500Z,1754923330.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 525.255798 m,
      bearing: 181.097036 deg,
      approach rate: -0.535459 m/s,
      LOS rate: -0.015906 deg/s,
      cmd heading: 185.654295 deg,
      new cmd heading: 185.634126 deg.

2025-08-11T14:42:10.720Z,1754923330.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762012
2025-08-11T14:42:10.868Z,1754923330.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:10.870Z,1754923330.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 525.058472 m,
      bearing: 181.090548 deg,
      approach rate: -0.532811 m/s,
      LOS rate: -0.017524 deg/s,
      cmd heading: 185.634132 deg,
      new cmd heading: 185.614662 deg.

2025-08-11T14:42:10.972Z,1754923330.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014110
2025-08-11T14:42:11.227Z,1754923331.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268488
2025-08-11T14:42:11.389Z,1754923331.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:11.391Z,1754923331.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:11.393Z,1754923331.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 524.774841 m,
      bearing: 181.079897 deg,
      approach rate: -0.542063 m/s,
      LOS rate: -0.020366 deg/s,
      cmd heading: 185.614666 deg,
      new cmd heading: 185.582697 deg.

2025-08-11T14:42:11.477Z,1754923331.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518878
2025-08-11T14:42:11.676Z,1754923331.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:11.679Z,1754923331.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 524.603760 m,
      bearing: 181.072990 deg,
      approach rate: -0.599010 m/s,
      LOS rate: -0.024194 deg/s,
      cmd heading: 185.582701 deg,
      new cmd heading: 185.561971 deg.

2025-08-11T14:42:11.728Z,1754923331.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770338
2025-08-11T14:42:11.980Z,1754923331.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022119
2025-08-11T14:42:12.096Z,1754923332.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:12.099Z,1754923332.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 524.369751 m,
      bearing: 181.063244 deg,
      approach rate: -0.557070 m/s,
      LOS rate: -0.023211 deg/s,
      cmd heading: 185.561965 deg,
      new cmd heading: 185.532714 deg.

2025-08-11T14:42:12.235Z,1754923332.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276453
2025-08-11T14:42:12.484Z,1754923332.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526083
2025-08-11T14:42:12.608Z,1754923332.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:12.611Z,1754923332.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 524.086060 m,
      bearing: 181.050537 deg,
      approach rate: -0.554377 m/s,
      LOS rate: -0.024845 deg/s,
      cmd heading: 185.532718 deg,
      new cmd heading: 185.494576 deg.

2025-08-11T14:42:12.736Z,1754923332.736 [DAT](INFO): DAT read: Rx Time:14:42:13.4471

2025-08-11T14:42:12.737Z,1754923332.737 [DAT](INFO): Rx dataTimestamp_ set to:1754923332.736383
2025-08-11T14:42:12.737Z,1754923332.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779185
2025-08-11T14:42:12.950Z,1754923332.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.20 m.
2025-08-11T14:42:12.953Z,1754923332.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.200012 m,
      nav range: 523.884399 m,
      bearing: 181.041284 deg,
      approach rate: -0.589794 m/s,
      LOS rate: -0.027072 deg/s,
      cmd heading: 185.494578 deg,
      new cmd heading: 185.466809 deg.

2025-08-11T14:42:12.988Z,1754923332.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030178
2025-08-11T14:42:13.260Z,1754923333.260 [DAT](INFO): DAT read: 14:42:13.4471 LVL= 24336, 32753, 28658, 32755, AGC= 71, IDX= 372, 0.10,-1.725,-3.130,-1.453,-2.203, PHS= 0.580,-0.883, 0.706, RAW= 154.1,  -5.3, CAL= 153.9,  -6.8, ROT= 356.1,   6.8

2025-08-11T14:42:13.264Z,1754923333.264 [DAT](INFO): got valid direction response:
 14:42:13.4471 LVL= 24336, 32753, 28658, 32755, AGC= 71, IDX= 372, 0.10,-1.725,-3.130,-1.453,-2.203, PHS= 0.580,-0.883, 0.706, RAW= 154.1,  -5.3, CAL= 153.9,  -6.8, ROT= 356.1,   6.8

2025-08-11T14:42:13.267Z,1754923333.267 [DAT](INFO): DAT read: Bearing 335.3,   3.3 (Local)

2025-08-11T14:42:13.269Z,1754923333.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.3,   3.3 (Local)

2025-08-11T14:42:13.274Z,1754923333.274 [DAT](INFO): DAT read: Range 11 to 50 : 541.9 m  (Round-trip  722.6 ms) speed  0.5 m/s

2025-08-11T14:42:13.278Z,1754923333.278 [DAT](INFO): DAT read: user:38>

2025-08-11T14:42:13.282Z,1754923333.282 [DAT](INFO): DAT read: Tx time:14:42:14.5704

2025-08-11T14:42:13.315Z,1754923333.315 [DAT](INFO): Ping request sent.
2025-08-11T14:42:13.315Z,1754923333.315 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:13.316Z,1754923333.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:13.317Z,1754923333.317 [DAT](INFO): direction in FSK: [0.990666,-0.067537,-0.118404]
2025-08-11T14:42:13.317Z,1754923333.317 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:13.317Z,1754923333.317 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:13.328Z,1754923333.328 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:13.329Z,1754923333.329 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:13.488Z,1754923333.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 541.900024 m,
      deltaT: 16.633665 s,
      deltaX: -1.299988 m,
      approachRate: -0.078154 m/s,
      rangeRepo size: 4

2025-08-11T14:42:13.490Z,1754923333.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 541.900024 m,
      bearing: 181.068585 deg,
      lat: 36.905838 deg,
      lon: -122.116172 deg,
      deltaT: 16.633665 s,
      deltaX: -1.299988 m,
      approachRate: -0.078154 m/s,
      posRepo size: 4

2025-08-11T14:42:13.495Z,1754923333.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:13.498Z,1754923333.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 531.001465 m,
      bearing: 181.068585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027072 deg/s,
      cmd heading: 185.466806 deg,
      new cmd heading: 185.423495 deg.

2025-08-11T14:42:13.874Z,1754923333.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:13.877Z,1754923333.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:13.879Z,1754923333.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 530.763000 m,
      bearing: 181.057101 deg,
      approach rate: -0.606178 m/s,
      LOS rate: -0.029206 deg/s,
      cmd heading: 185.423489 deg,
      new cmd heading: 185.389021 deg.

2025-08-11T14:42:13.997Z,1754923333.997 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:13.997Z,1754923333.997 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:13.997Z,1754923333.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:14.251Z,1754923334.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967394
2025-08-11T14:42:14.338Z,1754923334.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:14.341Z,1754923334.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 530.500366 m,
      bearing: 181.045030 deg,
      approach rate: -0.568873 m/s,
      LOS rate: -0.026159 deg/s,
      cmd heading: 185.389024 deg,
      new cmd heading: 185.352793 deg.

2025-08-11T14:42:14.500Z,1754923334.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217306
2025-08-11T14:42:14.667Z,1754923334.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:14.670Z,1754923334.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 530.314209 m,
      bearing: 181.036369 deg,
      approach rate: -0.566620 m/s,
      LOS rate: -0.026371 deg/s,
      cmd heading: 185.352797 deg,
      new cmd heading: 185.326805 deg.

2025-08-11T14:42:14.753Z,1754923334.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470138
2025-08-11T14:42:15.005Z,1754923335.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722314
2025-08-11T14:42:15.086Z,1754923335.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:15.089Z,1754923335.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 530.084961 m,
      bearing: 181.025593 deg,
      approach rate: -0.546740 m/s,
      LOS rate: -0.025710 deg/s,
      cmd heading: 185.326801 deg,
      new cmd heading: 185.294461 deg.

2025-08-11T14:42:15.256Z,1754923335.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973295
2025-08-11T14:42:15.510Z,1754923335.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227400
2025-08-11T14:42:15.539Z,1754923335.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:15.546Z,1754923335.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 529.844727 m,
      bearing: 181.015145 deg,
      approach rate: -0.530646 m/s,
      LOS rate: -0.023088 deg/s,
      cmd heading: 185.294467 deg,
      new cmd heading: 185.263110 deg.

2025-08-11T14:42:15.760Z,1754923335.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477310
2025-08-11T14:42:15.898Z,1754923335.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:15.900Z,1754923335.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:15.903Z,1754923335.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 529.624207 m,
      bearing: 181.005355 deg,
      approach rate: -0.610105 m/s,
      LOS rate: -0.027099 deg/s,
      cmd heading: 185.263117 deg,
      new cmd heading: 185.233732 deg.

2025-08-11T14:42:16.014Z,1754923336.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730586
2025-08-11T14:42:16.266Z,1754923336.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983216
2025-08-11T14:42:16.378Z,1754923336.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:16.381Z,1754923336.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 529.359253 m,
      bearing: 180.993452 deg,
      approach rate: -0.554079 m/s,
      LOS rate: -0.024903 deg/s,
      cmd heading: 185.233733 deg,
      new cmd heading: 185.198008 deg.

2025-08-11T14:42:16.517Z,1754923336.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234429
2025-08-11T14:42:16.718Z,1754923336.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:16.721Z,1754923336.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 529.171814 m,
      bearing: 180.984937 deg,
      approach rate: -0.551586 m/s,
      LOS rate: -0.025066 deg/s,
      cmd heading: 185.198011 deg,
      new cmd heading: 185.172457 deg.

2025-08-11T14:42:16.768Z,1754923336.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485450
2025-08-11T14:42:17.021Z,1754923337.021 [DAT](INFO): DAT read: Rx Time:14:42:17.6856

2025-08-11T14:42:17.022Z,1754923337.022 [DAT](INFO): Rx dataTimestamp_ set to:1754923337.020986
2025-08-11T14:42:17.023Z,1754923337.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739902
2025-08-11T14:42:17.147Z,1754923337.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.90 m.
2025-08-11T14:42:17.154Z,1754923337.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 541.900024 m,
      nav range: 528.943909 m,
      bearing: 180.974473 deg,
      approach rate: -0.531758 m/s,
      LOS rate: -0.024427 deg/s,
      cmd heading: 185.172453 deg,
      new cmd heading: 185.141045 deg.

2025-08-11T14:42:17.273Z,1754923337.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.989804
2025-08-11T14:42:17.533Z,1754923337.533 [DAT](INFO): DAT read: 14:42:17.6856 LVL= 24368, 31169, 27042, 32755, AGC= 75, IDX= 318,-0.24, 1.626, 0.094, 2.107, 1.152, PHS= 0.575,-1.013, 0.911, RAW= 159.4,  -5.4, CAL= 159.4,  -7.0, ROT= 350.6,   7.0

2025-08-11T14:42:17.535Z,1754923337.535 [DAT](INFO): got valid direction response:
 14:42:17.6856 LVL= 24368, 31169, 27042, 32755, AGC= 75, IDX= 318,-0.24, 1.626, 0.094, 2.107, 1.152, PHS= 0.575,-1.013, 0.911, RAW= 159.4,  -5.4, CAL= 159.4,  -7.0, ROT= 350.6,   7.0

2025-08-11T14:42:17.536Z,1754923337.536 [DAT](INFO): DAT read: Bearing 337.6,   0.4 (Local)

2025-08-11T14:42:17.536Z,1754923337.536 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.6,   0.4 (Local)

2025-08-11T14:42:17.537Z,1754923337.537 [DAT](INFO): DAT read: Range 11 to 50 : 533.3 m  (Round-trip  711.1 ms) speed  0.5 m/s

2025-08-11T14:42:17.538Z,1754923337.538 [DAT](INFO): DAT read: user:39>

2025-08-11T14:42:17.539Z,1754923337.539 [DAT](INFO): DAT read: Tx time:14:42:18.7704

2025-08-11T14:42:17.539Z,1754923337.539 [DAT](INFO): Ping request sent.
2025-08-11T14:42:17.539Z,1754923337.539 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:17.540Z,1754923337.540 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:17.541Z,1754923337.541 [DAT](INFO): direction in FSK: [0.979218,-0.162109,-0.121869]
2025-08-11T14:42:17.541Z,1754923337.541 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:17.541Z,1754923337.541 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:17.544Z,1754923337.544 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:17.544Z,1754923337.544 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:17.677Z,1754923337.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 533.299988 m,
      deltaT: 4.283213 s,
      deltaX: -8.600037 m,
      approachRate: -2.007847 m/s,
      rangeRepo size: 4

2025-08-11T14:42:17.679Z,1754923337.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 533.299988 m,
      bearing: 179.999002 deg,
      lat: 36.905838 deg,
      lon: -122.116071 deg,
      deltaT: 4.283213 s,
      deltaX: -8.600037 m,
      approachRate: -2.007847 m/s,
      posRepo size: 4

2025-08-11T14:42:17.692Z,1754923337.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.30 m.
2025-08-11T14:42:17.694Z,1754923337.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 533.299988 m,
      nav range: 528.615967 m,
      bearing: 179.999002 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024427 deg/s,
      cmd heading: 185.141047 deg,
      new cmd heading: 185.102627 deg.

2025-08-11T14:42:18.057Z,1754923338.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:18.059Z,1754923338.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.30 m.
2025-08-11T14:42:18.062Z,1754923338.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 533.299988 m,
      nav range: 528.417480 m,
      bearing: 179.990764 deg,
      approach rate: -0.511436 m/s,
      LOS rate: -0.021237 deg/s,
      cmd heading: 185.102621 deg,
      new cmd heading: 185.077895 deg.

2025-08-11T14:42:18.282Z,1754923338.282 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:18.282Z,1754923338.282 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:18.283Z,1754923338.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:18.450Z,1754923338.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.30 m.
2025-08-11T14:42:18.453Z,1754923338.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 533.299988 m,
      nav range: 528.224060 m,
      bearing: 179.984145 deg,
      approach rate: -0.494617 m/s,
      LOS rate: -0.016930 deg/s,
      cmd heading: 185.077895 deg,
      new cmd heading: 185.058034 deg.

2025-08-11T14:42:18.533Z,1754923338.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993691
2025-08-11T14:42:18.784Z,1754923338.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244817
2025-08-11T14:42:18.862Z,1754923338.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.30 m.
2025-08-11T14:42:18.865Z,1754923338.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 533.299988 m,
      nav range: 528.029175 m,
      bearing: 179.977471 deg,
      approach rate: -0.472873 m/s,
      LOS rate: -0.016200 deg/s,
      cmd heading: 185.058033 deg,
      new cmd heading: 185.038004 deg.

2025-08-11T14:42:19.037Z,1754923339.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497194
2025-08-11T14:42:19.288Z,1754923339.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748804
2025-08-11T14:42:19.361Z,1754923339.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.30 m.
2025-08-11T14:42:19.389Z,1754923339.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 533.299988 m,
      nav range: 527.816345 m,
      bearing: 179.969971 deg,
      approach rate: -0.431790 m/s,
      LOS rate: -0.015222 deg/s,
      cmd heading: 185.038007 deg,
      new cmd heading: 185.015499 deg.

2025-08-11T14:42:19.541Z,1754923339.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001627
2025-08-11T14:42:19.792Z,1754923339.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252840
2025-08-11T14:42:19.830Z,1754923339.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.30 m.
2025-08-11T14:42:19.832Z,1754923339.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 533.299988 m,
      nav range: 527.577393 m,
      bearing: 179.961532 deg,
      approach rate: -0.503870 m/s,
      LOS rate: -0.017803 deg/s,
      cmd heading: 185.015495 deg,
      new cmd heading: 184.990166 deg.

2025-08-11T14:42:20.045Z,1754923340.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505756
2025-08-11T14:42:20.249Z,1754923340.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:20.251Z,1754923340.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.30 m.
2025-08-11T14:42:20.254Z,1754923340.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 533.299988 m,
      nav range: 527.382751 m,
      bearing: 179.954450 deg,
      approach rate: -0.461637 m/s,
      LOS rate: -0.016805 deg/s,
      cmd heading: 184.990169 deg,
      new cmd heading: 184.968912 deg.

2025-08-11T14:42:20.296Z,1754923340.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756940
2025-08-11T14:42:20.548Z,1754923340.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008836
2025-08-11T14:42:20.682Z,1754923340.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.30 m.
2025-08-11T14:42:20.701Z,1754923340.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 533.299988 m,
      nav range: 527.184692 m,
      bearing: 179.947641 deg,
      approach rate: -0.460272 m/s,
      LOS rate: -0.015829 deg/s,
      cmd heading: 184.968913 deg,
      new cmd heading: 184.948479 deg.

2025-08-11T14:42:20.800Z,1754923340.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260785
2025-08-11T14:42:21.052Z,1754923341.052 [DAT](INFO): DAT read: Rx Time:14:42:21.8750

2025-08-11T14:42:21.053Z,1754923341.053 [DAT](INFO): Rx dataTimestamp_ set to:1754923341.052389
2025-08-11T14:42:21.053Z,1754923341.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513869
2025-08-11T14:42:21.142Z,1754923341.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 533.30 m.
2025-08-11T14:42:21.145Z,1754923341.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 533.299988 m,
      nav range: 526.972961 m,
      bearing: 179.940337 deg,
      approach rate: -0.459922 m/s,
      LOS rate: -0.015872 deg/s,
      cmd heading: 184.948477 deg,
      new cmd heading: 184.926556 deg.

2025-08-11T14:42:21.304Z,1754923341.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764739
2025-08-11T14:42:21.564Z,1754923341.564 [DAT](INFO): DAT read: 14:42:21.8750 LVL= 24176, 27441, 22866, 32627, AGC= 74, IDX= 337, 0.46, 1.436,-0.100, 1.886, 1.201, PHS= 0.337,-1.256, 0.641, RAW= 158.6,   3.2, CAL= 157.4,   2.1, ROT= 352.6,  -2.1

2025-08-11T14:42:21.565Z,1754923341.565 [DAT](INFO): got valid direction response:
 14:42:21.8750 LVL= 24176, 27441, 22866, 32627, AGC= 74, IDX= 337, 0.46, 1.436,-0.100, 1.886, 1.201, PHS= 0.337,-1.256, 0.641, RAW= 158.6,   3.2, CAL= 157.4,   2.1, ROT= 352.6,  -2.1

2025-08-11T14:42:21.566Z,1754923341.566 [DAT](INFO): DAT read: Bearing 348.3,   4.2 (Local)

2025-08-11T14:42:21.566Z,1754923341.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.3,   4.2 (Local)

2025-08-11T14:42:21.568Z,1754923341.568 [DAT](INFO): DAT read: Range 11 to 50 : 525.3 m  (Round-trip  700.4 ms) speed  0.3 m/s

2025-08-11T14:42:21.569Z,1754923341.569 [DAT](INFO): DAT read: user:40>

2025-08-11T14:42:21.570Z,1754923341.570 [DAT](INFO): DAT read: Tx time:14:42:22.9704

2025-08-11T14:42:21.570Z,1754923341.570 [DAT](INFO): Ping request sent.
2025-08-11T14:42:21.570Z,1754923341.570 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:21.570Z,1754923341.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:21.571Z,1754923341.571 [DAT](INFO): direction in FSK: [0.991005,-0.128709,0.036644]
2025-08-11T14:42:21.572Z,1754923341.572 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:21.572Z,1754923341.572 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:21.575Z,1754923341.575 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:21.579Z,1754923341.579 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:21.603Z,1754923341.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 525.299988 m,
      deltaT: 4.032496 s,
      deltaX: -8.000000 m,
      approachRate: -1.983883 m/s,
      rangeRepo size: 4

2025-08-11T14:42:21.609Z,1754923341.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 525.299988 m,
      bearing: 179.931714 deg,
      lat: 36.905921 deg,
      lon: -122.116071 deg,
      deltaT: 4.032496 s,
      deltaX: -8.000000 m,
      approachRate: -1.983883 m/s,
      posRepo size: 4

2025-08-11T14:42:21.610Z,1754923341.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:21.628Z,1754923341.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 517.618896 m,
      bearing: 179.931714 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015872 deg/s,
      cmd heading: 184.926552 deg,
      new cmd heading: 184.904649 deg.

2025-08-11T14:42:21.937Z,1754923341.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:21.950Z,1754923341.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 517.451843 m,
      bearing: 179.924699 deg,
      approach rate: -0.498347 m/s,
      LOS rate: -0.020934 deg/s,
      cmd heading: 184.904655 deg,
      new cmd heading: 184.883602 deg.

2025-08-11T14:42:22.320Z,1754923342.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:22.322Z,1754923342.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:22.325Z,1754923342.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 517.281250 m,
      bearing: 179.917547 deg,
      approach rate: -0.443665 m/s,
      LOS rate: -0.018606 deg/s,
      cmd heading: 184.883604 deg,
      new cmd heading: 184.862141 deg.

2025-08-11T14:42:22.566Z,1754923342.566 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:22.566Z,1754923342.566 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:22.566Z,1754923342.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:22.738Z,1754923342.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:22.741Z,1754923342.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 517.089050 m,
      bearing: 179.908491 deg,
      approach rate: -0.461607 m/s,
      LOS rate: -0.021758 deg/s,
      cmd heading: 184.862143 deg,
      new cmd heading: 184.834965 deg.

2025-08-11T14:42:22.816Z,1754923342.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246208
2025-08-11T14:42:23.068Z,1754923343.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498327
2025-08-11T14:42:23.120Z,1754923343.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:23.123Z,1754923343.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 516.912415 m,
      bearing: 179.900202 deg,
      approach rate: -0.461828 m/s,
      LOS rate: -0.021680 deg/s,
      cmd heading: 184.834959 deg,
      new cmd heading: 184.810084 deg.

2025-08-11T14:42:23.321Z,1754923343.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750789
2025-08-11T14:42:23.558Z,1754923343.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:23.561Z,1754923343.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 516.703613 m,
      bearing: 179.889737 deg,
      approach rate: -0.476936 m/s,
      LOS rate: -0.023914 deg/s,
      cmd heading: 184.810084 deg,
      new cmd heading: 184.778676 deg.

2025-08-11T14:42:23.572Z,1754923343.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001936
2025-08-11T14:42:23.825Z,1754923343.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254919
2025-08-11T14:42:23.923Z,1754923343.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:23.925Z,1754923343.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 516.529419 m,
      bearing: 179.881114 deg,
      approach rate: -0.478096 m/s,
      LOS rate: -0.023674 deg/s,
      cmd heading: 184.778679 deg,
      new cmd heading: 184.752801 deg.

2025-08-11T14:42:24.076Z,1754923344.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506174
2025-08-11T14:42:24.321Z,1754923344.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:24.324Z,1754923344.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 516.338928 m,
      bearing: 179.871762 deg,
      approach rate: -0.478574 m/s,
      LOS rate: -0.023505 deg/s,
      cmd heading: 184.752806 deg,
      new cmd heading: 184.724738 deg.

2025-08-11T14:42:24.328Z,1754923344.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758163
2025-08-11T14:42:24.580Z,1754923344.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010084
2025-08-11T14:42:24.832Z,1754923344.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262074
2025-08-11T14:42:24.886Z,1754923344.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:24.892Z,1754923344.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:24.895Z,1754923344.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 516.076050 m,
      bearing: 179.858407 deg,
      approach rate: -0.459897 m/s,
      LOS rate: -0.023375 deg/s,
      cmd heading: 184.724734 deg,
      new cmd heading: 184.684650 deg.

2025-08-11T14:42:25.084Z,1754923345.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514042
2025-08-11T14:42:25.242Z,1754923345.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:25.245Z,1754923345.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 515.894958 m,
      bearing: 179.849197 deg,
      approach rate: -0.518202 m/s,
      LOS rate: -0.026364 deg/s,
      cmd heading: 184.684654 deg,
      new cmd heading: 184.657015 deg.

2025-08-11T14:42:25.337Z,1754923345.337 [DAT](INFO): DAT read: Rx Time:14:42:26.0729

2025-08-11T14:42:25.338Z,1754923345.338 [DAT](INFO): Rx dataTimestamp_ set to:1754923345.337580
2025-08-11T14:42:25.338Z,1754923345.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768374
2025-08-11T14:42:25.588Z,1754923345.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018187
2025-08-11T14:42:25.637Z,1754923345.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 525.30 m.
2025-08-11T14:42:25.640Z,1754923345.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 525.299988 m,
      nav range: 515.687317 m,
      bearing: 179.838544 deg,
      approach rate: -0.525014 m/s,
      LOS rate: -0.026947 deg/s,
      cmd heading: 184.657019 deg,
      new cmd heading: 184.625047 deg.

2025-08-11T14:42:25.642Z,1754923345.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 53.960239 m.
2025-08-11T14:42:25.848Z,1754923345.848 [DAT](INFO): DAT read: 14:42:26.0729 LVL= 29600, 32753, 28754, 32755, AGC= 73, IDX= 427, 0.25, 1.001,-0.420, 1.440, 0.761, PHS= 0.342,-1.136, 0.635, RAW= 158.9,   2.0, CAL= 157.5,   0.5, ROT= 352.5,  -0.5

2025-08-11T14:42:25.849Z,1754923345.849 [DAT](INFO): got valid direction response:
 14:42:26.0729 LVL= 29600, 32753, 28754, 32755, AGC= 73, IDX= 427, 0.25, 1.001,-0.420, 1.440, 0.761, PHS= 0.342,-1.136, 0.635, RAW= 158.9,   2.0, CAL= 157.5,   0.5, ROT= 352.5,  -0.5

2025-08-11T14:42:25.850Z,1754923345.850 [DAT](INFO): DAT read: Bearing 345.9,   6.0 (Local)

2025-08-11T14:42:25.851Z,1754923345.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.9,   6.0 (Local)

2025-08-11T14:42:25.853Z,1754923345.853 [DAT](INFO): DAT read: Range 11 to 50 : 523.7 m  (Round-trip  698.3 ms) speed  0.3 m/s

2025-08-11T14:42:25.853Z,1754923345.853 [DAT](INFO): DAT read: user:41>

2025-08-11T14:42:25.854Z,1754923345.854 [DAT](INFO): DAT read: Tx time:14:42:27.1705

2025-08-11T14:42:25.854Z,1754923345.854 [DAT](INFO): Ping request sent.
2025-08-11T14:42:25.855Z,1754923345.855 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:25.855Z,1754923345.855 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:25.856Z,1754923345.856 [DAT](INFO): direction in FSK: [0.991407,-0.130521,0.008727]
2025-08-11T14:42:25.856Z,1754923345.856 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:25.856Z,1754923345.856 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:25.863Z,1754923345.863 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:25.865Z,1754923345.865 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:26.140Z,1754923346.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 523.700012 m,
      deltaT: 4.282667 s,
      deltaX: -1.599976 m,
      approachRate: -0.373593 m/s,
      rangeRepo size: 4

2025-08-11T14:42:26.142Z,1754923346.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 523.700012 m,
      bearing: 180.934380 deg,
      lat: 36.905921 deg,
      lon: -122.116184 deg,
      deltaT: 4.282667 s,
      deltaX: -1.599976 m,
      approachRate: -0.373593 m/s,
      posRepo size: 4

2025-08-11T14:42:26.143Z,1754923346.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:26.146Z,1754923346.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 515.495605 m,
      bearing: 180.934380 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026947 deg/s,
      cmd heading: 184.625054 deg,
      new cmd heading: 184.584422 deg.

2025-08-11T14:42:26.675Z,1754923346.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:26.682Z,1754923346.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 515.204041 m,
      bearing: 180.921110 deg,
      approach rate: -0.545110 m/s,
      LOS rate: -0.024822 deg/s,
      cmd heading: 184.584428 deg,
      new cmd heading: 184.544597 deg.

2025-08-11T14:42:27.158Z,1754923347.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:27.161Z,1754923347.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:27.179Z,1754923347.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 514.937195 m,
      bearing: 180.909032 deg,
      approach rate: -0.549270 m/s,
      LOS rate: -0.024875 deg/s,
      cmd heading: 184.544594 deg,
      new cmd heading: 184.508340 deg.

2025-08-11T14:42:27.364Z,1754923347.364 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:27.364Z,1754923347.364 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:27.365Z,1754923347.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:27.593Z,1754923347.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:27.596Z,1754923347.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 514.684753 m,
      bearing: 180.898275 deg,
      approach rate: -0.583843 m/s,
      LOS rate: -0.024890 deg/s,
      cmd heading: 184.508340 deg,
      new cmd heading: 184.476054 deg.

2025-08-11T14:42:27.629Z,1754923347.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773992
2025-08-11T14:42:27.880Z,1754923347.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025584
2025-08-11T14:42:28.066Z,1754923348.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:28.068Z,1754923348.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 514.409180 m,
      bearing: 180.886641 deg,
      approach rate: -0.583003 m/s,
      LOS rate: -0.024626 deg/s,
      cmd heading: 184.476060 deg,
      new cmd heading: 184.441139 deg.

2025-08-11T14:42:28.132Z,1754923348.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277471
2025-08-11T14:42:28.384Z,1754923348.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529777
2025-08-11T14:42:28.564Z,1754923348.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:28.566Z,1754923348.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 514.101440 m,
      bearing: 180.874093 deg,
      approach rate: -0.618242 m/s,
      LOS rate: -0.025223 deg/s,
      cmd heading: 184.441144 deg,
      new cmd heading: 184.403479 deg.

2025-08-11T14:42:28.637Z,1754923348.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782841
2025-08-11T14:42:28.888Z,1754923348.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033500
2025-08-11T14:42:28.958Z,1754923348.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:28.961Z,1754923348.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 513.857422 m,
      bearing: 180.864165 deg,
      approach rate: -0.618578 m/s,
      LOS rate: -0.025180 deg/s,
      cmd heading: 184.403483 deg,
      new cmd heading: 184.373683 deg.

2025-08-11T14:42:29.140Z,1754923349.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285497
2025-08-11T14:42:29.354Z,1754923349.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:29.356Z,1754923349.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:29.359Z,1754923349.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 513.616882 m,
      bearing: 180.854367 deg,
      approach rate: -0.604085 m/s,
      LOS rate: -0.024617 deg/s,
      cmd heading: 184.373689 deg,
      new cmd heading: 184.344283 deg.

2025-08-11T14:42:29.406Z,1754923349.406 [DAT](INFO): DAT read: Rx Time:14:42:30.2784

2025-08-11T14:42:29.406Z,1754923349.406 [DAT](INFO): Rx dataTimestamp_ set to:1754923349.405836
2025-08-11T14:42:29.408Z,1754923349.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.552422
2025-08-11T14:42:29.656Z,1754923349.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.801444
2025-08-11T14:42:29.771Z,1754923349.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:29.773Z,1754923349.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 513.350098 m,
      bearing: 180.842352 deg,
      approach rate: -0.643447 m/s,
      LOS rate: -0.028993 deg/s,
      cmd heading: 184.344279 deg,
      new cmd heading: 184.308215 deg.

2025-08-11T14:42:29.913Z,1754923349.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.057285
2025-08-11T14:42:30.143Z,1754923350.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.70 m.
2025-08-11T14:42:30.146Z,1754923350.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.700012 m,
      nav range: 513.115662 m,
      bearing: 180.831825 deg,
      approach rate: -0.629208 m/s,
      LOS rate: -0.028268 deg/s,
      cmd heading: 184.308215 deg,
      new cmd heading: 184.276618 deg.

2025-08-11T14:42:30.166Z,1754923350.166 [DAT](INFO): DAT read: 14:42:30.2784 LVL= 15296, 20657, 14066, 22995, AGC= 69, IDX= 500,-0.33,-1.325,-2.661,-0.968,-1.837, PHS= 0.614,-0.779, 0.825, RAW= 157.0,  -8.8, CAL= 157.6, -10.5, ROT= 352.4,  10.5

2025-08-11T14:42:30.167Z,1754923350.167 [DAT](INFO): got valid direction response:
 14:42:30.2784 LVL= 15296, 20657, 14066, 22995, AGC= 69, IDX= 500,-0.33,-1.325,-2.661,-0.968,-1.837, PHS= 0.614,-0.779, 0.825, RAW= 157.0,  -8.8, CAL= 157.6, -10.5, ROT= 352.4,  10.5

2025-08-11T14:42:30.168Z,1754923350.168 [DAT](INFO): DAT read: Bearing 332.9,   7.4 (Local)

2025-08-11T14:42:30.168Z,1754923350.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.9,   7.4 (Local)

2025-08-11T14:42:30.170Z,1754923350.170 [DAT](INFO): DAT read: Range 11 to 50 : 527.9 m  (Round-trip  703.9 ms) speed  0.7 m/s

2025-08-11T14:42:30.171Z,1754923350.171 [DAT](INFO): DAT read: user:42>

2025-08-11T14:42:30.171Z,1754923350.171 [DAT](INFO): DAT read: Tx time:14:42:31.3704

2025-08-11T14:42:30.172Z,1754923350.172 [DAT](INFO): Ping request sent.
2025-08-11T14:42:30.172Z,1754923350.172 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:30.172Z,1754923350.172 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:30.173Z,1754923350.173 [DAT](INFO): direction in FSK: [0.974618,-0.130042,-0.182236]
2025-08-11T14:42:30.173Z,1754923350.173 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:30.174Z,1754923350.174 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:30.185Z,1754923350.185 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:30.185Z,1754923350.185 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:30.635Z,1754923350.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 527.900024 m,
      deltaT: 4.319995 s,
      deltaX: 4.200012 m,
      approachRate: 0.972226 m/s,
      rangeRepo size: 4

2025-08-11T14:42:30.638Z,1754923350.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 527.900024 m,
      bearing: 180.798207 deg,
      lat: 36.905807 deg,
      lon: -122.116184 deg,
      deltaT: 4.319995 s,
      deltaX: 4.200012 m,
      approachRate: 0.972226 m/s,
      posRepo size: 4

2025-08-11T14:42:30.638Z,1754923350.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.90 m.
2025-08-11T14:42:30.641Z,1754923350.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.900024 m,
      nav range: 525.511414 m,
      bearing: 180.798207 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028268 deg/s,
      cmd heading: 184.276619 deg,
      new cmd heading: 184.234950 deg.

2025-08-11T14:42:30.976Z,1754923350.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.90 m.
2025-08-11T14:42:30.982Z,1754923350.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.900024 m,
      nav range: 525.288940 m,
      bearing: 180.788845 deg,
      approach rate: -0.654460 m/s,
      LOS rate: -0.027553 deg/s,
      cmd heading: 184.234955 deg,
      new cmd heading: 184.206856 deg.

2025-08-11T14:42:31.376Z,1754923351.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:31.378Z,1754923351.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.90 m.
2025-08-11T14:42:31.381Z,1754923351.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.900024 m,
      nav range: 525.033325 m,
      bearing: 180.778161 deg,
      approach rate: -0.633377 m/s,
      LOS rate: -0.026485 deg/s,
      cmd heading: 184.206855 deg,
      new cmd heading: 184.174789 deg.

2025-08-11T14:42:31.421Z,1754923351.421 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:31.421Z,1754923351.421 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:31.421Z,1754923351.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:31.672Z,1754923351.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500324
2025-08-11T14:42:31.876Z,1754923351.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.90 m.
2025-08-11T14:42:31.879Z,1754923351.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.900024 m,
      nav range: 524.700256 m,
      bearing: 180.763384 deg,
      approach rate: -0.668245 m/s,
      LOS rate: -0.029667 deg/s,
      cmd heading: 184.174794 deg,
      new cmd heading: 184.130434 deg.

2025-08-11T14:42:31.925Z,1754923351.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753035
2025-08-11T14:42:32.176Z,1754923352.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004603
2025-08-11T14:42:32.260Z,1754923352.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.90 m.
2025-08-11T14:42:32.263Z,1754923352.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.900024 m,
      nav range: 524.451904 m,
      bearing: 180.752471 deg,
      approach rate: -0.648650 m/s,
      LOS rate: -0.028515 deg/s,
      cmd heading: 184.130439 deg,
      new cmd heading: 184.097686 deg.

2025-08-11T14:42:32.429Z,1754923352.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256872
2025-08-11T14:42:32.680Z,1754923352.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508356
2025-08-11T14:42:32.716Z,1754923352.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.90 m.
2025-08-11T14:42:32.719Z,1754923352.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.900024 m,
      nav range: 524.162537 m,
      bearing: 180.738959 deg,
      approach rate: -0.633703 m/s,
      LOS rate: -0.029607 deg/s,
      cmd heading: 184.097681 deg,
      new cmd heading: 184.057123 deg.

2025-08-11T14:42:32.933Z,1754923352.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760987
2025-08-11T14:42:33.083Z,1754923353.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.90 m.
2025-08-11T14:42:33.086Z,1754923353.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.900024 m,
      nav range: 523.939148 m,
      bearing: 180.728731 deg,
      approach rate: -0.608481 m/s,
      LOS rate: -0.027872 deg/s,
      cmd heading: 184.057124 deg,
      new cmd heading: 184.026426 deg.

2025-08-11T14:42:33.185Z,1754923353.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013031
2025-08-11T14:42:33.436Z,1754923353.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264211
2025-08-11T14:42:33.510Z,1754923353.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:33.512Z,1754923353.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.90 m.
2025-08-11T14:42:33.514Z,1754923353.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.900024 m,
      nav range: 523.669006 m,
      bearing: 180.716489 deg,
      approach rate: -0.630025 m/s,
      LOS rate: -0.028565 deg/s,
      cmd heading: 184.026429 deg,
      new cmd heading: 183.989685 deg.

2025-08-11T14:42:33.688Z,1754923353.688 [DAT](INFO): DAT read: Rx Time:14:42:34.4663

2025-08-11T14:42:33.689Z,1754923353.689 [DAT](INFO): Rx dataTimestamp_ set to:1754923353.688355
2025-08-11T14:42:33.689Z,1754923353.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517376
2025-08-11T14:42:33.907Z,1754923353.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 527.90 m.
2025-08-11T14:42:33.910Z,1754923353.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 527.900024 m,
      nav range: 523.422791 m,
      bearing: 180.705345 deg,
      approach rate: -0.623434 m/s,
      LOS rate: -0.028232 deg/s,
      cmd heading: 183.989682 deg,
      new cmd heading: 183.956233 deg.

2025-08-11T14:42:33.941Z,1754923353.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768870
2025-08-11T14:42:34.208Z,1754923354.208 [DAT](INFO): DAT read: 14:42:34.4663 LVL= 25200, 29265, 24290, 32755, AGC= 73, IDX= 312, 0.12, 0.294,-1.149, 0.581, 0.057, PHS= 0.339,-1.161, 0.480, RAW= 154.4,   4.4, CAL= 153.5,   4.1, ROT= 356.5,  -4.1

2025-08-11T14:42:34.210Z,1754923354.210 [DAT](INFO): got valid direction response:
 14:42:34.4663 LVL= 25200, 29265, 24290, 32755, AGC= 73, IDX= 312, 0.12, 0.294,-1.149, 0.581, 0.057, PHS= 0.339,-1.161, 0.480, RAW= 154.4,   4.4, CAL= 153.5,   4.1, ROT= 356.5,  -4.1

2025-08-11T14:42:34.211Z,1754923354.211 [DAT](INFO): DAT read: Bearing 345.3,   8.4 (Local)

2025-08-11T14:42:34.211Z,1754923354.211 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,   8.4 (Local)

2025-08-11T14:42:34.213Z,1754923354.213 [DAT](INFO): DAT read: Range 11 to 50 : 518.7 m  (Round-trip  691.7 ms) speed  0.5 m/s

2025-08-11T14:42:34.213Z,1754923354.213 [DAT](INFO): DAT read: user:43>

2025-08-11T14:42:34.214Z,1754923354.214 [DAT](INFO): DAT read: Tx time:14:42:35.5704

2025-08-11T14:42:34.214Z,1754923354.214 [DAT](INFO): Ping request sent.
2025-08-11T14:42:34.214Z,1754923354.214 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:34.215Z,1754923354.215 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:34.216Z,1754923354.216 [DAT](INFO): direction in FSK: [0.995580,-0.060892,0.071497]
2025-08-11T14:42:34.216Z,1754923354.216 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:34.216Z,1754923354.216 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:34.225Z,1754923354.225 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:34.226Z,1754923354.226 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:34.292Z,1754923354.292 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-11T14:42:34.338Z,1754923354.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 518.700012 m,
      deltaT: 4.034014 s,
      deltaX: -9.200012 m,
      approachRate: -2.280610 m/s,
      rangeRepo size: 4

2025-08-11T14:42:34.345Z,1754923354.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 518.700012 m,
      bearing: 180.723728 deg,
      lat: 36.905997 deg,
      lon: -122.116184 deg,
      deltaT: 4.034014 s,
      deltaX: -9.200012 m,
      approachRate: -2.280610 m/s,
      posRepo size: 4

2025-08-11T14:42:34.346Z,1754923354.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:34.353Z,1754923354.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 501.978851 m,
      bearing: 180.723728 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028232 deg/s,
      cmd heading: 183.956228 deg,
      new cmd heading: 183.919746 deg.

2025-08-11T14:42:34.847Z,1754923354.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:34.866Z,1754923354.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 501.685944 m,
      bearing: 180.711271 deg,
      approach rate: -0.575489 m/s,
      LOS rate: -0.024488 deg/s,
      cmd heading: 183.919741 deg,
      new cmd heading: 183.882350 deg.

2025-08-11T14:42:35.233Z,1754923355.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:35.236Z,1754923355.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 501.471466 m,
      bearing: 180.702205 deg,
      approach rate: -0.554864 m/s,
      LOS rate: -0.023464 deg/s,
      cmd heading: 183.882353 deg,
      new cmd heading: 183.855144 deg.

2025-08-11T14:42:35.763Z,1754923355.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:35.765Z,1754923355.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:35.768Z,1754923355.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 501.202637 m,
      bearing: 180.692383 deg,
      approach rate: -0.505230 m/s,
      LOS rate: -0.018471 deg/s,
      cmd heading: 183.855141 deg,
      new cmd heading: 183.825657 deg.

2025-08-11T14:42:35.956Z,1754923355.956 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:35.956Z,1754923355.956 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:35.957Z,1754923355.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:36.082Z,1754923356.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:36.085Z,1754923356.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 501.038757 m,
      bearing: 180.686416 deg,
      approach rate: -0.516429 m/s,
      LOS rate: -0.018809 deg/s,
      cmd heading: 183.825662 deg,
      new cmd heading: 183.807757 deg.

2025-08-11T14:42:36.209Z,1754923356.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994882
2025-08-11T14:42:36.462Z,1754923356.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246950
2025-08-11T14:42:36.527Z,1754923356.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:36.530Z,1754923356.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 500.822174 m,
      bearing: 180.678520 deg,
      approach rate: -0.491355 m/s,
      LOS rate: -0.017922 deg/s,
      cmd heading: 183.807754 deg,
      new cmd heading: 183.784055 deg.

2025-08-11T14:42:36.712Z,1754923356.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497689
2025-08-11T14:42:36.947Z,1754923356.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:36.950Z,1754923356.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 500.618988 m,
      bearing: 180.673126 deg,
      approach rate: -0.479872 m/s,
      LOS rate: -0.012745 deg/s,
      cmd heading: 183.784053 deg,
      new cmd heading: 183.767864 deg.

2025-08-11T14:42:36.981Z,1754923356.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766256
2025-08-11T14:42:37.232Z,1754923357.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017767
2025-08-11T14:42:37.373Z,1754923357.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:37.376Z,1754923357.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 500.415436 m,
      bearing: 180.667685 deg,
      approach rate: -0.476921 m/s,
      LOS rate: -0.012754 deg/s,
      cmd heading: 183.767865 deg,
      new cmd heading: 183.751535 deg.

2025-08-11T14:42:37.486Z,1754923357.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271439
2025-08-11T14:42:37.736Z,1754923357.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521798
2025-08-11T14:42:37.837Z,1754923357.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:37.839Z,1754923357.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:37.853Z,1754923357.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 500.222229 m,
      bearing: 180.664232 deg,
      approach rate: -0.415323 m/s,
      LOS rate: -0.007425 deg/s,
      cmd heading: 183.751541 deg,
      new cmd heading: 183.741179 deg.

2025-08-11T14:42:37.988Z,1754923357.988 [DAT](INFO): DAT read: Rx Time:14:42:38.6720

2025-08-11T14:42:37.989Z,1754923357.989 [DAT](INFO): Rx dataTimestamp_ set to:1754923357.988407
2025-08-11T14:42:37.989Z,1754923357.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774901
2025-08-11T14:42:38.240Z,1754923358.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025862
2025-08-11T14:42:38.387Z,1754923358.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.70 m.
2025-08-11T14:42:38.390Z,1754923358.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 518.700012 m,
      nav range: 499.969910 m,
      bearing: 180.659625 deg,
      approach rate: -0.460279 m/s,
      LOS rate: -0.008407 deg/s,
      cmd heading: 183.741173 deg,
      new cmd heading: 183.727346 deg.

2025-08-11T14:42:38.498Z,1754923358.498 [DAT](INFO): DAT read: 14:42:38.6720 LVL= 27120, 32753, 27698, 32755, AGC= 69, IDX= 498,-0.44,-1.751, 3.119,-1.378,-2.224, PHS= 0.575,-0.895, 0.802, RAW= 157.1,  -6.1, CAL= 157.2,  -7.7, ROT= 352.8,   7.7

2025-08-11T14:42:38.502Z,1754923358.502 [DAT](INFO): got valid direction response:
 14:42:38.6720 LVL= 27120, 32753, 27698, 32755, AGC= 69, IDX= 498,-0.44,-1.751, 3.119,-1.378,-2.224, PHS= 0.575,-0.895, 0.802, RAW= 157.1,  -6.1, CAL= 157.2,  -7.7, ROT= 352.8,   7.7

2025-08-11T14:42:38.519Z,1754923358.519 [DAT](INFO): DAT read: Bearing 332.0,   4.0 (Local)

2025-08-11T14:42:38.520Z,1754923358.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.0,   4.0 (Local)

2025-08-11T14:42:38.521Z,1754923358.521 [DAT](INFO): DAT read: Range 11 to 50 : 523.0 m  (Round-trip  697.4 ms) speed  0.1 m/s

2025-08-11T14:42:38.522Z,1754923358.522 [DAT](INFO): DAT read: user:44>

2025-08-11T14:42:38.523Z,1754923358.523 [DAT](INFO): DAT read: Tx time:14:42:39.7705

2025-08-11T14:42:38.523Z,1754923358.523 [DAT](INFO): Ping request sent.
2025-08-11T14:42:38.523Z,1754923358.523 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:38.523Z,1754923358.523 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:38.524Z,1754923358.524 [DAT](INFO): direction in FSK: [0.983169,-0.124203,-0.133986]
2025-08-11T14:42:38.525Z,1754923358.525 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:38.525Z,1754923358.525 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:38.528Z,1754923358.528 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:38.528Z,1754923358.528 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:38.961Z,1754923358.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 523.000000 m,
      deltaT: 4.298066 s,
      deltaX: 4.299988 m,
      approachRate: 1.000447 m/s,
      rangeRepo size: 4

2025-08-11T14:42:38.965Z,1754923358.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 523.000000 m,
      bearing: 180.656527 deg,
      lat: 36.905997 deg,
      lon: -122.116184 deg,
      deltaT: 4.298066 s,
      deltaX: 4.299988 m,
      approachRate: 1.000447 m/s,
      posRepo size: 4

2025-08-11T14:42:38.968Z,1754923358.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.00 m.
2025-08-11T14:42:39.004Z,1754923359.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.000000 m,
      nav range: 499.724670 m,
      bearing: 180.656527 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008407 deg/s,
      cmd heading: 183.727349 deg,
      new cmd heading: 183.712893 deg.

2025-08-11T14:42:39.405Z,1754923359.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.00 m.
2025-08-11T14:42:39.413Z,1754923359.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.000000 m,
      nav range: 499.523926 m,
      bearing: 180.653886 deg,
      approach rate: -0.451213 m/s,
      LOS rate: -0.005939 deg/s,
      cmd heading: 183.712896 deg,
      new cmd heading: 183.704969 deg.

2025-08-11T14:42:39.801Z,1754923359.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.00 m.
2025-08-11T14:42:39.804Z,1754923359.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.000000 m,
      nav range: 499.349274 m,
      bearing: 180.651107 deg,
      approach rate: -0.440648 m/s,
      LOS rate: -0.007014 deg/s,
      cmd heading: 183.704973 deg,
      new cmd heading: 183.696633 deg.

2025-08-11T14:42:40.177Z,1754923360.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:40.180Z,1754923360.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.00 m.
2025-08-11T14:42:40.183Z,1754923360.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.000000 m,
      nav range: 499.180115 m,
      bearing: 180.648413 deg,
      approach rate: -0.447329 m/s,
      LOS rate: -0.007125 deg/s,
      cmd heading: 183.696626 deg,
      new cmd heading: 183.688544 deg.

2025-08-11T14:42:40.257Z,1754923360.257 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:40.257Z,1754923360.257 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:40.257Z,1754923360.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:40.508Z,1754923360.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985156
2025-08-11T14:42:40.583Z,1754923360.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.00 m.
2025-08-11T14:42:40.586Z,1754923360.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.000000 m,
      nav range: 499.000916 m,
      bearing: 180.645509 deg,
      approach rate: -0.444350 m/s,
      LOS rate: -0.007205 deg/s,
      cmd heading: 183.688539 deg,
      new cmd heading: 183.679823 deg.

2025-08-11T14:42:40.760Z,1754923360.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237378
2025-08-11T14:42:41.014Z,1754923361.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491059
2025-08-11T14:42:41.021Z,1754923361.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.00 m.
2025-08-11T14:42:41.024Z,1754923361.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.000000 m,
      nav range: 498.807068 m,
      bearing: 180.640654 deg,
      approach rate: -0.442603 m/s,
      LOS rate: -0.011089 deg/s,
      cmd heading: 183.679824 deg,
      new cmd heading: 183.665254 deg.

2025-08-11T14:42:41.264Z,1754923361.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741487
2025-08-11T14:42:41.385Z,1754923361.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.00 m.
2025-08-11T14:42:41.388Z,1754923361.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.000000 m,
      nav range: 498.639740 m,
      bearing: 180.636474 deg,
      approach rate: -0.458717 m/s,
      LOS rate: -0.011464 deg/s,
      cmd heading: 183.665248 deg,
      new cmd heading: 183.652704 deg.

2025-08-11T14:42:41.516Z,1754923361.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993360
2025-08-11T14:42:41.769Z,1754923361.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245571
2025-08-11T14:42:41.901Z,1754923361.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.00 m.
2025-08-11T14:42:41.904Z,1754923361.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.000000 m,
      nav range: 498.388916 m,
      bearing: 180.627734 deg,
      approach rate: -0.486730 m/s,
      LOS rate: -0.016968 deg/s,
      cmd heading: 183.652708 deg,
      new cmd heading: 183.626475 deg.

2025-08-11T14:42:42.020Z,1754923362.020 [DAT](INFO): DAT read: Rx Time:14:42:42.8612

2025-08-11T14:42:42.021Z,1754923362.021 [DAT](INFO): Rx dataTimestamp_ set to:1754923362.020387
2025-08-11T14:42:42.021Z,1754923362.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498283
2025-08-11T14:42:42.275Z,1754923362.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752263
2025-08-11T14:42:42.354Z,1754923362.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:42.357Z,1754923362.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.00 m.
2025-08-11T14:42:42.360Z,1754923362.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 523.000000 m,
      nav range: 498.167175 m,
      bearing: 180.620050 deg,
      approach rate: -0.486293 m/s,
      LOS rate: -0.016858 deg/s,
      cmd heading: 183.626480 deg,
      new cmd heading: 183.603419 deg.

2025-08-11T14:42:42.545Z,1754923362.545 [DAT](INFO): DAT read: 14:42:42.8612 LVL= 22848, 24513, 24514, 30803, AGC= 74, IDX= 324, 0.42,-2.360, 2.328,-2.075,-2.526, PHS= 0.269,-1.384, 0.407, RAW= 154.0,   8.2, CAL= 153.5,   8.7, ROT= 356.5,  -8.7

2025-08-11T14:42:42.546Z,1754923362.546 [DAT](INFO): got valid direction response:
 14:42:42.8612 LVL= 22848, 24513, 24514, 30803, AGC= 74, IDX= 324, 0.42,-2.360, 2.328,-2.075,-2.526, PHS= 0.269,-1.384, 0.407, RAW= 154.0,   8.2, CAL= 153.5,   8.7, ROT= 356.5,  -8.7

2025-08-11T14:42:42.547Z,1754923362.547 [DAT](INFO): DAT read: Bearing 348.5,   0.9 (Local)

2025-08-11T14:42:42.548Z,1754923362.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.5,   0.9 (Local)

2025-08-11T14:42:42.549Z,1754923362.549 [DAT](INFO): DAT read: Range 11 to 50 : 515.0 m  (Round-trip  686.7 ms) speed  0.3 m/s

2025-08-11T14:42:42.550Z,1754923362.550 [DAT](INFO): DAT read: user:45>

2025-08-11T14:42:42.551Z,1754923362.551 [DAT](INFO): DAT read: Tx time:14:42:43.9704

2025-08-11T14:42:42.551Z,1754923362.551 [DAT](INFO): Ping request sent.
2025-08-11T14:42:42.587Z,1754923362.587 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:42.588Z,1754923362.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:42.589Z,1754923362.589 [DAT](INFO): direction in FSK: [0.986650,-0.060346,0.151261]
2025-08-11T14:42:42.590Z,1754923362.590 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:42.590Z,1754923362.590 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:42.602Z,1754923362.602 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:42.603Z,1754923362.603 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:42.830Z,1754923362.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 515.000000 m,
      deltaT: 4.032943 s,
      deltaX: -8.000000 m,
      approachRate: -1.983663 m/s,
      rangeRepo size: 4

2025-08-11T14:42:42.832Z,1754923362.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 515.000000 m,
      bearing: 180.605329 deg,
      lat: 36.905966 deg,
      lon: -122.116184 deg,
      deltaT: 4.032943 s,
      deltaX: -8.000000 m,
      approachRate: -1.983663 m/s,
      posRepo size: 4

2025-08-11T14:42:42.833Z,1754923362.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:42.836Z,1754923362.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 501.391296 m,
      bearing: 180.605329 deg,
      approach rate: -68199645184.000000 m/s,
      LOS rate: -0.016858 deg/s,
      cmd heading: 183.603422 deg,
      new cmd heading: 183.579513 deg.

2025-08-11T14:42:43.237Z,1754923363.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:43.240Z,1754923363.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 501.173157 m,
      bearing: 180.596089 deg,
      approach rate: -0.534952 m/s,
      LOS rate: -0.022670 deg/s,
      cmd heading: 183.579516 deg,
      new cmd heading: 183.551783 deg.

2025-08-11T14:42:43.773Z,1754923363.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:43.780Z,1754923363.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 500.895691 m,
      bearing: 180.584404 deg,
      approach rate: -0.517539 m/s,
      LOS rate: -0.021806 deg/s,
      cmd heading: 183.551785 deg,
      new cmd heading: 183.516713 deg.

2025-08-11T14:42:44.147Z,1754923364.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:44.150Z,1754923364.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 500.672577 m,
      bearing: 180.574343 deg,
      approach rate: -0.597235 m/s,
      LOS rate: -0.026945 deg/s,
      cmd heading: 183.516719 deg,
      new cmd heading: 183.486521 deg.

2025-08-11T14:42:44.522Z,1754923364.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:44.524Z,1754923364.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:44.526Z,1754923364.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 500.452118 m,
      bearing: 180.564462 deg,
      approach rate: -0.584958 m/s,
      LOS rate: -0.026227 deg/s,
      cmd heading: 183.486516 deg,
      new cmd heading: 183.456862 deg.

2025-08-11T14:42:44.540Z,1754923364.540 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:44.540Z,1754923364.540 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:44.540Z,1754923364.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:44.796Z,1754923364.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244712
2025-08-11T14:42:44.988Z,1754923364.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:44.990Z,1754923364.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 500.170258 m,
      bearing: 180.550101 deg,
      approach rate: -0.607455 m/s,
      LOS rate: -0.030969 deg/s,
      cmd heading: 183.456859 deg,
      new cmd heading: 183.413750 deg.

2025-08-11T14:42:45.045Z,1754923365.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493828
2025-08-11T14:42:45.299Z,1754923365.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747569
2025-08-11T14:42:45.332Z,1754923365.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:45.335Z,1754923365.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 499.961212 m,
      bearing: 180.539506 deg,
      approach rate: -0.607207 m/s,
      LOS rate: -0.030788 deg/s,
      cmd heading: 183.413747 deg,
      new cmd heading: 183.381948 deg.

2025-08-11T14:42:45.552Z,1754923365.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001164
2025-08-11T14:42:45.797Z,1754923365.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:45.800Z,1754923365.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 499.678864 m,
      bearing: 180.525247 deg,
      approach rate: -0.606918 m/s,
      LOS rate: -0.030666 deg/s,
      cmd heading: 183.381946 deg,
      new cmd heading: 183.339147 deg.

2025-08-11T14:42:45.805Z,1754923365.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253583
2025-08-11T14:42:46.057Z,1754923366.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506413
2025-08-11T14:42:46.177Z,1754923366.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:46.179Z,1754923366.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 499.424286 m,
      bearing: 180.513645 deg,
      approach rate: -0.671332 m/s,
      LOS rate: -0.030610 deg/s,
      cmd heading: 183.339148 deg,
      new cmd heading: 183.304325 deg.

2025-08-11T14:42:46.308Z,1754923366.308 [DAT](INFO): DAT read: Rx Time:14:42:47.0666

2025-08-11T14:42:46.309Z,1754923366.309 [DAT](INFO): Rx dataTimestamp_ set to:1754923366.308326
2025-08-11T14:42:46.309Z,1754923366.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758244
2025-08-11T14:42:46.550Z,1754923366.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:46.552Z,1754923366.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 515.00 m.
2025-08-11T14:42:46.555Z,1754923366.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 515.000000 m,
      nav range: 499.172577 m,
      bearing: 180.502216 deg,
      approach rate: -0.670568 m/s,
      LOS rate: -0.030465 deg/s,
      cmd heading: 183.304328 deg,
      new cmd heading: 183.270021 deg.

2025-08-11T14:42:46.560Z,1754923366.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.009308
2025-08-11T14:42:46.818Z,1754923366.818 [DAT](INFO): DAT read: 14:42:47.0666 LVL= 21824, 24017, 23394, 32755, AGC= 74, IDX= 492, 0.32,-1.678, 2.929,-1.354,-1.865, PHS= 0.289,-1.444, 0.467, RAW= 154.8,   7.6, CAL= 154.3,   7.9, ROT= 355.7,  -7.9

2025-08-11T14:42:46.820Z,1754923366.820 [DAT](INFO): got valid direction response:
 14:42:47.0666 LVL= 21824, 24017, 23394, 32755, AGC= 74, IDX= 492, 0.32,-1.678, 2.929,-1.354,-1.865, PHS= 0.289,-1.444, 0.467, RAW= 154.8,   7.6, CAL= 154.3,   7.9, ROT= 355.7,  -7.9

2025-08-11T14:42:46.821Z,1754923366.821 [DAT](INFO): DAT read: Bearing 346.7,  -3.5 (Local)

2025-08-11T14:42:46.821Z,1754923366.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.7,  -3.5 (Local)

2025-08-11T14:42:46.822Z,1754923366.822 [DAT](INFO): DAT read: Range 11 to 50 : 519.0 m  (Round-trip  692.1 ms) speed  0.5 m/s

2025-08-11T14:42:46.823Z,1754923366.823 [DAT](INFO): DAT read: user:46>

2025-08-11T14:42:46.824Z,1754923366.824 [DAT](INFO): DAT read: Tx time:14:42:48.1704

2025-08-11T14:42:46.824Z,1754923366.824 [DAT](INFO): Ping request sent.
2025-08-11T14:42:46.824Z,1754923366.824 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:46.825Z,1754923366.825 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:46.826Z,1754923366.826 [DAT](INFO): direction in FSK: [0.987721,-0.074267,0.137445]
2025-08-11T14:42:46.826Z,1754923366.826 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:46.826Z,1754923366.826 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:46.835Z,1754923366.835 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:46.835Z,1754923366.835 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:47.085Z,1754923367.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 519.000000 m,
      deltaT: 4.287573 s,
      deltaX: 4.000000 m,
      approachRate: 0.932929 m/s,
      rangeRepo size: 4

2025-08-11T14:42:47.091Z,1754923367.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 519.000000 m,
      bearing: 181.136211 deg,
      lat: 36.905845 deg,
      lon: -122.116250 deg,
      deltaT: 4.287573 s,
      deltaX: 4.000000 m,
      approachRate: 0.932929 m/s,
      posRepo size: 4

2025-08-11T14:42:47.092Z,1754923367.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:47.094Z,1754923367.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 512.339172 m,
      bearing: 181.136211 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030465 deg/s,
      cmd heading: 183.270026 deg,
      new cmd heading: 183.221375 deg.

2025-08-11T14:42:47.430Z,1754923367.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:47.433Z,1754923367.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 512.101074 m,
      bearing: 181.127605 deg,
      approach rate: -0.689105 m/s,
      LOS rate: -0.024918 deg/s,
      cmd heading: 183.221382 deg,
      new cmd heading: 183.195553 deg.

2025-08-11T14:42:47.905Z,1754923367.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:47.913Z,1754923367.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 511.777496 m,
      bearing: 181.116790 deg,
      approach rate: -0.680623 m/s,
      LOS rate: -0.022764 deg/s,
      cmd heading: 183.195550 deg,
      new cmd heading: 183.163083 deg.

2025-08-11T14:42:48.237Z,1754923368.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:48.239Z,1754923368.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 511.531433 m,
      bearing: 181.108556 deg,
      approach rate: -0.742530 m/s,
      LOS rate: -0.024859 deg/s,
      cmd heading: 183.163079 deg,
      new cmd heading: 183.138366 deg.

2025-08-11T14:42:48.639Z,1754923368.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:48.641Z,1754923368.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:48.644Z,1754923368.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 511.251648 m,
      bearing: 181.099299 deg,
      approach rate: -0.692078 m/s,
      LOS rate: -0.022911 deg/s,
      cmd heading: 183.138368 deg,
      new cmd heading: 183.110581 deg.

2025-08-11T14:42:48.828Z,1754923368.828 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:48.829Z,1754923368.829 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:48.829Z,1754923368.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:49.062Z,1754923369.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:49.065Z,1754923369.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 510.967407 m,
      bearing: 181.091292 deg,
      approach rate: -0.675039 m/s,
      LOS rate: -0.019025 deg/s,
      cmd heading: 183.110582 deg,
      new cmd heading: 183.086550 deg.

2025-08-11T14:42:49.080Z,1754923369.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255815
2025-08-11T14:42:49.332Z,1754923369.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507901
2025-08-11T14:42:49.474Z,1754923369.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:49.481Z,1754923369.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 510.703735 m,
      bearing: 181.083908 deg,
      approach rate: -0.640072 m/s,
      LOS rate: -0.017935 deg/s,
      cmd heading: 183.086554 deg,
      new cmd heading: 183.064390 deg.

2025-08-11T14:42:49.585Z,1754923369.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761052
2025-08-11T14:42:49.839Z,1754923369.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014210
2025-08-11T14:42:49.941Z,1754923369.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:49.962Z,1754923369.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 510.406311 m,
      bearing: 181.075830 deg,
      approach rate: -0.639906 m/s,
      LOS rate: -0.017391 deg/s,
      cmd heading: 183.064383 deg,
      new cmd heading: 183.040134 deg.

2025-08-11T14:42:50.088Z,1754923370.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263864
2025-08-11T14:42:50.340Z,1754923370.340 [DAT](INFO): DAT read: Rx Time:14:42:51.2544

2025-08-11T14:42:50.341Z,1754923370.341 [DAT](INFO): Rx dataTimestamp_ set to:1754923370.340429
2025-08-11T14:42:50.341Z,1754923370.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517021
2025-08-11T14:42:50.390Z,1754923370.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:50.397Z,1754923370.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 510.126801 m,
      bearing: 181.068229 deg,
      approach rate: -0.619581 m/s,
      LOS rate: -0.016857 deg/s,
      cmd heading: 183.040136 deg,
      new cmd heading: 183.017322 deg.

2025-08-11T14:42:50.592Z,1754923370.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767970
2025-08-11T14:42:50.718Z,1754923370.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:50.721Z,1754923370.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:50.723Z,1754923370.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 509.903046 m,
      bearing: 181.062178 deg,
      approach rate: -0.676328 m/s,
      LOS rate: -0.018300 deg/s,
      cmd heading: 183.017323 deg,
      new cmd heading: 182.999160 deg.

2025-08-11T14:42:50.844Z,1754923370.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019969
2025-08-11T14:42:51.102Z,1754923371.102 [DAT](INFO): DAT read: 14:42:51.2544 LVL= 14576, 17585, 17538, 22771, AGC= 74, IDX= 320,-0.42,-0.508,-2.164,-0.117,-0.656, PHS= 0.250,-1.463, 0.495, RAW= 156.6,   7.8, CAL= 156.1,   8.1, ROT= 353.9,  -8.1

2025-08-11T14:42:51.103Z,1754923371.103 [DAT](INFO): got valid direction response:
 14:42:51.2544 LVL= 14576, 17585, 17538, 22771, AGC= 74, IDX= 320,-0.42,-0.508,-2.164,-0.117,-0.656, PHS= 0.250,-1.463, 0.495, RAW= 156.6,   7.8, CAL= 156.1,   8.1, ROT= 353.9,  -8.1

2025-08-11T14:42:51.104Z,1754923371.104 [DAT](INFO): DAT read: Bearing 345.6,  -7.4 (Local)

2025-08-11T14:42:51.104Z,1754923371.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.6,  -7.4 (Local)

2025-08-11T14:42:51.106Z,1754923371.106 [DAT](INFO): DAT read: Range 11 to 50 : 509.9 m  (Round-trip  679.9 ms) speed  0.4 m/s

2025-08-11T14:42:51.106Z,1754923371.106 [DAT](INFO): DAT read: user:47>

2025-08-11T14:42:51.107Z,1754923371.107 [DAT](INFO): DAT read: Tx time:14:42:52.3704

2025-08-11T14:42:51.107Z,1754923371.107 [DAT](INFO): Ping request sent.
2025-08-11T14:42:51.108Z,1754923371.108 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:51.108Z,1754923371.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:51.109Z,1754923371.109 [DAT](INFO): direction in FSK: [0.984418,-0.105204,0.140901]
2025-08-11T14:42:51.109Z,1754923371.109 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:51.109Z,1754923371.109 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:51.121Z,1754923371.121 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:51.121Z,1754923371.121 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:51.257Z,1754923371.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 509.899994 m,
      deltaT: 4.283393 s,
      deltaX: -9.100006 m,
      approachRate: -2.124485 m/s,
      rangeRepo size: 4

2025-08-11T14:42:51.272Z,1754923371.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 509.899994 m,
      bearing: 181.063732 deg,
      lat: 36.905888 deg,
      lon: -122.116250 deg,
      deltaT: 4.283393 s,
      deltaX: -9.100006 m,
      approachRate: -2.124485 m/s,
      posRepo size: 4

2025-08-11T14:42:51.273Z,1754923371.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:51.279Z,1754923371.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 504.865784 m,
      bearing: 181.063732 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018300 deg/s,
      cmd heading: 182.999155 deg,
      new cmd heading: 182.969724 deg.

2025-08-11T14:42:51.596Z,1754923371.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:51.599Z,1754923371.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 504.654297 m,
      bearing: 181.057895 deg,
      approach rate: -0.622982 m/s,
      LOS rate: -0.017204 deg/s,
      cmd heading: 182.969730 deg,
      new cmd heading: 182.952210 deg.

2025-08-11T14:42:52.018Z,1754923372.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:52.021Z,1754923372.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 504.429047 m,
      bearing: 181.052251 deg,
      approach rate: -0.533355 m/s,
      LOS rate: -0.013369 deg/s,
      cmd heading: 182.952204 deg,
      new cmd heading: 182.935265 deg.

2025-08-11T14:42:52.478Z,1754923372.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:52.481Z,1754923372.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 504.191620 m,
      bearing: 181.046304 deg,
      approach rate: -0.516654 m/s,
      LOS rate: -0.012946 deg/s,
      cmd heading: 182.935265 deg,
      new cmd heading: 182.917417 deg.

2025-08-11T14:42:52.805Z,1754923372.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:52.813Z,1754923372.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:52.823Z,1754923372.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 504.009796 m,
      bearing: 181.041749 deg,
      approach rate: -0.543977 m/s,
      LOS rate: -0.013632 deg/s,
      cmd heading: 182.917411 deg,
      new cmd heading: 182.903742 deg.

2025-08-11T14:42:52.862Z,1754923372.862 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:52.863Z,1754923372.863 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:52.864Z,1754923372.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:53.112Z,1754923373.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004449
2025-08-11T14:42:53.229Z,1754923373.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:53.232Z,1754923373.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 503.799072 m,
      bearing: 181.036785 deg,
      approach rate: -0.505522 m/s,
      LOS rate: -0.011916 deg/s,
      cmd heading: 182.903737 deg,
      new cmd heading: 182.888836 deg.

2025-08-11T14:42:53.364Z,1754923373.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256832
2025-08-11T14:42:53.607Z,1754923373.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:53.610Z,1754923373.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 503.611420 m,
      bearing: 181.032367 deg,
      approach rate: -0.496439 m/s,
      LOS rate: -0.011691 deg/s,
      cmd heading: 182.888834 deg,
      new cmd heading: 182.875576 deg.

2025-08-11T14:42:53.616Z,1754923373.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508676
2025-08-11T14:42:53.871Z,1754923373.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762861
2025-08-11T14:42:54.032Z,1754923374.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:54.035Z,1754923374.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 503.409943 m,
      bearing: 181.027825 deg,
      approach rate: -0.474959 m/s,
      LOS rate: -0.010712 deg/s,
      cmd heading: 182.875569 deg,
      new cmd heading: 182.861938 deg.

2025-08-11T14:42:54.121Z,1754923374.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013505
2025-08-11T14:42:54.372Z,1754923374.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264619
2025-08-11T14:42:54.405Z,1754923374.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:54.408Z,1754923374.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 503.232117 m,
      bearing: 181.023797 deg,
      approach rate: -0.476140 m/s,
      LOS rate: -0.010789 deg/s,
      cmd heading: 182.861936 deg,
      new cmd heading: 182.849848 deg.

2025-08-11T14:42:54.628Z,1754923374.628 [DAT](INFO): DAT read: Rx Time:14:42:55.4601

2025-08-11T14:42:54.629Z,1754923374.629 [DAT](INFO): Rx dataTimestamp_ set to:1754923374.628404
2025-08-11T14:42:54.629Z,1754923374.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521620
2025-08-11T14:42:54.879Z,1754923374.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770386
2025-08-11T14:42:54.901Z,1754923374.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:54.912Z,1754923374.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 509.90 m.
2025-08-11T14:42:54.928Z,1754923374.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 509.899994 m,
      nav range: 503.025421 m,
      bearing: 181.019093 deg,
      approach rate: -0.414723 m/s,
      LOS rate: -0.009442 deg/s,
      cmd heading: 182.849847 deg,
      new cmd heading: 182.835729 deg.

2025-08-11T14:42:55.142Z,1754923375.142 [DAT](INFO): DAT read: 14:42:55.4601 LVL= 32752, 32753, 30818, 32755, AGC= 75, IDX= 505, 0.04,-0.269,-1.822, 0.047,-0.338, PHS= 0.171,-1.439, 0.341, RAW= 155.0,  10.9, CAL= 154.9,  12.0, ROT= 355.1, -12.0

2025-08-11T14:42:55.146Z,1754923375.146 [DAT](INFO): got valid direction response:
 14:42:55.4601 LVL= 32752, 32753, 30818, 32755, AGC= 75, IDX= 505, 0.04,-0.269,-1.822, 0.047,-0.338, PHS= 0.171,-1.439, 0.341, RAW= 155.0,  10.9, CAL= 154.9,  12.0, ROT= 355.1, -12.0

2025-08-11T14:42:55.152Z,1754923375.152 [DAT](INFO): DAT read: Bearing 349.3,  -7.7 (Local)

2025-08-11T14:42:55.152Z,1754923375.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.3,  -7.7 (Local)

2025-08-11T14:42:55.153Z,1754923375.153 [DAT](INFO): DAT read: Range 11 to 50 : 514.2 m  (Round-trip  685.6 ms) speed  0.4 m/s

2025-08-11T14:42:55.154Z,1754923375.154 [DAT](INFO): DAT read: user:48>

2025-08-11T14:42:55.155Z,1754923375.155 [DAT](INFO): DAT read: Tx time:14:42:56.5704

2025-08-11T14:42:55.155Z,1754923375.155 [DAT](INFO): Ping request sent.
2025-08-11T14:42:55.155Z,1754923375.155 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:55.156Z,1754923375.156 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:55.157Z,1754923375.157 [DAT](INFO): direction in FSK: [0.974573,-0.083550,0.207912]
2025-08-11T14:42:55.157Z,1754923375.157 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:55.157Z,1754923375.157 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:55.168Z,1754923375.168 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:55.169Z,1754923375.169 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:55.362Z,1754923375.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 514.200012 m,
      deltaT: 4.033459 s,
      deltaX: 4.300018 m,
      approachRate: 1.066087 m/s,
      rangeRepo size: 4

2025-08-11T14:42:55.369Z,1754923375.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 514.200012 m,
      bearing: 180.681462 deg,
      lat: 36.905860 deg,
      lon: -122.116218 deg,
      deltaT: 4.033459 s,
      deltaX: 4.300018 m,
      approachRate: 1.066087 m/s,
      posRepo size: 4

2025-08-11T14:42:55.370Z,1754923375.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:55.376Z,1754923375.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 505.818542 m,
      bearing: 180.681462 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009442 deg/s,
      cmd heading: 182.835722 deg,
      new cmd heading: 182.822730 deg.

2025-08-11T14:42:55.697Z,1754923375.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:55.700Z,1754923375.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 505.661499 m,
      bearing: 180.677608 deg,
      approach rate: -0.468183 m/s,
      LOS rate: -0.011492 deg/s,
      cmd heading: 182.822731 deg,
      new cmd heading: 182.811166 deg.

2025-08-11T14:42:56.135Z,1754923376.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:56.153Z,1754923376.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 505.464081 m,
      bearing: 180.673140 deg,
      approach rate: -0.451473 m/s,
      LOS rate: -0.010223 deg/s,
      cmd heading: 182.811161 deg,
      new cmd heading: 182.797750 deg.

2025-08-11T14:42:56.529Z,1754923376.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:56.536Z,1754923376.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 505.293640 m,
      bearing: 180.669267 deg,
      approach rate: -0.431791 m/s,
      LOS rate: -0.009815 deg/s,
      cmd heading: 182.797746 deg,
      new cmd heading: 182.786124 deg.

2025-08-11T14:42:57.012Z,1754923377.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:57.014Z,1754923377.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:57.021Z,1754923377.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 505.068146 m,
      bearing: 180.664472 deg,
      approach rate: -0.464841 m/s,
      LOS rate: -0.009890 deg/s,
      cmd heading: 182.786121 deg,
      new cmd heading: 182.771728 deg.

2025-08-11T14:42:57.148Z,1754923377.148 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:42:57.148Z,1754923377.148 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:42:57.148Z,1754923377.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:42:57.401Z,1754923377.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245155
2025-08-11T14:42:57.528Z,1754923377.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:57.530Z,1754923377.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 504.818329 m,
      bearing: 180.659158 deg,
      approach rate: -0.486953 m/s,
      LOS rate: -0.010363 deg/s,
      cmd heading: 182.771723 deg,
      new cmd heading: 182.755774 deg.

2025-08-11T14:42:57.652Z,1754923377.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496783
2025-08-11T14:42:57.908Z,1754923377.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752257
2025-08-11T14:42:58.053Z,1754923378.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:58.064Z,1754923378.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 504.558746 m,
      bearing: 180.653089 deg,
      approach rate: -0.493651 m/s,
      LOS rate: -0.011547 deg/s,
      cmd heading: 182.755768 deg,
      new cmd heading: 182.737552 deg.

2025-08-11T14:42:58.157Z,1754923378.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001220
2025-08-11T14:42:58.408Z,1754923378.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252853
2025-08-11T14:42:58.423Z,1754923378.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:58.428Z,1754923378.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 504.364288 m,
      bearing: 180.648552 deg,
      approach rate: -0.531589 m/s,
      LOS rate: -0.012409 deg/s,
      cmd heading: 182.737558 deg,
      new cmd heading: 182.723940 deg.

2025-08-11T14:42:58.661Z,1754923378.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505416
2025-08-11T14:42:58.807Z,1754923378.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:58.810Z,1754923378.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 504.161804 m,
      bearing: 180.643824 deg,
      approach rate: -0.521780 m/s,
      LOS rate: -0.012187 deg/s,
      cmd heading: 182.723939 deg,
      new cmd heading: 182.709751 deg.

2025-08-11T14:42:58.917Z,1754923378.917 [DAT](INFO): DAT read: Rx Time:14:42:59.6666

2025-08-11T14:42:58.918Z,1754923378.918 [DAT](INFO): Rx dataTimestamp_ set to:1754923378.917379
2025-08-11T14:42:58.925Z,1754923378.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769471
2025-08-11T14:42:59.164Z,1754923379.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.008746
2025-08-11T14:42:59.245Z,1754923379.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:42:59.248Z,1754923379.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 514.20 m.
2025-08-11T14:42:59.250Z,1754923379.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 514.200012 m,
      nav range: 503.923157 m,
      bearing: 180.637777 deg,
      approach rate: -0.542123 m/s,
      LOS rate: -0.013743 deg/s,
      cmd heading: 182.709746 deg,
      new cmd heading: 182.691597 deg.

2025-08-11T14:42:59.426Z,1754923379.426 [DAT](INFO): DAT read: 14:42:59.6666 LVL= 25488, 27121, 25714, 32755, AGC= 69, IDX= 507, 0.06,-0.095,-1.764, 0.173,-0.392, PHS= 0.399,-1.327, 0.521, RAW= 153.4,   4.6, CAL= 152.5,   4.4, ROT= 357.5,  -4.4

2025-08-11T14:42:59.452Z,1754923379.452 [DAT](INFO): got valid direction response:
 14:42:59.6666 LVL= 25488, 27121, 25714, 32755, AGC= 69, IDX= 507, 0.06,-0.095,-1.764, 0.173,-0.392, PHS= 0.399,-1.327, 0.521, RAW= 153.4,   4.6, CAL= 152.5,   4.4, ROT= 357.5,  -4.4

2025-08-11T14:42:59.453Z,1754923379.453 [DAT](INFO): DAT read: Bearing 342.2,  -6.1 (Local)

2025-08-11T14:42:59.453Z,1754923379.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.2,  -6.1 (Local)

2025-08-11T14:42:59.454Z,1754923379.454 [DAT](INFO): DAT read: Range 11 to 50 : 519.0 m  (Round-trip  692.0 ms) speed  0.4 m/s

2025-08-11T14:42:59.455Z,1754923379.455 [DAT](INFO): DAT read: user:49>

2025-08-11T14:42:59.456Z,1754923379.456 [DAT](INFO): DAT read: Tx time:14:43:00.7704

2025-08-11T14:42:59.456Z,1754923379.456 [DAT](INFO): Ping request sent.
2025-08-11T14:42:59.457Z,1754923379.457 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:42:59.457Z,1754923379.457 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:42:59.459Z,1754923379.459 [DAT](INFO): direction in FSK: [0.996104,-0.043491,0.076719]
2025-08-11T14:42:59.464Z,1754923379.464 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:59.465Z,1754923379.465 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:59.469Z,1754923379.469 [DAT](INFO): publishing transmit ping time
2025-08-11T14:42:59.469Z,1754923379.469 [DAT](INFO): publishing direction and range info
2025-08-11T14:42:59.636Z,1754923379.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 519.000000 m,
      deltaT: 4.287446 s,
      deltaX: 4.799988 m,
      approachRate: 1.119545 m/s,
      rangeRepo size: 4

2025-08-11T14:42:59.638Z,1754923379.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 519.000000 m,
      bearing: 180.960131 deg,
      lat: 36.905860 deg,
      lon: -122.116250 deg,
      deltaT: 4.287446 s,
      deltaX: 4.799988 m,
      approachRate: 1.119545 m/s,
      posRepo size: 4

2025-08-11T14:42:59.639Z,1754923379.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:42:59.645Z,1754923379.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 503.763062 m,
      bearing: 180.960131 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013743 deg/s,
      cmd heading: 182.691591 deg,
      new cmd heading: 182.675774 deg.

2025-08-11T14:43:00.091Z,1754923380.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:00.097Z,1754923380.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 503.491028 m,
      bearing: 180.953156 deg,
      approach rate: -0.591931 m/s,
      LOS rate: -0.015185 deg/s,
      cmd heading: 182.675773 deg,
      new cmd heading: 182.654837 deg.

2025-08-11T14:43:00.450Z,1754923380.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:00.457Z,1754923380.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 503.294403 m,
      bearing: 180.948097 deg,
      approach rate: -0.547227 m/s,
      LOS rate: -0.014084 deg/s,
      cmd heading: 182.654831 deg,
      new cmd heading: 182.639649 deg.

2025-08-11T14:43:00.831Z,1754923380.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:00.833Z,1754923380.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 503.061432 m,
      bearing: 180.942059 deg,
      approach rate: -0.611834 m/s,
      LOS rate: -0.015865 deg/s,
      cmd heading: 182.639655 deg,
      new cmd heading: 182.621531 deg.

2025-08-11T14:43:01.246Z,1754923381.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:01.268Z,1754923381.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:01.271Z,1754923381.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 502.802429 m,
      bearing: 180.934563 deg,
      approach rate: -0.592082 m/s,
      LOS rate: -0.017144 deg/s,
      cmd heading: 182.621527 deg,
      new cmd heading: 182.599028 deg.

2025-08-11T14:43:01.435Z,1754923381.435 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:01.436Z,1754923381.436 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:01.436Z,1754923381.436 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:01.635Z,1754923381.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:01.638Z,1754923381.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 502.561310 m,
      bearing: 180.927553 deg,
      approach rate: -0.657012 m/s,
      LOS rate: -0.019112 deg/s,
      cmd heading: 182.599029 deg,
      new cmd heading: 182.577987 deg.

2025-08-11T14:43:01.684Z,1754923381.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227774
2025-08-11T14:43:01.937Z,1754923381.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480282
2025-08-11T14:43:02.111Z,1754923382.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:02.114Z,1754923382.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 502.268646 m,
      bearing: 180.918235 deg,
      approach rate: -0.615391 m/s,
      LOS rate: -0.019603 deg/s,
      cmd heading: 182.577992 deg,
      new cmd heading: 182.550023 deg.

2025-08-11T14:43:02.188Z,1754923382.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731765
2025-08-11T14:43:02.440Z,1754923382.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983913
2025-08-11T14:43:02.475Z,1754923382.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:02.478Z,1754923382.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 502.043915 m,
      bearing: 180.911030 deg,
      approach rate: -0.652417 m/s,
      LOS rate: -0.020927 deg/s,
      cmd heading: 182.550029 deg,
      new cmd heading: 182.528403 deg.

2025-08-11T14:43:02.692Z,1754923382.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235645
2025-08-11T14:43:02.846Z,1754923382.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:02.849Z,1754923382.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 501.797028 m,
      bearing: 180.903071 deg,
      approach rate: -0.630852 m/s,
      LOS rate: -0.020347 deg/s,
      cmd heading: 182.528404 deg,
      new cmd heading: 182.504516 deg.

2025-08-11T14:43:02.945Z,1754923382.945 [DAT](INFO): DAT read: Rx Time:14:43:03.8630

2025-08-11T14:43:02.946Z,1754923382.946 [DAT](INFO): Rx dataTimestamp_ set to:1754923382.945348
2025-08-11T14:43:02.947Z,1754923382.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489968
2025-08-11T14:43:03.196Z,1754923383.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739567
2025-08-11T14:43:03.274Z,1754923383.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:03.281Z,1754923383.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:03.284Z,1754923383.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 501.513611 m,
      bearing: 180.893513 deg,
      approach rate: -0.651753 m/s,
      LOS rate: -0.021993 deg/s,
      cmd heading: 182.504512 deg,
      new cmd heading: 182.475821 deg.

2025-08-11T14:43:03.448Z,1754923383.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.991623
2025-08-11T14:43:03.658Z,1754923383.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 519.00 m.
2025-08-11T14:43:03.661Z,1754923383.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 519.000000 m,
      nav range: 501.261688 m,
      bearing: 180.884979 deg,
      approach rate: -0.668490 m/s,
      LOS rate: -0.022656 deg/s,
      cmd heading: 182.475826 deg,
      new cmd heading: 182.450212 deg.

2025-08-11T14:43:03.709Z,1754923383.709 [DAT](INFO): DAT read: 14:43:03.8630 LVL= 27104, 31665, 25234, 32755, AGC= 74, IDX= 407,-0.22,-1.410,-3.078,-1.134,-1.735, PHS= 0.427,-1.298, 0.557, RAW= 153.6,   3.5, CAL= 152.6,   3.2, ROT= 357.4,  -3.2

2025-08-11T14:43:03.710Z,1754923383.710 [DAT](INFO): got valid direction response:
 14:43:03.8630 LVL= 27104, 31665, 25234, 32755, AGC= 74, IDX= 407,-0.22,-1.410,-3.078,-1.134,-1.735, PHS= 0.427,-1.298, 0.557, RAW= 153.6,   3.5, CAL= 152.6,   3.2, ROT= 357.4,  -3.2

2025-08-11T14:43:03.712Z,1754923383.712 [DAT](INFO): DAT read: Bearing 341.4,  -6.0 (Local)

2025-08-11T14:43:03.713Z,1754923383.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.4,  -6.0 (Local)

2025-08-11T14:43:03.715Z,1754923383.715 [DAT](INFO): DAT read: Range 11 to 50 : 516.3 m  (Round-trip  688.5 ms) speed  0.7 m/s

2025-08-11T14:43:03.716Z,1754923383.716 [DAT](INFO): DAT read: user:50>

2025-08-11T14:43:03.717Z,1754923383.717 [DAT](INFO): DAT read: Tx time:14:43:04.9704

2025-08-11T14:43:03.718Z,1754923383.718 [DAT](INFO): Ping request sent.
2025-08-11T14:43:03.718Z,1754923383.718 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:03.718Z,1754923383.718 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:43:03.720Z,1754923383.720 [DAT](INFO): direction in FSK: [0.997413,-0.045292,0.055822]
2025-08-11T14:43:03.720Z,1754923383.720 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:03.720Z,1754923383.720 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:03.729Z,1754923383.729 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:03.729Z,1754923383.729 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:04.125Z,1754923384.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 516.299988 m,
      deltaT: 4.283481 s,
      deltaX: -2.700012 m,
      approachRate: -0.630331 m/s,
      rangeRepo size: 4

2025-08-11T14:43:04.127Z,1754923384.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 516.299988 m,
      bearing: 180.871615 deg,
      lat: 36.905845 deg,
      lon: -122.116250 deg,
      deltaT: 4.283481 s,
      deltaX: -2.700012 m,
      approachRate: -0.630331 m/s,
      posRepo size: 4

2025-08-11T14:43:04.128Z,1754923384.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:04.131Z,1754923384.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 502.641357 m,
      bearing: 180.871615 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022656 deg/s,
      cmd heading: 182.450212 deg,
      new cmd heading: 182.418522 deg.

2025-08-11T14:43:04.543Z,1754923384.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:04.546Z,1754923384.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 502.355072 m,
      bearing: 180.861328 deg,
      approach rate: -0.683966 m/s,
      LOS rate: -0.024592 deg/s,
      cmd heading: 182.418520 deg,
      new cmd heading: 182.387640 deg.

2025-08-11T14:43:04.872Z,1754923384.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:04.874Z,1754923384.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 502.140259 m,
      bearing: 180.853571 deg,
      approach rate: -0.653297 m/s,
      LOS rate: -0.023602 deg/s,
      cmd heading: 182.387634 deg,
      new cmd heading: 182.364352 deg.

2025-08-11T14:43:05.310Z,1754923385.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:05.328Z,1754923385.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:05.331Z,1754923385.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 501.855530 m,
      bearing: 180.842702 deg,
      approach rate: -0.624165 m/s,
      LOS rate: -0.023840 deg/s,
      cmd heading: 182.364357 deg,
      new cmd heading: 182.331732 deg.

2025-08-11T14:43:05.464Z,1754923385.464 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:05.464Z,1754923385.464 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:05.465Z,1754923385.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:05.716Z,1754923385.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998379
2025-08-11T14:43:05.770Z,1754923385.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:05.773Z,1754923385.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 501.570374 m,
      bearing: 180.831773 deg,
      approach rate: -0.673951 m/s,
      LOS rate: -0.025843 deg/s,
      cmd heading: 182.331736 deg,
      new cmd heading: 182.298932 deg.

2025-08-11T14:43:05.969Z,1754923385.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250999
2025-08-11T14:43:06.191Z,1754923386.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:06.194Z,1754923386.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 501.299133 m,
      bearing: 180.821541 deg,
      approach rate: -0.622059 m/s,
      LOS rate: -0.023478 deg/s,
      cmd heading: 182.298937 deg,
      new cmd heading: 182.268225 deg.

2025-08-11T14:43:06.220Z,1754923386.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502432
2025-08-11T14:43:06.472Z,1754923386.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754377
2025-08-11T14:43:06.554Z,1754923386.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:06.557Z,1754923386.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 501.062103 m,
      bearing: 180.812583 deg,
      approach rate: -0.645549 m/s,
      LOS rate: -0.024409 deg/s,
      cmd heading: 182.268229 deg,
      new cmd heading: 182.241342 deg.

2025-08-11T14:43:06.724Z,1754923386.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006333
2025-08-11T14:43:06.976Z,1754923386.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258487
2025-08-11T14:43:06.979Z,1754923386.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:06.982Z,1754923386.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 500.793640 m,
      bearing: 180.802419 deg,
      approach rate: -0.632069 m/s,
      LOS rate: -0.023944 deg/s,
      cmd heading: 182.241345 deg,
      new cmd heading: 182.210835 deg.

2025-08-11T14:43:07.236Z,1754923387.236 [DAT](INFO): DAT read: 14:43:08.0509 LVL= 25392, 31217, 25746, 32755, AGC= 72, IDX= 316,-0.42, 2.454, 0.944, 2.733, 2.165, PHS= 0.390,-1.176, 0.523, RAW= 154.0,   3.3, CAL= 153.0,   2.8, ROT= 357.0,  -2.8

2025-08-11T14:43:07.237Z,1754923387.237 [DAT](INFO): got valid direction response:
 14:43:08.0509 LVL= 25392, 31217, 25746, 32755, AGC= 72, IDX= 316,-0.42, 2.454, 0.944, 2.733, 2.165, PHS= 0.390,-1.176, 0.523, RAW= 154.0,   3.3, CAL= 153.0,   2.8, ROT= 357.0,  -2.8

2025-08-11T14:43:07.237Z,1754923387.237 [DAT](INFO): DAT read: Rx Time:14:43:08.0509

2025-08-11T14:43:07.238Z,1754923387.238 [DAT](INFO): Rx dataTimestamp_ set to:1754923387.237583
2025-08-11T14:43:07.239Z,1754923387.239 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-11T14:43:07.239Z,1754923387.239 [DAT](INFO): Received low SNR in chirp
2025-08-11T14:43:07.252Z,1754923387.252 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:43:07.254Z,1754923387.254 [DAT](INFO): direction in FSK: [0.997437,-0.052273,0.048850]
2025-08-11T14:43:07.258Z,1754923387.258 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:07.258Z,1754923387.258 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:07.258Z,1754923387.258 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:07.407Z,1754923387.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:07.415Z,1754923387.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:07.424Z,1754923387.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 500.537964 m,
      bearing: 180.793642 deg,
      approach rate: -0.592327 m/s,
      LOS rate: -0.020344 deg/s,
      cmd heading: 182.210842 deg,
      new cmd heading: 182.184498 deg.

2025-08-11T14:43:07.481Z,1754923387.481 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:07.481Z,1754923387.481 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:07.481Z,1754923387.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:07.732Z,1754923387.732 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:07.732Z,1754923387.732 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:07.732Z,1754923387.732 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:07.744Z,1754923387.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:07.748Z,1754923387.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 500.316559 m,
      bearing: 180.786064 deg,
      approach rate: -0.663348 m/s,
      LOS rate: -0.022715 deg/s,
      cmd heading: 182.184504 deg,
      new cmd heading: 182.161760 deg.

2025-08-11T14:43:07.984Z,1754923387.984 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:07.984Z,1754923387.984 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:07.984Z,1754923387.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:08.227Z,1754923388.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:08.230Z,1754923388.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 500.042267 m,
      bearing: 180.776426 deg,
      approach rate: -0.568783 m/s,
      LOS rate: -0.019997 deg/s,
      cmd heading: 182.161760 deg,
      new cmd heading: 182.132830 deg.

2025-08-11T14:43:08.236Z,1754923388.236 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:08.236Z,1754923388.236 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:08.236Z,1754923388.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:08.488Z,1754923388.488 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:08.488Z,1754923388.488 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:08.488Z,1754923388.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:08.570Z,1754923388.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:08.573Z,1754923388.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 499.839081 m,
      bearing: 180.769281 deg,
      approach rate: -0.592027 m/s,
      LOS rate: -0.020828 deg/s,
      cmd heading: 182.132827 deg,
      new cmd heading: 182.111383 deg.

2025-08-11T14:43:08.740Z,1754923388.740 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:08.740Z,1754923388.740 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:08.740Z,1754923388.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:08.979Z,1754923388.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:08.981Z,1754923388.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 499.612122 m,
      bearing: 180.761365 deg,
      approach rate: -0.555291 m/s,
      LOS rate: -0.019375 deg/s,
      cmd heading: 182.111380 deg,
      new cmd heading: 182.087623 deg.

2025-08-11T14:43:08.992Z,1754923388.992 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:08.992Z,1754923388.992 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:08.992Z,1754923388.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:09.244Z,1754923389.244 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:09.244Z,1754923389.244 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:09.244Z,1754923389.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:09.378Z,1754923389.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:09.381Z,1754923389.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 499.383667 m,
      bearing: 180.754109 deg,
      approach rate: -0.571795 m/s,
      LOS rate: -0.018170 deg/s,
      cmd heading: 182.087625 deg,
      new cmd heading: 182.065847 deg.

2025-08-11T14:43:09.496Z,1754923389.496 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:09.496Z,1754923389.496 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:09.496Z,1754923389.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:09.748Z,1754923389.748 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:09.748Z,1754923389.748 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:09.748Z,1754923389.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:09.786Z,1754923389.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:09.793Z,1754923389.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:09.800Z,1754923389.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 499.160675 m,
      bearing: 180.747049 deg,
      approach rate: -0.537159 m/s,
      LOS rate: -0.017013 deg/s,
      cmd heading: 182.065850 deg,
      new cmd heading: 182.044662 deg.

2025-08-11T14:43:09.000Z,1754923390.000 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:09.000Z,1754923390.000 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:10.000Z,1754923390.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:10.196Z,1754923390.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:10.199Z,1754923390.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 498.939697 m,
      bearing: 180.741035 deg,
      approach rate: -0.549563 m/s,
      LOS rate: -0.014965 deg/s,
      cmd heading: 182.044663 deg,
      new cmd heading: 182.026612 deg.

2025-08-11T14:43:10.252Z,1754923390.252 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:10.253Z,1754923390.253 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:10.253Z,1754923390.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:10.504Z,1754923390.504 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:10.504Z,1754923390.504 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:10.504Z,1754923390.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:10.599Z,1754923390.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:10.602Z,1754923390.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 498.728943 m,
      bearing: 180.735292 deg,
      approach rate: -0.527245 m/s,
      LOS rate: -0.014372 deg/s,
      cmd heading: 182.026618 deg,
      new cmd heading: 182.009383 deg.

2025-08-11T14:43:10.756Z,1754923390.756 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:10.756Z,1754923390.756 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:10.756Z,1754923390.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:11.002Z,1754923391.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:11.008Z,1754923391.008 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:11.008Z,1754923391.008 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:11.008Z,1754923391.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:11.013Z,1754923391.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 498.520905 m,
      bearing: 180.729625 deg,
      approach rate: -0.510864 m/s,
      LOS rate: -0.013924 deg/s,
      cmd heading: 182.009378 deg,
      new cmd heading: 181.992368 deg.

2025-08-11T14:43:11.260Z,1754923391.260 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:11.260Z,1754923391.260 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:11.260Z,1754923391.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:11.429Z,1754923391.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:11.449Z,1754923391.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 498.280518 m,
      bearing: 180.723772 deg,
      approach rate: -0.563502 m/s,
      LOS rate: -0.013726 deg/s,
      cmd heading: 181.992371 deg,
      new cmd heading: 181.974805 deg.

2025-08-11T14:43:11.513Z,1754923391.513 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:11.513Z,1754923391.513 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:11.513Z,1754923391.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:11.764Z,1754923391.764 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:11.764Z,1754923391.764 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:11.764Z,1754923391.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:11.792Z,1754923391.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:11.794Z,1754923391.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:11.801Z,1754923391.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 498.096436 m,
      bearing: 180.719271 deg,
      approach rate: -0.504695 m/s,
      LOS rate: -0.012346 deg/s,
      cmd heading: 181.974804 deg,
      new cmd heading: 181.961295 deg.

2025-08-11T14:43:12.017Z,1754923392.017 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:12.017Z,1754923392.017 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:12.017Z,1754923392.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:12.228Z,1754923392.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:12.231Z,1754923392.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 497.854767 m,
      bearing: 180.713832 deg,
      approach rate: -0.555809 m/s,
      LOS rate: -0.012515 deg/s,
      cmd heading: 181.961294 deg,
      new cmd heading: 181.944970 deg.

2025-08-11T14:43:12.268Z,1754923392.268 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:12.268Z,1754923392.268 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:12.268Z,1754923392.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:12.520Z,1754923392.520 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:12.520Z,1754923392.520 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:12.520Z,1754923392.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:12.602Z,1754923392.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:12.609Z,1754923392.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 497.659607 m,
      bearing: 180.709429 deg,
      approach rate: -0.522554 m/s,
      LOS rate: -0.011794 deg/s,
      cmd heading: 181.944970 deg,
      new cmd heading: 181.931756 deg.

2025-08-11T14:43:12.772Z,1754923392.772 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:12.772Z,1754923392.772 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:12.772Z,1754923392.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:13.010Z,1754923393.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:13.016Z,1754923393.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 497.447815 m,
      bearing: 180.704629 deg,
      approach rate: -0.519530 m/s,
      LOS rate: -0.011779 deg/s,
      cmd heading: 181.931760 deg,
      new cmd heading: 181.917355 deg.

2025-08-11T14:43:13.024Z,1754923393.024 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:13.024Z,1754923393.024 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:13.024Z,1754923393.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:13.276Z,1754923393.276 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:13.276Z,1754923393.276 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:13.276Z,1754923393.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:13.450Z,1754923393.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:13.452Z,1754923393.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 497.211945 m,
      bearing: 180.699184 deg,
      approach rate: -0.536188 m/s,
      LOS rate: -0.012383 deg/s,
      cmd heading: 181.917348 deg,
      new cmd heading: 181.901006 deg.

2025-08-11T14:43:13.528Z,1754923393.528 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:13.528Z,1754923393.528 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:13.528Z,1754923393.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:13.780Z,1754923393.780 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:13.780Z,1754923393.780 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:13.780Z,1754923393.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:13.795Z,1754923393.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:13.810Z,1754923393.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:13.817Z,1754923393.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 497.016541 m,
      bearing: 180.694654 deg,
      approach rate: -0.542429 m/s,
      LOS rate: -0.012581 deg/s,
      cmd heading: 181.901011 deg,
      new cmd heading: 181.887414 deg.

2025-08-11T14:43:14.032Z,1754923394.032 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:14.032Z,1754923394.032 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:14.032Z,1754923394.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:14.258Z,1754923394.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:14.261Z,1754923394.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 496.761230 m,
      bearing: 180.688765 deg,
      approach rate: -0.569721 m/s,
      LOS rate: -0.013148 deg/s,
      cmd heading: 181.887419 deg,
      new cmd heading: 181.869742 deg.

2025-08-11T14:43:14.284Z,1754923394.284 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:14.284Z,1754923394.284 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:14.284Z,1754923394.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:14.537Z,1754923394.537 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:14.537Z,1754923394.537 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:14.537Z,1754923394.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:14.622Z,1754923394.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:14.629Z,1754923394.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 496.568329 m,
      bearing: 180.684336 deg,
      approach rate: -0.529404 m/s,
      LOS rate: -0.012157 deg/s,
      cmd heading: 181.869742 deg,
      new cmd heading: 181.856452 deg.

2025-08-11T14:43:14.788Z,1754923394.788 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:14.788Z,1754923394.788 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:14.788Z,1754923394.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:15.035Z,1754923395.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:15.038Z,1754923395.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 496.337524 m,
      bearing: 180.679034 deg,
      approach rate: -0.559421 m/s,
      LOS rate: -0.012858 deg/s,
      cmd heading: 181.856450 deg,
      new cmd heading: 181.840535 deg.

2025-08-11T14:43:15.040Z,1754923395.040 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:15.040Z,1754923395.040 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:15.040Z,1754923395.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:15.293Z,1754923395.293 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:15.294Z,1754923395.294 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:15.294Z,1754923395.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:15.470Z,1754923395.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:15.473Z,1754923395.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 496.082031 m,
      bearing: 180.672701 deg,
      approach rate: -0.587522 m/s,
      LOS rate: -0.014570 deg/s,
      cmd heading: 181.840536 deg,
      new cmd heading: 181.821528 deg.

2025-08-11T14:43:15.546Z,1754923395.546 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:15.546Z,1754923395.546 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:15.546Z,1754923395.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:15.796Z,1754923395.796 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:15.796Z,1754923395.796 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:15.796Z,1754923395.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:15.817Z,1754923395.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:15.819Z,1754923395.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:15.842Z,1754923395.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 495.883057 m,
      bearing: 180.667818 deg,
      approach rate: -0.570198 m/s,
      LOS rate: -0.013997 deg/s,
      cmd heading: 181.821534 deg,
      new cmd heading: 181.806881 deg.

2025-08-11T14:43:16.048Z,1754923396.048 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:43:16.049Z,1754923396.049 [DAT](INFO): response not received
2025-08-11T14:43:16.049Z,1754923396.049 [DAT](INFO): DAT read: user:52>

2025-08-11T14:43:16.050Z,1754923396.050 [DAT](INFO): DAT read: Tx time:14:43:17.4204

2025-08-11T14:43:16.050Z,1754923396.050 [DAT](INFO): Ping request sent.
2025-08-11T14:43:16.050Z,1754923396.050 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:16.050Z,1754923396.050 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:16.051Z,1754923396.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-11T14:43:16.283Z,1754923396.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:16.286Z,1754923396.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 495.610474 m,
      bearing: 180.660020 deg,
      approach rate: -0.587094 m/s,
      LOS rate: -0.016806 deg/s,
      cmd heading: 181.806877 deg,
      new cmd heading: 181.783468 deg.

2025-08-11T14:43:16.308Z,1754923396.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258152
2025-08-11T14:43:16.560Z,1754923396.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510054
2025-08-11T14:43:16.642Z,1754923396.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:16.645Z,1754923396.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 495.399902 m,
      bearing: 180.654055 deg,
      approach rate: -0.586138 m/s,
      LOS rate: -0.016610 deg/s,
      cmd heading: 181.783463 deg,
      new cmd heading: 181.765562 deg.

2025-08-11T14:43:16.812Z,1754923396.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762107
2025-08-11T14:43:17.064Z,1754923397.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014206
2025-08-11T14:43:17.066Z,1754923397.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:17.068Z,1754923397.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 495.152649 m,
      bearing: 180.647134 deg,
      approach rate: -0.583997 m/s,
      LOS rate: -0.016357 deg/s,
      cmd heading: 181.765568 deg,
      new cmd heading: 181.744793 deg.

2025-08-11T14:43:17.316Z,1754923397.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266020
2025-08-11T14:43:17.496Z,1754923397.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:17.498Z,1754923397.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 494.907745 m,
      bearing: 180.639836 deg,
      approach rate: -0.575878 m/s,
      LOS rate: -0.017168 deg/s,
      cmd heading: 181.744790 deg,
      new cmd heading: 181.722888 deg.

2025-08-11T14:43:17.568Z,1754923397.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518186
2025-08-11T14:43:17.820Z,1754923397.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770102
2025-08-11T14:43:17.980Z,1754923397.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:17.982Z,1754923397.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:17.985Z,1754923397.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 494.604858 m,
      bearing: 180.631047 deg,
      approach rate: -0.616037 m/s,
      LOS rate: -0.017888 deg/s,
      cmd heading: 181.722893 deg,
      new cmd heading: 181.696508 deg.

2025-08-11T14:43:18.072Z,1754923398.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022196
2025-08-11T14:43:18.324Z,1754923398.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274333
2025-08-11T14:43:18.492Z,1754923398.492 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 55
Device respsone is::TS,00021618302829,35.0, +10.2,   0.0,1490.7,55,  -608,   -34,    -8,A
2025-08-11T14:43:18.508Z,1754923398.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:18.510Z,1754923398.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 494.291046 m,
      bearing: 180.621928 deg,
      approach rate: -0.597452 m/s,
      LOS rate: -0.017372 deg/s,
      cmd heading: 181.696501 deg,
      new cmd heading: 181.669126 deg.

2025-08-11T14:43:18.576Z,1754923398.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526391
2025-08-11T14:43:18.829Z,1754923398.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778712
2025-08-11T14:43:19.080Z,1754923399.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030324
2025-08-11T14:43:19.098Z,1754923399.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:19.100Z,1754923399.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 493.938965 m,
      bearing: 180.611682 deg,
      approach rate: -0.596901 m/s,
      LOS rate: -0.017383 deg/s,
      cmd heading: 181.669126 deg,
      new cmd heading: 181.638366 deg.

2025-08-11T14:43:19.333Z,1754923399.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282635
2025-08-11T14:43:19.540Z,1754923399.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:19.542Z,1754923399.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 493.683563 m,
      bearing: 180.602210 deg,
      approach rate: -0.583510 m/s,
      LOS rate: -0.021650 deg/s,
      cmd heading: 181.638362 deg,
      new cmd heading: 181.609933 deg.

2025-08-11T14:43:19.586Z,1754923399.586 [DAT](INFO): DAT read: Rx Time:14:43:20.4915

2025-08-11T14:43:19.587Z,1754923399.587 [DAT](INFO): Rx dataTimestamp_ set to:1754923399.586229
2025-08-11T14:43:19.588Z,1754923399.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537472
2025-08-11T14:43:19.836Z,1754923399.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786148
2025-08-11T14:43:19.940Z,1754923399.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.30 m.
2025-08-11T14:43:19.945Z,1754923399.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 516.299988 m,
      nav range: 493.437805 m,
      bearing: 180.593578 deg,
      approach rate: -0.608297 m/s,
      LOS rate: -0.021376 deg/s,
      cmd heading: 181.609935 deg,
      new cmd heading: 181.584027 deg.

2025-08-11T14:43:20.088Z,1754923400.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038073
2025-08-11T14:43:20.346Z,1754923400.346 [DAT](INFO): DAT read: 14:43:20.4915 LVL= 17792, 21297, 17906, 27827, AGC= 72, IDX= 346, 0.29,-0.603,-2.225,-0.400,-0.882, PHS= 0.382,-1.297, 0.439, RAW= 151.7,   5.6, CAL= 150.9,   5.8, ROT= 359.1,  -5.8

2025-08-11T14:43:20.347Z,1754923400.347 [DAT](INFO): got valid direction response:
 14:43:20.4915 LVL= 17792, 21297, 17906, 27827, AGC= 72, IDX= 346, 0.29,-0.603,-2.225,-0.400,-0.882, PHS= 0.382,-1.297, 0.439, RAW= 151.7,   5.6, CAL= 150.9,   5.8, ROT= 359.1,  -5.8

2025-08-11T14:43:20.348Z,1754923400.348 [DAT](INFO): DAT read: Bearing 340.4,  -6.9 (Local)

2025-08-11T14:43:20.348Z,1754923400.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.4,  -6.9 (Local)

2025-08-11T14:43:20.349Z,1754923400.349 [DAT](INFO): DAT read: Range 11 to 50 : 500.1 m  (Round-trip  666.9 ms) speed  0.8 m/s

2025-08-11T14:43:20.350Z,1754923400.350 [DAT](INFO): DAT read: user:53>

2025-08-11T14:43:20.351Z,1754923400.351 [DAT](INFO): DAT read: Tx time:14:43:21.6204

2025-08-11T14:43:20.352Z,1754923400.352 [DAT](INFO): Ping request sent.
2025-08-11T14:43:20.352Z,1754923400.352 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:20.352Z,1754923400.352 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:43:20.353Z,1754923400.353 [DAT](INFO): direction in FSK: [0.994758,-0.015627,0.101056]
2025-08-11T14:43:20.353Z,1754923400.353 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:20.354Z,1754923400.354 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:20.357Z,1754923400.357 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:20.357Z,1754923400.357 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:20.491Z,1754923400.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 500.100006 m,
      deltaT: 16.639375 s,
      deltaX: -16.199982 m,
      approachRate: -0.973593 m/s,
      rangeRepo size: 4

2025-08-11T14:43:20.497Z,1754923400.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 500.100006 m,
      bearing: 182.127016 deg,
      lat: 36.905786 deg,
      lon: -122.116402 deg,
      deltaT: 16.639375 s,
      deltaX: -16.199982 m,
      approachRate: -0.973593 m/s,
      posRepo size: 4

2025-08-11T14:43:20.498Z,1754923400.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:20.509Z,1754923400.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 500.014862 m,
      bearing: 182.127016 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021376 deg/s,
      cmd heading: 181.584022 deg,
      new cmd heading: 181.548702 deg.

2025-08-11T14:43:20.753Z,1754923400.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:20.755Z,1754923400.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:20.762Z,1754923400.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 499.846924 m,
      bearing: 182.122272 deg,
      approach rate: -0.634361 m/s,
      LOS rate: -0.017927 deg/s,
      cmd heading: 181.548696 deg,
      new cmd heading: 181.534458 deg.

2025-08-11T14:43:20.848Z,1754923400.848 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:20.848Z,1754923400.848 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:20.849Z,1754923400.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:21.100Z,1754923401.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748351
2025-08-11T14:43:21.155Z,1754923401.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:21.158Z,1754923401.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 499.613464 m,
      bearing: 182.115711 deg,
      approach rate: -0.589046 m/s,
      LOS rate: -0.016560 deg/s,
      cmd heading: 181.534462 deg,
      new cmd heading: 181.514771 deg.

2025-08-11T14:43:21.352Z,1754923401.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000375
2025-08-11T14:43:21.597Z,1754923401.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:21.600Z,1754923401.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 499.346313 m,
      bearing: 182.108257 deg,
      approach rate: -0.598578 m/s,
      LOS rate: -0.016712 deg/s,
      cmd heading: 181.514777 deg,
      new cmd heading: 181.492401 deg.

2025-08-11T14:43:21.604Z,1754923401.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252569
2025-08-11T14:43:21.858Z,1754923401.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506165
2025-08-11T14:43:22.041Z,1754923402.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:22.060Z,1754923402.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 499.071960 m,
      bearing: 182.100605 deg,
      approach rate: -0.618690 m/s,
      LOS rate: -0.017265 deg/s,
      cmd heading: 181.492401 deg,
      new cmd heading: 181.469433 deg.

2025-08-11T14:43:22.108Z,1754923402.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756652
2025-08-11T14:43:22.362Z,1754923402.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009978
2025-08-11T14:43:22.465Z,1754923402.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:22.467Z,1754923402.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 498.823364 m,
      bearing: 182.094594 deg,
      approach rate: -0.586806 m/s,
      LOS rate: -0.014197 deg/s,
      cmd heading: 181.469438 deg,
      new cmd heading: 181.451395 deg.

2025-08-11T14:43:22.613Z,1754923402.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261092
2025-08-11T14:43:22.867Z,1754923402.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514793
2025-08-11T14:43:22.942Z,1754923402.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:22.946Z,1754923402.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:22.949Z,1754923402.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 498.544830 m,
      bearing: 182.087851 deg,
      approach rate: -0.579252 m/s,
      LOS rate: -0.014030 deg/s,
      cmd heading: 181.451393 deg,
      new cmd heading: 181.431153 deg.

2025-08-11T14:43:23.116Z,1754923403.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764444
2025-08-11T14:43:23.369Z,1754923403.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017063
2025-08-11T14:43:23.370Z,1754923403.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:23.393Z,1754923403.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 498.297119 m,
      bearing: 182.082889 deg,
      approach rate: -0.588393 m/s,
      LOS rate: -0.011792 deg/s,
      cmd heading: 181.431148 deg,
      new cmd heading: 181.416255 deg.

2025-08-11T14:43:23.620Z,1754923403.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268376
2025-08-11T14:43:23.725Z,1754923403.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:23.728Z,1754923403.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 498.083191 m,
      bearing: 182.078535 deg,
      approach rate: -0.596517 m/s,
      LOS rate: -0.012146 deg/s,
      cmd heading: 181.416258 deg,
      new cmd heading: 181.403191 deg.

2025-08-11T14:43:23.874Z,1754923403.874 [DAT](INFO): DAT read: Rx Time:14:43:24.6884

2025-08-11T14:43:23.874Z,1754923403.874 [DAT](INFO): Rx dataTimestamp_ set to:1754923403.873927
2025-08-11T14:43:23.876Z,1754923403.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523069
2025-08-11T14:43:24.124Z,1754923404.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772329
2025-08-11T14:43:24.131Z,1754923404.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 500.10 m.
2025-08-11T14:43:24.134Z,1754923404.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 500.100006 m,
      nav range: 497.854156 m,
      bearing: 182.073782 deg,
      approach rate: -0.587167 m/s,
      LOS rate: -0.012190 deg/s,
      cmd heading: 181.403185 deg,
      new cmd heading: 181.388921 deg.

2025-08-11T14:43:24.387Z,1754923404.387 [DAT](INFO): DAT read: 14:43:24.6884 LVL= 25584, 28609, 29170, 32755, AGC= 74, IDX= 411, 0.18,-2.402, 2.217,-2.153,-2.708, PHS= 0.407,-1.314, 0.510, RAW= 152.9,   4.5, CAL= 152.0,   4.4, ROT= 358.0,  -4.4

2025-08-11T14:43:24.388Z,1754923404.388 [DAT](INFO): got valid direction response:
 14:43:24.6884 LVL= 25584, 28609, 29170, 32755, AGC= 74, IDX= 411, 0.18,-2.402, 2.217,-2.153,-2.708, PHS= 0.407,-1.314, 0.510, RAW= 152.9,   4.5, CAL= 152.0,   4.4, ROT= 358.0,  -4.4

2025-08-11T14:43:24.389Z,1754923404.389 [DAT](INFO): DAT read: Bearing 338.9,  -6.5 (Local)

2025-08-11T14:43:24.389Z,1754923404.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.9,  -6.5 (Local)

2025-08-11T14:43:24.392Z,1754923404.392 [DAT](INFO): DAT read: Range 11 to 50 : 497.9 m  (Round-trip  663.9 ms) speed  0.4 m/s

2025-08-11T14:43:24.393Z,1754923404.393 [DAT](INFO): DAT read: user:54>

2025-08-11T14:43:24.394Z,1754923404.394 [DAT](INFO): DAT read: Tx time:14:43:25.7704

2025-08-11T14:43:24.394Z,1754923404.394 [DAT](INFO): Ping request sent.
2025-08-11T14:43:24.394Z,1754923404.394 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:24.395Z,1754923404.395 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:43:24.396Z,1754923404.396 [DAT](INFO): direction in FSK: [0.996445,-0.034797,0.076719]
2025-08-11T14:43:24.396Z,1754923404.396 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:24.396Z,1754923404.396 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:24.432Z,1754923404.432 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:24.432Z,1754923404.432 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:24.596Z,1754923404.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 497.899994 m,
      deltaT: 4.037510 s,
      deltaX: -2.200012 m,
      approachRate: -0.544893 m/s,
      rangeRepo size: 4

2025-08-11T14:43:24.598Z,1754923404.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 497.899994 m,
      bearing: 182.066897 deg,
      lat: 36.905782 deg,
      lon: -122.116402 deg,
      deltaT: 4.037510 s,
      deltaX: -2.200012 m,
      approachRate: -0.544893 m/s,
      posRepo size: 4

2025-08-11T14:43:24.599Z,1754923404.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:24.606Z,1754923404.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 498.035278 m,
      bearing: 182.066897 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012190 deg/s,
      cmd heading: 181.388924 deg,
      new cmd heading: 181.371523 deg.

2025-08-11T14:43:24.960Z,1754923404.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:24.963Z,1754923404.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 497.818390 m,
      bearing: 182.062988 deg,
      approach rate: -0.587616 m/s,
      LOS rate: -0.010595 deg/s,
      cmd heading: 181.371521 deg,
      new cmd heading: 181.359789 deg.

2025-08-11T14:43:25.409Z,1754923405.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:25.432Z,1754923405.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:25.434Z,1754923405.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 497.531372 m,
      bearing: 182.058366 deg,
      approach rate: -0.636020 m/s,
      LOS rate: -0.010246 deg/s,
      cmd heading: 181.359786 deg,
      new cmd heading: 181.345915 deg.

2025-08-11T14:43:25.639Z,1754923405.639 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:25.639Z,1754923405.639 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:25.639Z,1754923405.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:25.772Z,1754923405.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:25.775Z,1754923405.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 497.321716 m,
      bearing: 182.054894 deg,
      approach rate: -0.581216 m/s,
      LOS rate: -0.009630 deg/s,
      cmd heading: 181.345921 deg,
      new cmd heading: 181.335500 deg.

2025-08-11T14:43:25.888Z,1754923405.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493839
2025-08-11T14:43:26.140Z,1754923406.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745703
2025-08-11T14:43:26.161Z,1754923406.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:26.165Z,1754923406.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 497.078186 m,
      bearing: 182.050743 deg,
      approach rate: -0.626063 m/s,
      LOS rate: -0.010677 deg/s,
      cmd heading: 181.335498 deg,
      new cmd heading: 181.323038 deg.

2025-08-11T14:43:26.392Z,1754923406.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997700
2025-08-11T14:43:26.583Z,1754923406.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:26.586Z,1754923406.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 496.823853 m,
      bearing: 182.046295 deg,
      approach rate: -0.602682 m/s,
      LOS rate: -0.010545 deg/s,
      cmd heading: 181.323040 deg,
      new cmd heading: 181.309690 deg.

2025-08-11T14:43:26.645Z,1754923406.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250279
2025-08-11T14:43:26.896Z,1754923406.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501812
2025-08-11T14:43:26.978Z,1754923406.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:26.981Z,1754923406.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 496.585205 m,
      bearing: 182.042005 deg,
      approach rate: -0.604495 m/s,
      LOS rate: -0.010872 deg/s,
      cmd heading: 181.309694 deg,
      new cmd heading: 181.296817 deg.

2025-08-11T14:43:27.148Z,1754923407.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753720
2025-08-11T14:43:27.400Z,1754923407.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005810
2025-08-11T14:43:27.424Z,1754923407.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:27.426Z,1754923407.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:27.449Z,1754923407.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 496.316925 m,
      bearing: 182.035418 deg,
      approach rate: -0.598666 m/s,
      LOS rate: -0.014707 deg/s,
      cmd heading: 181.296812 deg,
      new cmd heading: 181.277041 deg.

2025-08-11T14:43:27.655Z,1754923407.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260652
2025-08-11T14:43:27.781Z,1754923407.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:27.784Z,1754923407.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 496.103058 m,
      bearing: 182.030060 deg,
      approach rate: -0.601502 m/s,
      LOS rate: -0.015076 deg/s,
      cmd heading: 181.277045 deg,
      new cmd heading: 181.260964 deg.

2025-08-11T14:43:27.905Z,1754923407.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510872
2025-08-11T14:43:28.156Z,1754923408.156 [DAT](INFO): DAT read: Rx Time:14:43:28.8349

2025-08-11T14:43:28.157Z,1754923408.157 [DAT](INFO): Rx dataTimestamp_ set to:1754923408.156668
2025-08-11T14:43:28.157Z,1754923408.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763136
2025-08-11T14:43:28.186Z,1754923408.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:28.209Z,1754923408.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 495.860291 m,
      bearing: 182.023871 deg,
      approach rate: -0.599486 m/s,
      LOS rate: -0.015290 deg/s,
      cmd heading: 181.260967 deg,
      new cmd heading: 181.242392 deg.

2025-08-11T14:43:28.411Z,1754923408.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016901
2025-08-11T14:43:28.609Z,1754923408.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 497.90 m.
2025-08-11T14:43:28.612Z,1754923408.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 497.899994 m,
      nav range: 495.604858 m,
      bearing: 182.016507 deg,
      approach rate: -0.604047 m/s,
      LOS rate: -0.017423 deg/s,
      cmd heading: 181.242389 deg,
      new cmd heading: 181.220286 deg.

2025-08-11T14:43:28.674Z,1754923408.674 [DAT](INFO): DAT read: 14:43:28.8349 LVL= 25744, 32753, 27010, 32755, AGC= 77, IDX= 407, 0.46, 1.589, 0.118, 1.860, 1.309, PHS= 0.382,-1.146, 0.507, RAW= 153.9,   3.3, CAL= 152.8,   2.8, ROT= 357.2,  -2.8

2025-08-11T14:43:28.680Z,1754923408.680 [DAT](INFO): got valid direction response:
 14:43:28.8349 LVL= 25744, 32753, 27010, 32755, AGC= 77, IDX= 407, 0.46, 1.589, 0.118, 1.860, 1.309, PHS= 0.382,-1.146, 0.507, RAW= 153.9,   3.3, CAL= 152.8,   2.8, ROT= 357.2,  -2.8

2025-08-11T14:43:28.681Z,1754923408.681 [DAT](INFO): DAT read: Bearing 338.8,  -5.6 (Local)

2025-08-11T14:43:28.682Z,1754923408.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.8,  -5.6 (Local)

2025-08-11T14:43:28.703Z,1754923408.703 [DAT](INFO): DAT read: Range 11 to 50 : 495.3 m  (Round-trip  660.4 ms) speed  0.6 m/s

2025-08-11T14:43:28.704Z,1754923408.704 [DAT](INFO): DAT read: user:55>

2025-08-11T14:43:28.705Z,1754923408.705 [DAT](INFO): DAT read: Tx time:14:43:29.9204

2025-08-11T14:43:28.705Z,1754923408.705 [DAT](INFO): Ping request sent.
2025-08-11T14:43:28.705Z,1754923408.705 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:28.705Z,1754923408.705 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:43:28.706Z,1754923408.706 [DAT](INFO): direction in FSK: [0.997614,-0.048791,0.048850]
2025-08-11T14:43:28.707Z,1754923408.707 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:28.746Z,1754923408.746 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:28.750Z,1754923408.750 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:28.750Z,1754923408.750 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:29.016Z,1754923409.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 495.299988 m,
      deltaT: 4.285199 s,
      deltaX: -2.600006 m,
      approachRate: -0.606741 m/s,
      rangeRepo size: 4

2025-08-11T14:43:29.018Z,1754923409.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 495.299988 m,
      bearing: 182.229585 deg,
      lat: 36.905782 deg,
      lon: -122.116424 deg,
      deltaT: 4.285199 s,
      deltaX: -2.600006 m,
      approachRate: -0.606741 m/s,
      posRepo size: 4

2025-08-11T14:43:29.018Z,1754923409.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:29.021Z,1754923409.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 495.432617 m,
      bearing: 182.229585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017423 deg/s,
      cmd heading: 181.220287 deg,
      new cmd heading: 181.199097 deg.

2025-08-11T14:43:29.456Z,1754923409.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:29.458Z,1754923409.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:29.466Z,1754923409.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 495.164948 m,
      bearing: 182.220493 deg,
      approach rate: -0.603411 m/s,
      LOS rate: -0.020506 deg/s,
      cmd heading: 181.199099 deg,
      new cmd heading: 181.171810 deg.

2025-08-11T14:43:29.672Z,1754923409.672 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:29.672Z,1754923409.672 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:29.673Z,1754923409.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:29.829Z,1754923409.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:29.832Z,1754923409.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 494.942169 m,
      bearing: 182.212889 deg,
      approach rate: -0.600227 m/s,
      LOS rate: -0.020498 deg/s,
      cmd heading: 181.171806 deg,
      new cmd heading: 181.148982 deg.

2025-08-11T14:43:29.926Z,1754923409.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221328
2025-08-11T14:43:30.176Z,1754923410.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470969
2025-08-11T14:43:30.243Z,1754923410.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:30.246Z,1754923410.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 494.694183 m,
      bearing: 182.204413 deg,
      approach rate: -0.599537 m/s,
      LOS rate: -0.020502 deg/s,
      cmd heading: 181.148979 deg,
      new cmd heading: 181.123538 deg.

2025-08-11T14:43:30.435Z,1754923410.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728760
2025-08-11T14:43:30.680Z,1754923410.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974892
2025-08-11T14:43:30.725Z,1754923410.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:30.728Z,1754923410.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 494.410522 m,
      bearing: 182.194004 deg,
      approach rate: -0.588746 m/s,
      LOS rate: -0.021616 deg/s,
      cmd heading: 181.123544 deg,
      new cmd heading: 181.092299 deg.

2025-08-11T14:43:30.934Z,1754923410.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228475
2025-08-11T14:43:31.088Z,1754923411.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:31.091Z,1754923411.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 494.212555 m,
      bearing: 182.186778 deg,
      approach rate: -0.544814 m/s,
      LOS rate: -0.019894 deg/s,
      cmd heading: 181.092303 deg,
      new cmd heading: 181.070616 deg.

2025-08-11T14:43:31.185Z,1754923411.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479500
2025-08-11T14:43:31.439Z,1754923411.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733261
2025-08-11T14:43:31.505Z,1754923411.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:31.527Z,1754923411.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:31.530Z,1754923411.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 493.955109 m,
      bearing: 182.177950 deg,
      approach rate: -0.614782 m/s,
      LOS rate: -0.021092 deg/s,
      cmd heading: 181.070610 deg,
      new cmd heading: 181.044112 deg.

2025-08-11T14:43:31.688Z,1754923411.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983000
2025-08-11T14:43:31.889Z,1754923411.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:31.892Z,1754923411.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 493.734528 m,
      bearing: 182.170436 deg,
      approach rate: -0.577034 m/s,
      LOS rate: -0.019666 deg/s,
      cmd heading: 181.044109 deg,
      new cmd heading: 181.021556 deg.

2025-08-11T14:43:31.941Z,1754923411.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235993
2025-08-11T14:43:32.192Z,1754923412.192 [DAT](INFO): DAT read: Rx Time:14:43:32.9818

2025-08-11T14:43:32.193Z,1754923412.193 [DAT](INFO): Rx dataTimestamp_ set to:1754923412.192384
2025-08-11T14:43:32.193Z,1754923412.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488105
2025-08-11T14:43:32.377Z,1754923412.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:32.380Z,1754923412.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 493.456451 m,
      bearing: 182.161157 deg,
      approach rate: -0.569709 m/s,
      LOS rate: -0.019021 deg/s,
      cmd heading: 181.021555 deg,
      new cmd heading: 180.993703 deg.

2025-08-11T14:43:32.447Z,1754923412.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741497
2025-08-11T14:43:32.702Z,1754923412.702 [DAT](INFO): DAT read: 14:43:32.9818 LVL= 26096, 30881, 26962, 32755, AGC= 72, IDX= 407, 0.36,-3.077, 1.694,-2.801, 2.845, PHS= 0.463,-1.106, 0.593, RAW= 153.9,   0.6, CAL= 152.6,  -0.3, ROT= 357.4,   0.3

2025-08-11T14:43:32.703Z,1754923412.703 [DAT](INFO): got valid direction response:
 14:43:32.9818 LVL= 26096, 30881, 26962, 32755, AGC= 72, IDX= 407, 0.36,-3.077, 1.694,-2.801, 2.845, PHS= 0.463,-1.106, 0.593, RAW= 153.9,   0.6, CAL= 152.6,  -0.3, ROT= 357.4,   0.3

2025-08-11T14:43:32.704Z,1754923412.704 [DAT](INFO): DAT read: $Error in header

2025-08-11T14:43:32.704Z,1754923412.704 [DAT](INFO): Received a bad header
2025-08-11T14:43:32.720Z,1754923412.720 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:43:32.721Z,1754923412.721 [DAT](INFO): direction in FSK: [0.998957,-0.045362,-0.005236]
2025-08-11T14:43:32.727Z,1754923412.727 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:32.727Z,1754923412.727 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:32.727Z,1754923412.727 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:32.798Z,1754923412.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:32.807Z,1754923412.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 493.216644 m,
      bearing: 182.153153 deg,
      approach rate: -0.570110 m/s,
      LOS rate: -0.019038 deg/s,
      cmd heading: 180.993702 deg,
      new cmd heading: 180.969678 deg.

2025-08-11T14:43:32.949Z,1754923412.949 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:32.949Z,1754923412.949 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:32.949Z,1754923412.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:33.152Z,1754923413.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:33.155Z,1754923413.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 493.009949 m,
      bearing: 182.146305 deg,
      approach rate: -0.583980 m/s,
      LOS rate: -0.019357 deg/s,
      cmd heading: 180.969673 deg,
      new cmd heading: 180.949120 deg.

2025-08-11T14:43:33.200Z,1754923413.200 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:33.200Z,1754923413.200 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:33.200Z,1754923413.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:33.454Z,1754923413.454 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:33.454Z,1754923413.454 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:33.455Z,1754923413.455 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:33.633Z,1754923413.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:33.635Z,1754923413.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:33.638Z,1754923413.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 492.738861 m,
      bearing: 182.136767 deg,
      approach rate: -0.561328 m/s,
      LOS rate: -0.019760 deg/s,
      cmd heading: 180.949114 deg,
      new cmd heading: 180.920486 deg.

2025-08-11T14:43:33.705Z,1754923413.705 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:33.705Z,1754923413.705 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:33.705Z,1754923413.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:33.956Z,1754923413.956 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:33.956Z,1754923413.956 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:33.956Z,1754923413.956 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:34.039Z,1754923414.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:34.042Z,1754923414.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 492.518097 m,
      bearing: 182.129041 deg,
      approach rate: -0.551573 m/s,
      LOS rate: -0.019312 deg/s,
      cmd heading: 180.920482 deg,
      new cmd heading: 180.897293 deg.

2025-08-11T14:43:34.208Z,1754923414.208 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:34.208Z,1754923414.208 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:34.208Z,1754923414.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:34.412Z,1754923414.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:34.436Z,1754923414.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 492.301483 m,
      bearing: 182.121515 deg,
      approach rate: -0.574199 m/s,
      LOS rate: -0.019959 deg/s,
      cmd heading: 180.897287 deg,
      new cmd heading: 180.874699 deg.

2025-08-11T14:43:34.462Z,1754923414.462 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:34.463Z,1754923414.463 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:34.463Z,1754923414.463 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:34.712Z,1754923414.712 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:34.712Z,1754923414.712 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:34.712Z,1754923414.712 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:34.954Z,1754923414.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:34.957Z,1754923414.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 491.995880 m,
      bearing: 182.112459 deg,
      approach rate: -0.564178 m/s,
      LOS rate: -0.016728 deg/s,
      cmd heading: 180.874693 deg,
      new cmd heading: 180.847509 deg.

2025-08-11T14:43:34.964Z,1754923414.964 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:34.964Z,1754923414.964 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:34.964Z,1754923414.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:35.217Z,1754923415.217 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:35.217Z,1754923415.217 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:35.217Z,1754923415.217 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:35.368Z,1754923415.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:35.370Z,1754923415.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 491.763367 m,
      bearing: 182.105561 deg,
      approach rate: -0.562582 m/s,
      LOS rate: -0.016699 deg/s,
      cmd heading: 180.847509 deg,
      new cmd heading: 180.826804 deg.

2025-08-11T14:43:35.472Z,1754923415.472 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:35.472Z,1754923415.472 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:35.472Z,1754923415.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:35.720Z,1754923415.720 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:35.720Z,1754923415.720 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:35.720Z,1754923415.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:35.892Z,1754923415.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:35.894Z,1754923415.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:35.897Z,1754923415.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 491.472107 m,
      bearing: 182.097458 deg,
      approach rate: -0.552742 m/s,
      LOS rate: -0.015386 deg/s,
      cmd heading: 180.826799 deg,
      new cmd heading: 180.802477 deg.

2025-08-11T14:43:35.972Z,1754923415.972 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:35.972Z,1754923415.972 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:35.972Z,1754923415.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:36.224Z,1754923416.224 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:36.224Z,1754923416.224 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:36.224Z,1754923416.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:36.406Z,1754923416.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:36.411Z,1754923416.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 491.189972 m,
      bearing: 182.089890 deg,
      approach rate: -0.550950 m/s,
      LOS rate: -0.014786 deg/s,
      cmd heading: 180.802470 deg,
      new cmd heading: 180.779754 deg.

2025-08-11T14:43:36.478Z,1754923416.478 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:36.479Z,1754923416.479 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:36.479Z,1754923416.479 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:36.728Z,1754923416.728 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:36.728Z,1754923416.728 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:36.729Z,1754923416.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:36.893Z,1754923416.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:36.896Z,1754923416.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 490.917694 m,
      bearing: 182.082813 deg,
      approach rate: -0.559548 m/s,
      LOS rate: -0.014552 deg/s,
      cmd heading: 180.779753 deg,
      new cmd heading: 180.758510 deg.

2025-08-11T14:43:36.981Z,1754923416.981 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:36.981Z,1754923416.981 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:36.981Z,1754923416.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:37.232Z,1754923417.232 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:37.232Z,1754923417.232 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:37.232Z,1754923417.232 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:37.284Z,1754923417.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:37.291Z,1754923417.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 490.703033 m,
      bearing: 182.077289 deg,
      approach rate: -0.548602 m/s,
      LOS rate: -0.014123 deg/s,
      cmd heading: 180.758511 deg,
      new cmd heading: 180.741933 deg.

2025-08-11T14:43:37.487Z,1754923417.487 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:37.488Z,1754923417.488 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:37.488Z,1754923417.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:37.682Z,1754923417.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:37.705Z,1754923417.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 490.469147 m,
      bearing: 182.071498 deg,
      approach rate: -0.587927 m/s,
      LOS rate: -0.014565 deg/s,
      cmd heading: 180.741927 deg,
      new cmd heading: 180.724546 deg.

2025-08-11T14:43:37.736Z,1754923417.736 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:37.736Z,1754923417.736 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:37.736Z,1754923417.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:37.989Z,1754923417.989 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:37.989Z,1754923417.989 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:37.989Z,1754923417.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:38.085Z,1754923418.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:38.087Z,1754923418.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:38.093Z,1754923418.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 490.244995 m,
      bearing: 182.066012 deg,
      approach rate: -0.553963 m/s,
      LOS rate: -0.013566 deg/s,
      cmd heading: 180.724551 deg,
      new cmd heading: 180.708084 deg.

2025-08-11T14:43:38.240Z,1754923418.240 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:38.240Z,1754923418.240 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:38.240Z,1754923418.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:38.467Z,1754923418.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:38.470Z,1754923418.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 490.016571 m,
      bearing: 182.060493 deg,
      approach rate: -0.600621 m/s,
      LOS rate: -0.014517 deg/s,
      cmd heading: 180.708091 deg,
      new cmd heading: 180.691527 deg.

2025-08-11T14:43:38.493Z,1754923418.493 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:38.493Z,1754923418.493 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:38.494Z,1754923418.494 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:43:38.744Z,1754923418.744 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:38.744Z,1754923418.744 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:38.744Z,1754923418.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:38.899Z,1754923418.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:38.902Z,1754923418.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 489.765564 m,
      bearing: 182.054243 deg,
      approach rate: -0.580805 m/s,
      LOS rate: -0.014469 deg/s,
      cmd heading: 180.691521 deg,
      new cmd heading: 180.672761 deg.

2025-08-11T14:43:38.996Z,1754923418.996 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:38.996Z,1754923418.996 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:38.996Z,1754923418.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:39.248Z,1754923419.248 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:39.248Z,1754923419.248 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:39.248Z,1754923419.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:39.313Z,1754923419.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:39.316Z,1754923419.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 489.525452 m,
      bearing: 182.048259 deg,
      approach rate: -0.580481 m/s,
      LOS rate: -0.014473 deg/s,
      cmd heading: 180.672765 deg,
      new cmd heading: 180.654805 deg.

2025-08-11T14:43:39.502Z,1754923419.502 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:39.502Z,1754923419.502 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:39.503Z,1754923419.503 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:39.753Z,1754923419.753 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:39.753Z,1754923419.753 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:39.753Z,1754923419.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:39.884Z,1754923419.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:39.886Z,1754923419.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 489.206604 m,
      bearing: 182.040041 deg,
      approach rate: -0.558815 m/s,
      LOS rate: -0.014412 deg/s,
      cmd heading: 180.654802 deg,
      new cmd heading: 180.630132 deg.

2025-08-11T14:43:40.004Z,1754923420.004 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:40.004Z,1754923420.004 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:40.004Z,1754923420.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:40.256Z,1754923420.256 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:40.256Z,1754923420.256 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:40.257Z,1754923420.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:40.362Z,1754923420.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:40.365Z,1754923420.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:40.368Z,1754923420.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 488.932800 m,
      bearing: 182.033107 deg,
      approach rate: -0.568988 m/s,
      LOS rate: -0.014419 deg/s,
      cmd heading: 180.630131 deg,
      new cmd heading: 180.609316 deg.

2025-08-11T14:43:40.510Z,1754923420.510 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:40.511Z,1754923420.511 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:40.512Z,1754923420.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:40.760Z,1754923420.760 [DAT](INFO): Reached modem response timeout
2025-08-11T14:43:40.760Z,1754923420.760 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:43:40.760Z,1754923420.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:40.876Z,1754923420.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:40.879Z,1754923420.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 488.644928 m,
      bearing: 182.025442 deg,
      approach rate: -0.562492 m/s,
      LOS rate: -0.014986 deg/s,
      cmd heading: 180.609313 deg,
      new cmd heading: 180.586304 deg.

2025-08-11T14:43:41.012Z,1754923421.012 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:43:41.012Z,1754923421.012 [DAT](INFO): response not received
2025-08-11T14:43:41.013Z,1754923421.013 [DAT](INFO): DAT read: user:57>

2025-08-11T14:43:41.014Z,1754923421.014 [DAT](INFO): DAT read: Tx time:14:43:42.3704

2025-08-11T14:43:41.014Z,1754923421.014 [DAT](INFO): Ping request sent.
2025-08-11T14:43:41.014Z,1754923421.014 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:41.014Z,1754923421.014 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:41.015Z,1754923421.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-11T14:43:41.215Z,1754923421.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:41.218Z,1754923421.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 488.454529 m,
      bearing: 182.020416 deg,
      approach rate: -0.562046 m/s,
      LOS rate: -0.014841 deg/s,
      cmd heading: 180.586308 deg,
      new cmd heading: 180.571226 deg.

2025-08-11T14:43:41.264Z,1754923421.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250408
2025-08-11T14:43:41.517Z,1754923421.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502962
2025-08-11T14:43:41.643Z,1754923421.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:41.645Z,1754923421.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 488.210022 m,
      bearing: 182.013891 deg,
      approach rate: -0.572078 m/s,
      LOS rate: -0.015274 deg/s,
      cmd heading: 180.571227 deg,
      new cmd heading: 180.551643 deg.

2025-08-11T14:43:41.768Z,1754923421.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754323
2025-08-11T14:43:42.020Z,1754923422.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006327
2025-08-11T14:43:42.026Z,1754923422.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:42.029Z,1754923422.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 487.991333 m,
      bearing: 182.008077 deg,
      approach rate: -0.570200 m/s,
      LOS rate: -0.015167 deg/s,
      cmd heading: 180.551638 deg,
      new cmd heading: 180.534188 deg.

2025-08-11T14:43:42.277Z,1754923422.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261830
2025-08-11T14:43:42.430Z,1754923422.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:42.432Z,1754923422.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:42.435Z,1754923422.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 487.758240 m,
      bearing: 182.001899 deg,
      approach rate: -0.573895 m/s,
      LOS rate: -0.015218 deg/s,
      cmd heading: 180.534194 deg,
      new cmd heading: 180.515651 deg.

2025-08-11T14:43:42.525Z,1754923422.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510732
2025-08-11T14:43:42.776Z,1754923422.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762289
2025-08-11T14:43:42.883Z,1754923422.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:42.886Z,1754923422.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 487.501251 m,
      bearing: 181.994583 deg,
      approach rate: -0.570404 m/s,
      LOS rate: -0.016246 deg/s,
      cmd heading: 180.515657 deg,
      new cmd heading: 180.493698 deg.

2025-08-11T14:43:43.028Z,1754923423.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014244
2025-08-11T14:43:43.239Z,1754923423.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:43.242Z,1754923423.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 487.298187 m,
      bearing: 181.988814 deg,
      approach rate: -0.569911 m/s,
      LOS rate: -0.016198 deg/s,
      cmd heading: 180.493705 deg,
      new cmd heading: 180.476390 deg.

2025-08-11T14:43:43.282Z,1754923423.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268034
2025-08-11T14:43:43.537Z,1754923423.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522925
2025-08-11T14:43:43.723Z,1754923423.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:43.726Z,1754923423.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 487.022186 m,
      bearing: 181.981097 deg,
      approach rate: -0.570846 m/s,
      LOS rate: -0.015969 deg/s,
      cmd heading: 180.476383 deg,
      new cmd heading: 180.453220 deg.

2025-08-11T14:43:43.788Z,1754923423.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774338
2025-08-11T14:43:44.041Z,1754923424.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026777
2025-08-11T14:43:44.100Z,1754923424.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:44.102Z,1754923424.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 486.806824 m,
      bearing: 181.975056 deg,
      approach rate: -0.570916 m/s,
      LOS rate: -0.016022 deg/s,
      cmd heading: 180.453215 deg,
      new cmd heading: 180.435083 deg.

2025-08-11T14:43:44.293Z,1754923424.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278935
2025-08-11T14:43:44.544Z,1754923424.544 [DAT](INFO): DAT read: Rx Time:14:43:45.4226

2025-08-11T14:43:44.545Z,1754923424.545 [DAT](INFO): Rx dataTimestamp_ set to:1754923424.544434
2025-08-11T14:43:44.545Z,1754923424.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531333
2025-08-11T14:43:44.557Z,1754923424.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:44.559Z,1754923424.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:44.562Z,1754923424.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 486.545074 m,
      bearing: 181.967693 deg,
      approach rate: -0.570425 m/s,
      LOS rate: -0.016055 deg/s,
      cmd heading: 180.435088 deg,
      new cmd heading: 180.412987 deg.

2025-08-11T14:43:44.797Z,1754923424.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782605
2025-08-11T14:43:45.000Z,1754923425.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.30 m.
2025-08-11T14:43:45.003Z,1754923425.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 495.299988 m,
      nav range: 486.290710 m,
      bearing: 181.960709 deg,
      approach rate: -0.576436 m/s,
      LOS rate: -0.015835 deg/s,
      cmd heading: 180.412986 deg,
      new cmd heading: 180.392024 deg.

2025-08-11T14:43:45.051Z,1754923425.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036310
2025-08-11T14:43:45.306Z,1754923425.306 [DAT](INFO): DAT read: 14:43:45.4226 LVL= 28144, 31185, 31122, 32755, AGC= 77, IDX= 345, 0.30, 0.624,-1.084, 0.861, 0.371, PHS= 0.355,-1.410, 0.446, RAW= 152.5,   6.8, CAL= 151.9,   7.1, ROT= 358.1,  -7.1

2025-08-11T14:43:45.309Z,1754923425.309 [DAT](INFO): got valid direction response:
 14:43:45.4226 LVL= 28144, 31185, 31122, 32755, AGC= 77, IDX= 345, 0.30, 0.624,-1.084, 0.861, 0.371, PHS= 0.355,-1.410, 0.446, RAW= 152.5,   6.8, CAL= 151.9,   7.1, ROT= 358.1,  -7.1

2025-08-11T14:43:45.310Z,1754923425.310 [DAT](INFO): DAT read: Bearing 339.9,  -1.2 (Local)

2025-08-11T14:43:45.312Z,1754923425.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.9,  -1.2 (Local)

2025-08-11T14:43:45.315Z,1754923425.315 [DAT](INFO): DAT read: Range 11 to 50 : 486.0 m  (Round-trip  648.1 ms) speed  0.4 m/s

2025-08-11T14:43:45.317Z,1754923425.317 [DAT](INFO): DAT read: user:58>

2025-08-11T14:43:45.318Z,1754923425.318 [DAT](INFO): DAT read: Tx time:14:43:46.5204

2025-08-11T14:43:45.318Z,1754923425.318 [DAT](INFO): Ping request sent.
2025-08-11T14:43:45.318Z,1754923425.318 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:45.319Z,1754923425.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:43:45.321Z,1754923425.321 [DAT](INFO): direction in FSK: [0.991786,-0.032901,0.123601]
2025-08-11T14:43:45.321Z,1754923425.321 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:45.322Z,1754923425.322 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:45.330Z,1754923425.330 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:45.330Z,1754923425.330 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:45.588Z,1754923425.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 486.000000 m,
      deltaT: 16.637549 s,
      deltaX: -9.299988 m,
      approachRate: -0.558976 m/s,
      rangeRepo size: 4

2025-08-11T14:43:45.605Z,1754923425.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 486.000000 m,
      bearing: 181.953181 deg,
      lat: 36.905785 deg,
      lon: -122.116424 deg,
      deltaT: 16.637549 s,
      deltaX: -9.299988 m,
      approachRate: -0.558976 m/s,
      posRepo size: 4

2025-08-11T14:43:45.610Z,1754923425.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:45.633Z,1754923425.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 485.615540 m,
      bearing: 181.953181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015835 deg/s,
      cmd heading: 180.392017 deg,
      new cmd heading: 180.364401 deg.

2025-08-11T14:43:46.045Z,1754923426.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:46.052Z,1754923426.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 485.345154 m,
      bearing: 181.945884 deg,
      approach rate: -0.583375 m/s,
      LOS rate: -0.015752 deg/s,
      cmd heading: 180.364396 deg,
      new cmd heading: 180.342493 deg.

2025-08-11T14:43:46.448Z,1754923426.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:46.450Z,1754923426.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 485.121460 m,
      bearing: 181.939770 deg,
      approach rate: -0.554963 m/s,
      LOS rate: -0.015177 deg/s,
      cmd heading: 180.342498 deg,
      new cmd heading: 180.324145 deg.

2025-08-11T14:43:46.870Z,1754923426.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:46.877Z,1754923426.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:46.881Z,1754923426.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 484.875275 m,
      bearing: 181.933002 deg,
      approach rate: -0.573797 m/s,
      LOS rate: -0.015781 deg/s,
      cmd heading: 180.324138 deg,
      new cmd heading: 180.303826 deg.

2025-08-11T14:43:47.064Z,1754923427.064 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:47.064Z,1754923427.064 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:47.064Z,1754923427.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:47.203Z,1754923427.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:47.206Z,1754923427.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 484.686066 m,
      bearing: 181.927753 deg,
      approach rate: -0.580333 m/s,
      LOS rate: -0.016106 deg/s,
      cmd heading: 180.303825 deg,
      new cmd heading: 180.288072 deg.

2025-08-11T14:43:47.317Z,1754923427.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998823
2025-08-11T14:43:47.568Z,1754923427.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250089
2025-08-11T14:43:47.656Z,1754923427.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:47.674Z,1754923427.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 484.455566 m,
      bearing: 181.921309 deg,
      approach rate: -0.516235 m/s,
      LOS rate: -0.014439 deg/s,
      cmd heading: 180.288075 deg,
      new cmd heading: 180.268734 deg.

2025-08-11T14:43:47.821Z,1754923427.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503172
2025-08-11T14:43:48.072Z,1754923428.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754282
2025-08-11T14:43:48.097Z,1754923428.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:48.101Z,1754923428.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 484.182434 m,
      bearing: 181.913942 deg,
      approach rate: -0.609766 m/s,
      LOS rate: -0.016455 deg/s,
      cmd heading: 180.268732 deg,
      new cmd heading: 180.246620 deg.

2025-08-11T14:43:48.325Z,1754923428.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006986
2025-08-11T14:43:48.464Z,1754923428.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:48.466Z,1754923428.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 483.986145 m,
      bearing: 181.908621 deg,
      approach rate: -0.542707 m/s,
      LOS rate: -0.014718 deg/s,
      cmd heading: 180.246616 deg,
      new cmd heading: 180.230646 deg.

2025-08-11T14:43:48.576Z,1754923428.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258196
2025-08-11T14:43:48.829Z,1754923428.829 [DAT](INFO): DAT read: Rx Time:14:43:49.5791

2025-08-11T14:43:48.830Z,1754923428.830 [DAT](INFO): Rx dataTimestamp_ set to:1754923428.829642
2025-08-11T14:43:48.831Z,1754923428.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512536
2025-08-11T14:43:48.914Z,1754923428.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:48.925Z,1754923428.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:48.928Z,1754923428.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 483.719849 m,
      bearing: 181.901749 deg,
      approach rate: -0.571478 m/s,
      LOS rate: -0.014756 deg/s,
      cmd heading: 180.230647 deg,
      new cmd heading: 180.210018 deg.

2025-08-11T14:43:49.081Z,1754923429.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762148
2025-08-11T14:43:49.319Z,1754923429.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 486.00 m.
2025-08-11T14:43:49.324Z,1754923429.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 486.000000 m,
      nav range: 483.497070 m,
      bearing: 181.895985 deg,
      approach rate: -0.565752 m/s,
      LOS rate: -0.014645 deg/s,
      cmd heading: 180.210020 deg,
      new cmd heading: 180.192720 deg.

2025-08-11T14:43:49.341Z,1754923429.341 [DAT](INFO): DAT read: 14:43:49.5791 LVL= 31680, 32753, 32754, 32755, AGC= 68, IDX= 508, 0.46,-0.104,-1.649, 0.171,-0.611, PHS= 0.608,-0.994, 0.738, RAW= 153.8,  -4.3, CAL= 153.5,  -5.6, ROT= 356.5,   5.6

2025-08-11T14:43:49.342Z,1754923429.342 [DAT](INFO): got valid direction response:
 14:43:49.5791 LVL= 31680, 32753, 32754, 32755, AGC= 68, IDX= 508, 0.46,-0.104,-1.649, 0.171,-0.611, PHS= 0.608,-0.994, 0.738, RAW= 153.8,  -4.3, CAL= 153.5,  -5.6, ROT= 356.5,   5.6

2025-08-11T14:43:49.343Z,1754923429.343 [DAT](INFO): DAT read: Bearing 328.2,   0.2 (Local)

2025-08-11T14:43:49.343Z,1754923429.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.2,   0.2 (Local)

2025-08-11T14:43:49.345Z,1754923429.345 [DAT](INFO): DAT read: Range 11 to 50 : 490.9 m  (Round-trip  654.6 ms) speed  0.4 m/s

2025-08-11T14:43:49.345Z,1754923429.345 [DAT](INFO): DAT read: user:59>

2025-08-11T14:43:49.346Z,1754923429.346 [DAT](INFO): DAT read: Tx time:14:43:50.6704

2025-08-11T14:43:49.346Z,1754923429.346 [DAT](INFO): Ping request sent.
2025-08-11T14:43:49.346Z,1754923429.346 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:49.347Z,1754923429.347 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:43:49.348Z,1754923429.348 [DAT](INFO): direction in FSK: [0.993371,-0.060757,-0.097583]
2025-08-11T14:43:49.348Z,1754923429.348 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:49.348Z,1754923429.348 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:49.363Z,1754923429.363 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:49.364Z,1754923429.364 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:49.769Z,1754923429.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 490.899994 m,
      deltaT: 4.032683 s,
      deltaX: 4.899994 m,
      approachRate: 1.215070 m/s,
      rangeRepo size: 4

2025-08-11T14:43:49.796Z,1754923429.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 490.899994 m,
      bearing: 181.110537 deg,
      lat: 36.905785 deg,
      lon: -122.116350 deg,
      deltaT: 4.032683 s,
      deltaX: 4.899994 m,
      approachRate: 1.215070 m/s,
      posRepo size: 4

2025-08-11T14:43:49.796Z,1754923429.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.90 m.
2025-08-11T14:43:49.806Z,1754923429.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.899994 m,
      nav range: 483.067596 m,
      bearing: 181.110537 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014645 deg/s,
      cmd heading: 180.192726 deg,
      new cmd heading: 180.172965 deg.

2025-08-11T14:43:50.139Z,1754923430.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.90 m.
2025-08-11T14:43:50.142Z,1754923430.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.899994 m,
      nav range: 482.859039 m,
      bearing: 181.104934 deg,
      approach rate: -0.568618 m/s,
      LOS rate: -0.015285 deg/s,
      cmd heading: 180.172959 deg,
      new cmd heading: 180.156141 deg.

2025-08-11T14:43:50.555Z,1754923430.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.90 m.
2025-08-11T14:43:50.558Z,1754923430.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.899994 m,
      nav range: 482.631104 m,
      bearing: 181.098818 deg,
      approach rate: -0.564408 m/s,
      LOS rate: -0.015151 deg/s,
      cmd heading: 180.156143 deg,
      new cmd heading: 180.137787 deg.

2025-08-11T14:43:50.995Z,1754923430.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:50.997Z,1754923430.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.90 m.
2025-08-11T14:43:51.000Z,1754923431.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.899994 m,
      nav range: 482.371216 m,
      bearing: 181.090892 deg,
      approach rate: -0.567277 m/s,
      LOS rate: -0.017308 deg/s,
      cmd heading: 180.137784 deg,
      new cmd heading: 180.113995 deg.

2025-08-11T14:43:51.096Z,1754923431.096 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:51.096Z,1754923431.096 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:51.096Z,1754923431.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:51.350Z,1754923431.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003881
2025-08-11T14:43:51.394Z,1754923431.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.90 m.
2025-08-11T14:43:51.401Z,1754923431.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.899994 m,
      nav range: 482.169891 m,
      bearing: 181.084818 deg,
      approach rate: -0.507451 m/s,
      LOS rate: -0.015317 deg/s,
      cmd heading: 180.114001 deg,
      new cmd heading: 180.095771 deg.

2025-08-11T14:43:51.601Z,1754923431.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254587
2025-08-11T14:43:51.852Z,1754923431.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505727
2025-08-11T14:43:51.925Z,1754923431.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.90 m.
2025-08-11T14:43:51.934Z,1754923431.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.899994 m,
      nav range: 481.862549 m,
      bearing: 181.075975 deg,
      approach rate: -0.579341 m/s,
      LOS rate: -0.016681 deg/s,
      cmd heading: 180.095764 deg,
      new cmd heading: 180.069216 deg.

2025-08-11T14:43:52.104Z,1754923432.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757648
2025-08-11T14:43:52.335Z,1754923432.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.90 m.
2025-08-11T14:43:52.338Z,1754923432.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.899994 m,
      nav range: 481.623230 m,
      bearing: 181.069136 deg,
      approach rate: -0.583465 m/s,
      LOS rate: -0.016681 deg/s,
      cmd heading: 180.069222 deg,
      new cmd heading: 180.048696 deg.

2025-08-11T14:43:52.356Z,1754923432.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010043
2025-08-11T14:43:52.608Z,1754923432.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261723
2025-08-11T14:43:52.860Z,1754923432.860 [DAT](INFO): DAT read: Rx Time:14:43:53.7172

2025-08-11T14:43:52.861Z,1754923432.861 [DAT](INFO): Rx dataTimestamp_ set to:1754923432.860317
2025-08-11T14:43:52.861Z,1754923432.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514719
2025-08-11T14:43:52.876Z,1754923432.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.90 m.
2025-08-11T14:43:52.879Z,1754923432.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.899994 m,
      nav range: 481.326111 m,
      bearing: 181.059906 deg,
      approach rate: -0.548882 m/s,
      LOS rate: -0.017061 deg/s,
      cmd heading: 180.048691 deg,
      new cmd heading: 180.020985 deg.

2025-08-11T14:43:53.112Z,1754923433.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765700
2025-08-11T14:43:53.367Z,1754923433.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020206
2025-08-11T14:43:53.414Z,1754923433.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:53.424Z,1754923433.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.90 m.
2025-08-11T14:43:53.431Z,1754923433.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 490.899994 m,
      nav range: 481.000641 m,
      bearing: 181.049863 deg,
      approach rate: -0.593524 m/s,
      LOS rate: -0.018328 deg/s,
      cmd heading: 180.020987 deg,
      new cmd heading: 179.990835 deg.

2025-08-11T14:43:53.622Z,1754923433.622 [DAT](INFO): DAT read: 14:43:53.7172 LVL= 24144, 25969, 23538, 32755, AGC= 78, IDX= 322, 0.20, 1.445,-0.315, 1.678, 1.146, PHS= 0.401,-1.417, 0.487, RAW= 152.3,   5.7, CAL= 151.5,   5.9, ROT= 358.5,  -5.9

2025-08-11T14:43:53.623Z,1754923433.623 [DAT](INFO): got valid direction response:
 14:43:53.7172 LVL= 24144, 25969, 23538, 32755, AGC= 78, IDX= 322, 0.20, 1.445,-0.315, 1.678, 1.146, PHS= 0.401,-1.417, 0.487, RAW= 152.3,   5.7, CAL= 151.5,   5.9, ROT= 358.5,  -5.9

2025-08-11T14:43:53.624Z,1754923433.624 [DAT](INFO): DAT read: Bearing 339.2,   2.0 (Local)

2025-08-11T14:43:53.624Z,1754923433.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.2,   2.0 (Local)

2025-08-11T14:43:53.626Z,1754923433.626 [DAT](INFO): DAT read: Range 11 to 50 : 482.0 m  (Round-trip  642.7 ms) speed  0.7 m/s

2025-08-11T14:43:53.626Z,1754923433.626 [DAT](INFO): DAT read: user:60>

2025-08-11T14:43:53.627Z,1754923433.627 [DAT](INFO): DAT read: Tx time:14:43:54.8204

2025-08-11T14:43:53.627Z,1754923433.627 [DAT](INFO): Ping request sent.
2025-08-11T14:43:53.627Z,1754923433.627 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:53.628Z,1754923433.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:43:53.629Z,1754923433.629 [DAT](INFO): direction in FSK: [0.994362,-0.026038,0.102793]
2025-08-11T14:43:53.629Z,1754923433.629 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:53.629Z,1754923433.629 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:53.632Z,1754923433.632 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:53.632Z,1754923433.632 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:53.943Z,1754923433.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 482.000000 m,
      deltaT: 4.283172 s,
      deltaX: -8.899994 m,
      approachRate: -2.077898 m/s,
      rangeRepo size: 4

2025-08-11T14:43:53.947Z,1754923433.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 482.000000 m,
      bearing: 181.041467 deg,
      lat: 36.905785 deg,
      lon: -122.116350 deg,
      deltaT: 4.283172 s,
      deltaX: -8.899994 m,
      approachRate: -2.077898 m/s,
      posRepo size: 4

2025-08-11T14:43:53.952Z,1754923433.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:53.954Z,1754923433.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 480.729065 m,
      bearing: 181.041467 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018328 deg/s,
      cmd heading: 179.990839 deg,
      new cmd heading: 179.962614 deg.

2025-08-11T14:43:54.304Z,1754923434.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:54.312Z,1754923434.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 480.526642 m,
      bearing: 181.035251 deg,
      approach rate: -0.560392 m/s,
      LOS rate: -0.017215 deg/s,
      cmd heading: 179.962617 deg,
      new cmd heading: 179.943962 deg.

2025-08-11T14:43:54.694Z,1754923434.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:54.701Z,1754923434.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 480.311157 m,
      bearing: 181.028668 deg,
      approach rate: -0.545891 m/s,
      LOS rate: -0.016686 deg/s,
      cmd heading: 179.943956 deg,
      new cmd heading: 179.924197 deg.

2025-08-11T14:43:55.120Z,1754923435.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:55.123Z,1754923435.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 480.068939 m,
      bearing: 181.021429 deg,
      approach rate: -0.568199 m/s,
      LOS rate: -0.016990 deg/s,
      cmd heading: 179.924204 deg,
      new cmd heading: 179.902475 deg.

2025-08-11T14:43:55.494Z,1754923435.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:55.497Z,1754923435.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:55.500Z,1754923435.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 479.866730 m,
      bearing: 181.015403 deg,
      approach rate: -0.536876 m/s,
      LOS rate: -0.016006 deg/s,
      cmd heading: 179.902470 deg,
      new cmd heading: 179.884385 deg.

2025-08-11T14:43:55.632Z,1754923435.632 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:55.632Z,1754923435.632 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:55.632Z,1754923435.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:43:55.884Z,1754923435.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256768
2025-08-11T14:43:55.962Z,1754923435.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:55.969Z,1754923435.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 479.617432 m,
      bearing: 181.008616 deg,
      approach rate: -0.536019 m/s,
      LOS rate: -0.014601 deg/s,
      cmd heading: 179.884384 deg,
      new cmd heading: 179.864012 deg.

2025-08-11T14:43:56.136Z,1754923436.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508994
2025-08-11T14:43:56.314Z,1754923436.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:56.321Z,1754923436.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 479.436035 m,
      bearing: 181.003675 deg,
      approach rate: -0.514844 m/s,
      LOS rate: -0.014028 deg/s,
      cmd heading: 179.864016 deg,
      new cmd heading: 179.849188 deg.

2025-08-11T14:43:56.390Z,1754923436.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762161
2025-08-11T14:43:56.640Z,1754923436.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012712
2025-08-11T14:43:56.704Z,1754923436.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:56.707Z,1754923436.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 479.211731 m,
      bearing: 180.997574 deg,
      approach rate: -0.575391 m/s,
      LOS rate: -0.015658 deg/s,
      cmd heading: 179.849194 deg,
      new cmd heading: 179.830882 deg.

2025-08-11T14:43:56.893Z,1754923436.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265247
2025-08-11T14:43:57.125Z,1754923437.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:57.128Z,1754923437.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 478.983490 m,
      bearing: 180.992154 deg,
      approach rate: -0.541857 m/s,
      LOS rate: -0.012873 deg/s,
      cmd heading: 179.830876 deg,
      new cmd heading: 179.814609 deg.

2025-08-11T14:43:57.146Z,1754923437.146 [DAT](INFO): DAT read: Rx Time:14:43:57.8635

2025-08-11T14:43:57.147Z,1754923437.147 [DAT](INFO): Rx dataTimestamp_ set to:1754923437.146231
2025-08-11T14:43:57.147Z,1754923437.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519798
2025-08-11T14:43:57.396Z,1754923437.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768695
2025-08-11T14:43:57.590Z,1754923437.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:57.592Z,1754923437.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 482.00 m.
2025-08-11T14:43:57.595Z,1754923437.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 482.000000 m,
      nav range: 478.731079 m,
      bearing: 180.986126 deg,
      approach rate: -0.540177 m/s,
      LOS rate: -0.012908 deg/s,
      cmd heading: 179.814606 deg,
      new cmd heading: 179.796512 deg.

2025-08-11T14:43:57.654Z,1754923437.654 [DAT](INFO): DAT read: 14:43:57.8635 LVL= 32752, 32753, 30962, 32755, AGC= 74, IDX= 396, 0.26,-1.672, 2.878,-1.512,-1.973, PHS= 0.403,-1.387, 0.417, RAW= 150.4,   6.4, CAL= 149.7,   6.7, ROT=   0.3,  -6.7

2025-08-11T14:43:57.656Z,1754923437.656 [DAT](INFO): got valid direction response:
 14:43:57.8635 LVL= 32752, 32753, 30962, 32755, AGC= 74, IDX= 396, 0.26,-1.672, 2.878,-1.512,-1.973, PHS= 0.403,-1.387, 0.417, RAW= 150.4,   6.4, CAL= 149.7,   6.7, ROT=   0.3,  -6.7

2025-08-11T14:43:57.658Z,1754923437.658 [DAT](INFO): DAT read: Bearing 339.6,   7.5 (Local)

2025-08-11T14:43:57.658Z,1754923437.658 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.6,   7.5 (Local)

2025-08-11T14:43:57.660Z,1754923437.660 [DAT](INFO): DAT read: Range 11 to 50 : 479.2 m  (Round-trip  639.0 ms) speed  0.4 m/s

2025-08-11T14:43:57.662Z,1754923437.662 [DAT](INFO): DAT read: user:61>

2025-08-11T14:43:57.663Z,1754923437.663 [DAT](INFO): DAT read: Tx time:14:43:58.9704

2025-08-11T14:43:57.664Z,1754923437.664 [DAT](INFO): Ping request sent.
2025-08-11T14:43:57.664Z,1754923437.664 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:43:57.665Z,1754923437.665 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:43:57.666Z,1754923437.666 [DAT](INFO): direction in FSK: [0.993157,0.005200,0.116671]
2025-08-11T14:43:57.667Z,1754923437.667 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:57.667Z,1754923437.667 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:57.705Z,1754923437.705 [DAT](INFO): publishing transmit ping time
2025-08-11T14:43:57.705Z,1754923437.705 [DAT](INFO): publishing direction and range info
2025-08-11T14:43:58.049Z,1754923438.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 479.200012 m,
      deltaT: 4.032223 s,
      deltaX: -2.799988 m,
      approachRate: -0.694403 m/s,
      rangeRepo size: 4

2025-08-11T14:43:58.055Z,1754923438.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 479.200012 m,
      bearing: 181.091047 deg,
      lat: 36.905834 deg,
      lon: -122.116359 deg,
      deltaT: 4.032223 s,
      deltaX: -2.799988 m,
      approachRate: -0.694403 m/s,
      posRepo size: 4

2025-08-11T14:43:58.056Z,1754923438.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.20 m.
2025-08-11T14:43:58.058Z,1754923438.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.200012 m,
      nav range: 473.120605 m,
      bearing: 181.091047 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012908 deg/s,
      cmd heading: 179.796506 deg,
      new cmd heading: 179.778854 deg.

2025-08-11T14:43:58.490Z,1754923438.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.20 m.
2025-08-11T14:43:58.497Z,1754923438.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.200012 m,
      nav range: 472.881531 m,
      bearing: 181.085442 deg,
      approach rate: -0.541028 m/s,
      LOS rate: -0.012690 deg/s,
      cmd heading: 179.778857 deg,
      new cmd heading: 179.762035 deg.

2025-08-11T14:43:59.038Z,1754923439.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.20 m.
2025-08-11T14:43:59.057Z,1754923439.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.200012 m,
      nav range: 472.587494 m,
      bearing: 181.079497 deg,
      approach rate: -0.536435 m/s,
      LOS rate: -0.010853 deg/s,
      cmd heading: 179.762041 deg,
      new cmd heading: 179.744195 deg.

2025-08-11T14:43:59.381Z,1754923439.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.20 m.
2025-08-11T14:43:59.384Z,1754923439.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.200012 m,
      nav range: 472.383820 m,
      bearing: 181.075361 deg,
      approach rate: -0.593879 m/s,
      LOS rate: -0.012063 deg/s,
      cmd heading: 179.744201 deg,
      new cmd heading: 179.731789 deg.

2025-08-11T14:43:59.871Z,1754923439.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:43:59.874Z,1754923439.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.20 m.
2025-08-11T14:43:59.880Z,1754923439.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.200012 m,
      nav range: 472.144165 m,
      bearing: 181.070467 deg,
      approach rate: -0.486786 m/s,
      LOS rate: -0.009947 deg/s,
      cmd heading: 179.731783 deg,
      new cmd heading: 179.717092 deg.

2025-08-11T14:43:59.917Z,1754923439.917 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:43:59.931Z,1754923439.931 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:43:59.932Z,1754923439.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:00.168Z,1754923440.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503674
2025-08-11T14:44:00.314Z,1754923440.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.20 m.
2025-08-11T14:44:00.332Z,1754923440.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.200012 m,
      nav range: 471.862427 m,
      bearing: 181.064691 deg,
      approach rate: -0.640307 m/s,
      LOS rate: -0.013134 deg/s,
      cmd heading: 179.717099 deg,
      new cmd heading: 179.699761 deg.

2025-08-11T14:44:00.420Z,1754923440.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755645
2025-08-11T14:44:00.673Z,1754923440.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008157
2025-08-11T14:44:00.863Z,1754923440.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.20 m.
2025-08-11T14:44:00.886Z,1754923440.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.200012 m,
      nav range: 471.576294 m,
      bearing: 181.058759 deg,
      approach rate: -0.522682 m/s,
      LOS rate: -0.010844 deg/s,
      cmd heading: 179.699764 deg,
      new cmd heading: 179.681955 deg.

2025-08-11T14:44:00.926Z,1754923440.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260908
2025-08-11T14:44:01.176Z,1754923441.176 [DAT](INFO): DAT read: Rx Time:14:44:02.0201

2025-08-11T14:44:01.177Z,1754923441.177 [DAT](INFO): Rx dataTimestamp_ set to:1754923441.176356
2025-08-11T14:44:01.177Z,1754923441.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512749
2025-08-11T14:44:01.428Z,1754923441.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763738
2025-08-11T14:44:01.446Z,1754923441.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 479.20 m.
2025-08-11T14:44:01.449Z,1754923441.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 479.200012 m,
      nav range: 471.217529 m,
      bearing: 181.050809 deg,
      approach rate: -0.613088 m/s,
      LOS rate: -0.013596 deg/s,
      cmd heading: 179.681950 deg,
      new cmd heading: 179.658083 deg.

2025-08-11T14:44:01.702Z,1754923441.702 [DAT](INFO): DAT read: 14:44:02.0201 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 511,-0.33, 2.659, 1.213, 2.881, 2.068, PHS= 0.693,-0.810, 0.769, RAW= 152.5,  -8.5, CAL= 152.9, -10.2, ROT= 357.1,  10.2

2025-08-11T14:44:01.705Z,1754923441.705 [DAT](INFO): got valid direction response:
 14:44:02.0201 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 511,-0.33, 2.659, 1.213, 2.881, 2.068, PHS= 0.693,-0.810, 0.769, RAW= 152.5,  -8.5, CAL= 152.9, -10.2, ROT= 357.1,  10.2

2025-08-11T14:44:01.707Z,1754923441.707 [DAT](INFO): DAT read: Bearing 322.1,   9.4 (Local)

2025-08-11T14:44:01.707Z,1754923441.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.1,   9.4 (Local)

2025-08-11T14:44:01.709Z,1754923441.709 [DAT](INFO): DAT read: Range 11 to 50 : 484.2 m  (Round-trip  645.6 ms) speed  0.4 m/s

2025-08-11T14:44:01.710Z,1754923441.710 [DAT](INFO): DAT read: user:62>

2025-08-11T14:44:01.710Z,1754923441.710 [DAT](INFO): DAT read: Tx time:14:44:03.1204

2025-08-11T14:44:01.711Z,1754923441.711 [DAT](INFO): Ping request sent.
2025-08-11T14:44:01.711Z,1754923441.711 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:01.711Z,1754923441.711 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:01.712Z,1754923441.712 [DAT](INFO): direction in FSK: [0.982935,-0.049793,-0.177085]
2025-08-11T14:44:01.712Z,1754923441.712 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:01.713Z,1754923441.713 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:01.721Z,1754923441.721 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:01.721Z,1754923441.721 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:02.037Z,1754923442.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 484.200012 m,
      deltaT: 4.033343 s,
      deltaX: 5.000000 m,
      approachRate: 1.239666 m/s,
      rangeRepo size: 4

2025-08-11T14:44:02.039Z,1754923442.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 484.200012 m,
      bearing: 180.839074 deg,
      lat: 36.905834 deg,
      lon: -122.116340 deg,
      deltaT: 4.033343 s,
      deltaX: 5.000000 m,
      approachRate: 1.239666 m/s,
      posRepo size: 4

2025-08-11T14:44:02.040Z,1754923442.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:02.042Z,1754923442.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 470.850586 m,
      bearing: 180.839074 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013596 deg/s,
      cmd heading: 179.658086 deg,
      new cmd heading: 179.634025 deg.

2025-08-11T14:44:02.466Z,1754923442.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:02.484Z,1754923442.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:02.492Z,1754923442.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 470.601135 m,
      bearing: 180.832959 deg,
      approach rate: -0.556453 m/s,
      LOS rate: -0.013647 deg/s,
      cmd heading: 179.634030 deg,
      new cmd heading: 179.615677 deg.

2025-08-11T14:44:02.688Z,1754923442.688 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:02.688Z,1754923442.688 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:02.688Z,1754923442.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:02.934Z,1754923442.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:02.941Z,1754923442.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230603
2025-08-11T14:44:02.947Z,1754923442.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 470.338226 m,
      bearing: 180.826508 deg,
      approach rate: -0.585012 m/s,
      LOS rate: -0.014363 deg/s,
      cmd heading: 179.615670 deg,
      new cmd heading: 179.596306 deg.

2025-08-11T14:44:03.193Z,1754923443.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481858
2025-08-11T14:44:03.340Z,1754923443.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:03.342Z,1754923443.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 470.101471 m,
      bearing: 180.819797 deg,
      approach rate: -0.583253 m/s,
      LOS rate: -0.016541 deg/s,
      cmd heading: 179.596300 deg,
      new cmd heading: 179.576156 deg.

2025-08-11T14:44:03.444Z,1754923443.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733455
2025-08-11T14:44:03.696Z,1754923443.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985549
2025-08-11T14:44:03.695Z,1754923443.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:03.714Z,1754923443.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 469.902313 m,
      bearing: 180.814130 deg,
      approach rate: -0.560799 m/s,
      LOS rate: -0.015965 deg/s,
      cmd heading: 179.576151 deg,
      new cmd heading: 179.559142 deg.

2025-08-11T14:44:03.949Z,1754923443.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237866
2025-08-11T14:44:04.139Z,1754923444.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:04.141Z,1754923444.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 469.645111 m,
      bearing: 180.806116 deg,
      approach rate: -0.579593 m/s,
      LOS rate: -0.018069 deg/s,
      cmd heading: 179.559144 deg,
      new cmd heading: 179.535089 deg.

2025-08-11T14:44:04.200Z,1754923444.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489580
2025-08-11T14:44:04.452Z,1754923444.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741441
2025-08-11T14:44:04.518Z,1754923444.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:04.520Z,1754923444.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:04.523Z,1754923444.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 469.424347 m,
      bearing: 180.799244 deg,
      approach rate: -0.578644 m/s,
      LOS rate: -0.018021 deg/s,
      cmd heading: 179.535088 deg,
      new cmd heading: 179.514462 deg.

2025-08-11T14:44:04.704Z,1754923444.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993532
2025-08-11T14:44:04.961Z,1754923444.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250051
2025-08-11T14:44:04.972Z,1754923444.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:04.983Z,1754923444.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 469.169067 m,
      bearing: 180.791301 deg,
      approach rate: -0.564492 m/s,
      LOS rate: -0.017572 deg/s,
      cmd heading: 179.514461 deg,
      new cmd heading: 179.490620 deg.

2025-08-11T14:44:05.213Z,1754923445.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502171
2025-08-11T14:44:05.342Z,1754923445.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:05.345Z,1754923445.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 468.952881 m,
      bearing: 180.784915 deg,
      approach rate: -0.584741 m/s,
      LOS rate: -0.017280 deg/s,
      cmd heading: 179.490623 deg,
      new cmd heading: 179.471457 deg.

2025-08-11T14:44:05.464Z,1754923445.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753458
2025-08-11T14:44:05.710Z,1754923445.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:05.712Z,1754923445.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 468.744690 m,
      bearing: 180.778783 deg,
      approach rate: -0.566602 m/s,
      LOS rate: -0.016698 deg/s,
      cmd heading: 179.471458 deg,
      new cmd heading: 179.453052 deg.

2025-08-11T14:44:05.716Z,1754923445.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.005520
2025-08-11T14:44:05.969Z,1754923445.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.257838
2025-08-11T14:44:06.149Z,1754923446.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:06.151Z,1754923446.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 468.492737 m,
      bearing: 180.771331 deg,
      approach rate: -0.573861 m/s,
      LOS rate: -0.016982 deg/s,
      cmd heading: 179.453057 deg,
      new cmd heading: 179.430690 deg.

2025-08-11T14:44:06.220Z,1754923446.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.509640
2025-08-11T14:44:06.472Z,1754923446.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.761385
2025-08-11T14:44:06.544Z,1754923446.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:06.546Z,1754923446.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:06.549Z,1754923446.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 468.264679 m,
      bearing: 180.764619 deg,
      approach rate: -0.573422 m/s,
      LOS rate: -0.016886 deg/s,
      cmd heading: 179.430695 deg,
      new cmd heading: 179.410548 deg.

2025-08-11T14:44:06.724Z,1754923446.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.013416
2025-08-11T14:44:06.979Z,1754923446.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.267955
2025-08-11T14:44:06.987Z,1754923446.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:06.990Z,1754923446.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 468.015198 m,
      bearing: 180.757267 deg,
      approach rate: -0.566002 m/s,
      LOS rate: -0.016687 deg/s,
      cmd heading: 179.410546 deg,
      new cmd heading: 179.388481 deg.

2025-08-11T14:44:07.228Z,1754923447.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.517451
2025-08-11T14:44:07.390Z,1754923447.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:07.393Z,1754923447.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 467.773895 m,
      bearing: 180.750191 deg,
      approach rate: -0.599073 m/s,
      LOS rate: -0.017578 deg/s,
      cmd heading: 179.388485 deg,
      new cmd heading: 179.367243 deg.

2025-08-11T14:44:07.481Z,1754923447.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.769922
2025-08-11T14:44:07.732Z,1754923447.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.021532
2025-08-11T14:44:07.759Z,1754923447.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:07.766Z,1754923447.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 467.556396 m,
      bearing: 180.743803 deg,
      approach rate: -0.590005 m/s,
      LOS rate: -0.017336 deg/s,
      cmd heading: 179.367243 deg,
      new cmd heading: 179.348070 deg.

2025-08-11T14:44:07.985Z,1754923447.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.273977
2025-08-11T14:44:08.192Z,1754923448.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:08.194Z,1754923448.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 467.308746 m,
      bearing: 180.736917 deg,
      approach rate: -0.571441 m/s,
      LOS rate: -0.015897 deg/s,
      cmd heading: 179.348063 deg,
      new cmd heading: 179.327396 deg.

2025-08-11T14:44:08.237Z,1754923448.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.526101
2025-08-11T14:44:08.488Z,1754923448.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.777473
2025-08-11T14:44:08.569Z,1754923448.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:08.572Z,1754923448.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:08.574Z,1754923448.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 467.091064 m,
      bearing: 180.730873 deg,
      approach rate: -0.573132 m/s,
      LOS rate: -0.015920 deg/s,
      cmd heading: 179.327395 deg,
      new cmd heading: 179.309256 deg.

2025-08-11T14:44:08.740Z,1754923448.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.029465
2025-08-11T14:44:08.996Z,1754923448.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.284802
2025-08-11T14:44:09.060Z,1754923449.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:09.063Z,1754923449.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 466.809326 m,
      bearing: 180.724729 deg,
      approach rate: -0.577015 m/s,
      LOS rate: -0.012592 deg/s,
      cmd heading: 179.309254 deg,
      new cmd heading: 179.290810 deg.

2025-08-11T14:44:09.247Z,1754923449.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.536274
2025-08-11T14:44:09.382Z,1754923449.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:09.385Z,1754923449.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 466.623596 m,
      bearing: 180.720658 deg,
      approach rate: -0.576275 m/s,
      LOS rate: -0.012636 deg/s,
      cmd heading: 179.290813 deg,
      new cmd heading: 179.278595 deg.

2025-08-11T14:44:09.496Z,1754923449.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.785460
2025-08-11T14:44:09.749Z,1754923449.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.037858
2025-08-11T14:44:09.867Z,1754923449.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:09.870Z,1754923449.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 466.344177 m,
      bearing: 180.714496 deg,
      approach rate: -0.576079 m/s,
      LOS rate: -0.012711 deg/s,
      cmd heading: 179.278600 deg,
      new cmd heading: 179.260104 deg.

2025-08-11T14:44:10.004Z,1754923450.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.292764
2025-08-11T14:44:10.211Z,1754923450.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:10.214Z,1754923450.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 466.144012 m,
      bearing: 180.709819 deg,
      approach rate: -0.582083 m/s,
      LOS rate: -0.013608 deg/s,
      cmd heading: 179.260104 deg,
      new cmd heading: 179.246066 deg.

2025-08-11T14:44:10.252Z,1754923450.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.541537
2025-08-11T14:44:10.505Z,1754923450.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.793868
2025-08-11T14:44:10.606Z,1754923450.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:10.612Z,1754923450.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:10.619Z,1754923450.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 465.915558 m,
      bearing: 180.704458 deg,
      approach rate: -0.569394 m/s,
      LOS rate: -0.013369 deg/s,
      cmd heading: 179.246061 deg,
      new cmd heading: 179.229970 deg.

2025-08-11T14:44:10.758Z,1754923450.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.047385
2025-08-11T14:44:11.011Z,1754923451.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.299794
2025-08-11T14:44:11.069Z,1754923451.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:11.076Z,1754923451.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 465.649414 m,
      bearing: 180.698178 deg,
      approach rate: -0.582795 m/s,
      LOS rate: -0.013759 deg/s,
      cmd heading: 179.229969 deg,
      new cmd heading: 179.211120 deg.

2025-08-11T14:44:11.262Z,1754923451.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.550817
2025-08-11T14:44:11.512Z,1754923451.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.801607
2025-08-11T14:44:11.600Z,1754923451.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:11.603Z,1754923451.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 465.335052 m,
      bearing: 180.691071 deg,
      approach rate: -0.592144 m/s,
      LOS rate: -0.013397 deg/s,
      cmd heading: 179.211118 deg,
      new cmd heading: 179.189782 deg.

2025-08-11T14:44:11.764Z,1754923451.764 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:11.765Z,1754923451.765 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:11.766Z,1754923451.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:12.019Z,1754923452.019 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:12.020Z,1754923452.020 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:12.021Z,1754923452.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:12.135Z,1754923452.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:12.138Z,1754923452.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 465.024902 m,
      bearing: 180.683722 deg,
      approach rate: -0.579602 m/s,
      LOS rate: -0.013741 deg/s,
      cmd heading: 179.189781 deg,
      new cmd heading: 179.167722 deg.

2025-08-11T14:44:12.269Z,1754923452.269 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:12.269Z,1754923452.269 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:12.269Z,1754923452.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:12.521Z,1754923452.521 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:12.521Z,1754923452.521 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:12.521Z,1754923452.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:12.622Z,1754923452.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:12.628Z,1754923452.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:12.631Z,1754923452.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 464.741974 m,
      bearing: 180.677027 deg,
      approach rate: -0.573876 m/s,
      LOS rate: -0.013589 deg/s,
      cmd heading: 179.167719 deg,
      new cmd heading: 179.147621 deg.

2025-08-11T14:44:12.772Z,1754923452.772 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:12.773Z,1754923452.773 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:12.773Z,1754923452.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:13.026Z,1754923453.026 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:13.027Z,1754923453.027 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:13.028Z,1754923453.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:13.092Z,1754923453.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:13.099Z,1754923453.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 464.494385 m,
      bearing: 180.671174 deg,
      approach rate: -0.533119 m/s,
      LOS rate: -0.012611 deg/s,
      cmd heading: 179.147625 deg,
      new cmd heading: 179.130054 deg.

2025-08-11T14:44:13.277Z,1754923453.277 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:13.277Z,1754923453.277 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:13.277Z,1754923453.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:13.496Z,1754923453.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:13.499Z,1754923453.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 464.240051 m,
      bearing: 180.665720 deg,
      approach rate: -0.630222 m/s,
      LOS rate: -0.013520 deg/s,
      cmd heading: 179.130057 deg,
      new cmd heading: 179.113688 deg.

2025-08-11T14:44:13.528Z,1754923453.528 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:13.528Z,1754923453.528 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:13.528Z,1754923453.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:13.780Z,1754923453.780 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:13.780Z,1754923453.780 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:13.781Z,1754923453.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:13.853Z,1754923453.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:13.855Z,1754923453.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 464.035248 m,
      bearing: 180.661365 deg,
      approach rate: -0.574329 m/s,
      LOS rate: -0.012218 deg/s,
      cmd heading: 179.113692 deg,
      new cmd heading: 179.100621 deg.

2025-08-11T14:44:14.034Z,1754923454.034 [DAT](INFO): Reached modem response timeout
2025-08-11T14:44:14.035Z,1754923454.035 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:44:14.036Z,1754923454.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:14.285Z,1754923454.285 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:44:14.285Z,1754923454.285 [DAT](INFO): response not received
2025-08-11T14:44:14.285Z,1754923454.285 [DAT](INFO): DAT read: user:63>

2025-08-11T14:44:14.286Z,1754923454.286 [DAT](INFO): DAT read: Tx time:14:44:15.5704

2025-08-11T14:44:14.286Z,1754923454.286 [DAT](INFO): Ping request sent.
2025-08-11T14:44:14.286Z,1754923454.286 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:14.286Z,1754923454.286 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:14.287Z,1754923454.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-11T14:44:14.322Z,1754923454.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:14.325Z,1754923454.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 463.779846 m,
      bearing: 180.656100 deg,
      approach rate: -0.543756 m/s,
      LOS rate: -0.011216 deg/s,
      cmd heading: 179.100619 deg,
      new cmd heading: 179.084814 deg.

2025-08-11T14:44:14.537Z,1754923454.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250591
2025-08-11T14:44:14.662Z,1754923454.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:14.664Z,1754923454.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:14.667Z,1754923454.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 463.577728 m,
      bearing: 180.651973 deg,
      approach rate: -0.590855 m/s,
      LOS rate: -0.012070 deg/s,
      cmd heading: 179.084814 deg,
      new cmd heading: 179.072427 deg.

2025-08-11T14:44:14.808Z,1754923454.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.521403
2025-08-11T14:44:15.043Z,1754923455.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756314
2025-08-11T14:44:15.168Z,1754923455.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:15.171Z,1754923455.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 463.300293 m,
      bearing: 180.646299 deg,
      approach rate: -0.550999 m/s,
      LOS rate: -0.011275 deg/s,
      cmd heading: 179.072424 deg,
      new cmd heading: 179.055394 deg.

2025-08-11T14:44:15.292Z,1754923455.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005877
2025-08-11T14:44:15.517Z,1754923455.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:15.520Z,1754923455.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 463.110382 m,
      bearing: 180.642456 deg,
      approach rate: -0.546815 m/s,
      LOS rate: -0.011071 deg/s,
      cmd heading: 179.055390 deg,
      new cmd heading: 179.043855 deg.

2025-08-11T14:44:15.544Z,1754923455.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258048
2025-08-11T14:44:15.796Z,1754923455.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509797
2025-08-11T14:44:15.923Z,1754923455.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:15.932Z,1754923455.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 462.879059 m,
      bearing: 180.637832 deg,
      approach rate: -0.596635 m/s,
      LOS rate: -0.011930 deg/s,
      cmd heading: 179.043860 deg,
      new cmd heading: 179.029984 deg.

2025-08-11T14:44:16.051Z,1754923456.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763938
2025-08-11T14:44:16.300Z,1754923456.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013840
2025-08-11T14:44:16.339Z,1754923456.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:16.342Z,1754923456.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 462.631500 m,
      bearing: 180.633151 deg,
      approach rate: -0.567775 m/s,
      LOS rate: -0.010742 deg/s,
      cmd heading: 179.029982 deg,
      new cmd heading: 179.015931 deg.

2025-08-11T14:44:16.553Z,1754923456.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266594
2025-08-11T14:44:16.704Z,1754923456.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:16.706Z,1754923456.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:16.709Z,1754923456.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 462.423096 m,
      bearing: 180.629232 deg,
      approach rate: -0.567489 m/s,
      LOS rate: -0.010676 deg/s,
      cmd heading: 179.015925 deg,
      new cmd heading: 179.004163 deg.

2025-08-11T14:44:16.805Z,1754923456.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518406
2025-08-11T14:44:17.056Z,1754923457.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769666
2025-08-11T14:44:17.289Z,1754923457.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:17.296Z,1754923457.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 462.102631 m,
      bearing: 180.622435 deg,
      approach rate: -0.550145 m/s,
      LOS rate: -0.011678 deg/s,
      cmd heading: 179.004163 deg,
      new cmd heading: 178.983756 deg.

2025-08-11T14:44:17.308Z,1754923457.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021890
2025-08-11T14:44:17.561Z,1754923457.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274484
2025-08-11T14:44:17.667Z,1754923457.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:17.674Z,1754923457.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 461.895416 m,
      bearing: 180.618038 deg,
      approach rate: -0.547956 m/s,
      LOS rate: -0.011632 deg/s,
      cmd heading: 178.983755 deg,
      new cmd heading: 178.970558 deg.

2025-08-11T14:44:17.812Z,1754923457.812 [DAT](INFO): DAT read: Rx Time:14:44:18.5891

2025-08-11T14:44:17.813Z,1754923457.813 [DAT](INFO): Rx dataTimestamp_ set to:1754923457.812330
2025-08-11T14:44:17.813Z,1754923457.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526860
2025-08-11T14:44:18.069Z,1754923458.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781792
2025-08-11T14:44:18.104Z,1754923458.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 484.20 m.
2025-08-11T14:44:18.127Z,1754923458.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 484.200012 m,
      nav range: 461.673492 m,
      bearing: 180.613334 deg,
      approach rate: -0.565398 m/s,
      LOS rate: -0.011989 deg/s,
      cmd heading: 178.970559 deg,
      new cmd heading: 178.956441 deg.

2025-08-11T14:44:18.323Z,1754923458.323 [DAT](INFO): DAT read: 14:44:18.5891 LVL= 21664, 27377, 23122, 31859, AGC= 75, IDX=  98, 0.14,-2.130, 2.476,-1.946,-2.475, PHS= 0.446,-1.288, 0.485, RAW= 151.1,   4.1, CAL= 150.2,   4.1, ROT= 359.8,  -4.1

2025-08-11T14:44:18.324Z,1754923458.324 [DAT](INFO): got valid direction response:
 14:44:18.5891 LVL= 21664, 27377, 23122, 31859, AGC= 75, IDX=  98, 0.14,-2.130, 2.476,-1.946,-2.475, PHS= 0.446,-1.288, 0.485, RAW= 151.1,   4.1, CAL= 150.2,   4.1, ROT= 359.8,  -4.1

2025-08-11T14:44:18.325Z,1754923458.325 [DAT](INFO): DAT read: Bearing 334.9,  11.4 (Local)

2025-08-11T14:44:18.326Z,1754923458.326 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.9,  11.4 (Local)

2025-08-11T14:44:18.327Z,1754923458.327 [DAT](INFO): DAT read: Range 11 to 50 : 460.9 m  (Round-trip  614.6 ms) speed  0.4 m/s

2025-08-11T14:44:18.328Z,1754923458.328 [DAT](INFO): DAT read: user:64>

2025-08-11T14:44:18.329Z,1754923458.329 [DAT](INFO): DAT read: Tx time:14:44:19.7204

2025-08-11T14:44:18.329Z,1754923458.329 [DAT](INFO): Ping request sent.
2025-08-11T14:44:18.329Z,1754923458.329 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:18.329Z,1754923458.329 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:18.330Z,1754923458.330 [DAT](INFO): direction in FSK: [0.997435,-0.003482,0.071497]
2025-08-11T14:44:18.330Z,1754923458.330 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:18.331Z,1754923458.331 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:18.351Z,1754923458.351 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:18.352Z,1754923458.352 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:18.564Z,1754923458.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 460.899994 m,
      deltaT: 16.635925 s,
      deltaX: -23.300018 m,
      approachRate: -1.400584 m/s,
      rangeRepo size: 4

2025-08-11T14:44:18.566Z,1754923458.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 460.899994 m,
      bearing: 180.818122 deg,
      lat: 36.905849 deg,
      lon: -122.116359 deg,
      deltaT: 16.635925 s,
      deltaX: -23.300018 m,
      approachRate: -1.400584 m/s,
      posRepo size: 4

2025-08-11T14:44:18.566Z,1754923458.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:18.573Z,1754923458.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 459.699310 m,
      bearing: 180.818122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011989 deg/s,
      cmd heading: 178.956448 deg,
      new cmd heading: 178.938492 deg.

2025-08-11T14:44:18.875Z,1754923458.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:18.877Z,1754923458.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:18.880Z,1754923458.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 459.516174 m,
      bearing: 180.814007 deg,
      approach rate: -0.574764 m/s,
      LOS rate: -0.012920 deg/s,
      cmd heading: 178.938498 deg,
      new cmd heading: 178.926148 deg.

2025-08-11T14:44:19.073Z,1754923459.073 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:19.073Z,1754923459.073 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:19.073Z,1754923459.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:19.324Z,1754923459.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995106
2025-08-11T14:44:19.329Z,1754923459.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:19.336Z,1754923459.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 459.280426 m,
      bearing: 180.807932 deg,
      approach rate: -0.521677 m/s,
      LOS rate: -0.013449 deg/s,
      cmd heading: 178.926149 deg,
      new cmd heading: 178.907916 deg.

2025-08-11T14:44:19.576Z,1754923459.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247097
2025-08-11T14:44:19.697Z,1754923459.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:19.704Z,1754923459.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 459.083618 m,
      bearing: 180.802861 deg,
      approach rate: -0.535495 m/s,
      LOS rate: -0.013804 deg/s,
      cmd heading: 178.907912 deg,
      new cmd heading: 178.892693 deg.

2025-08-11T14:44:19.828Z,1754923459.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499258
2025-08-11T14:44:20.082Z,1754923460.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752719
2025-08-11T14:44:20.178Z,1754923460.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:20.185Z,1754923460.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 458.824127 m,
      bearing: 180.796168 deg,
      approach rate: -0.539497 m/s,
      LOS rate: -0.013924 deg/s,
      cmd heading: 178.892695 deg,
      new cmd heading: 178.872603 deg.

2025-08-11T14:44:20.332Z,1754923460.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003442
2025-08-11T14:44:20.525Z,1754923460.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:20.528Z,1754923460.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 458.628754 m,
      bearing: 180.790737 deg,
      approach rate: -0.562652 m/s,
      LOS rate: -0.015646 deg/s,
      cmd heading: 178.872600 deg,
      new cmd heading: 178.856301 deg.

2025-08-11T14:44:20.585Z,1754923460.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256281
2025-08-11T14:44:20.836Z,1754923460.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507142
2025-08-11T14:44:20.904Z,1754923460.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:20.906Z,1754923460.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:20.909Z,1754923460.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 458.419556 m,
      bearing: 180.784967 deg,
      approach rate: -0.548392 m/s,
      LOS rate: -0.015132 deg/s,
      cmd heading: 178.856303 deg,
      new cmd heading: 178.838986 deg.

2025-08-11T14:44:21.088Z,1754923461.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759162
2025-08-11T14:44:21.337Z,1754923461.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:21.340Z,1754923461.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011334
2025-08-11T14:44:21.341Z,1754923461.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 458.176575 m,
      bearing: 180.778245 deg,
      approach rate: -0.564875 m/s,
      LOS rate: -0.015636 deg/s,
      cmd heading: 178.838982 deg,
      new cmd heading: 178.818804 deg.

2025-08-11T14:44:21.592Z,1754923461.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263126
2025-08-11T14:44:21.710Z,1754923461.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:21.712Z,1754923461.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 457.966187 m,
      bearing: 180.772459 deg,
      approach rate: -0.563948 m/s,
      LOS rate: -0.015516 deg/s,
      cmd heading: 178.818806 deg,
      new cmd heading: 178.801440 deg.

2025-08-11T14:44:21.844Z,1754923461.844 [DAT](INFO): DAT read: Rx Time:14:44:22.7365

2025-08-11T14:44:21.845Z,1754923461.845 [DAT](INFO): Rx dataTimestamp_ set to:1754923461.844405
2025-08-11T14:44:21.845Z,1754923461.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516288
2025-08-11T14:44:22.096Z,1754923462.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767298
2025-08-11T14:44:22.193Z,1754923462.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:22.200Z,1754923462.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 457.731415 m,
      bearing: 180.766058 deg,
      approach rate: -0.485272 m/s,
      LOS rate: -0.013239 deg/s,
      cmd heading: 178.801443 deg,
      new cmd heading: 178.782229 deg.

2025-08-11T14:44:22.348Z,1754923462.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019085
2025-08-11T14:44:22.546Z,1754923462.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.90 m.
2025-08-11T14:44:22.549Z,1754923462.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.899994 m,
      nav range: 457.484802 m,
      bearing: 180.758690 deg,
      approach rate: -0.698718 m/s,
      LOS rate: -0.020886 deg/s,
      cmd heading: 178.782223 deg,
      new cmd heading: 178.760108 deg.

2025-08-11T14:44:22.606Z,1754923462.606 [DAT](INFO): DAT read: 14:44:22.7365 LVL= 30672, 32753, 32706, 32755, AGC= 74, IDX= 407, 0.24,-2.306, 2.255,-2.128,-2.657, PHS= 0.453,-1.325, 0.486, RAW= 150.9,   4.4, CAL= 150.0,   4.4, ROT= 360.0,  -4.4

2025-08-11T14:44:22.608Z,1754923462.608 [DAT](INFO): got valid direction response:
 14:44:22.7365 LVL= 30672, 32753, 32706, 32755, AGC= 74, IDX= 407, 0.24,-2.306, 2.255,-2.128,-2.657, PHS= 0.453,-1.325, 0.486, RAW= 150.9,   4.4, CAL= 150.0,   4.4, ROT= 360.0,  -4.4

2025-08-11T14:44:22.609Z,1754923462.609 [DAT](INFO): DAT read: Bearing 334.5,  11.3 (Local)

2025-08-11T14:44:22.609Z,1754923462.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.5,  11.3 (Local)

2025-08-11T14:44:22.610Z,1754923462.610 [DAT](INFO): DAT read: Range 11 to 50 : 459.0 m  (Round-trip  612.0 ms) speed  0.6 m/s

2025-08-11T14:44:22.611Z,1754923462.611 [DAT](INFO): DAT read: user:65>

2025-08-11T14:44:22.612Z,1754923462.612 [DAT](INFO): DAT read: Tx time:14:44:23.8204

2025-08-11T14:44:22.612Z,1754923462.612 [DAT](INFO): Ping request sent.
2025-08-11T14:44:22.612Z,1754923462.612 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:22.612Z,1754923462.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:22.613Z,1754923462.613 [DAT](INFO): direction in FSK: [0.997053,0.000000,0.076719]
2025-08-11T14:44:22.614Z,1754923462.614 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:22.614Z,1754923462.614 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:22.645Z,1754923462.645 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:22.645Z,1754923462.645 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:22.929Z,1754923462.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 459.000000 m,
      deltaT: 4.282978 s,
      deltaX: -1.899994 m,
      approachRate: -0.443615 m/s,
      rangeRepo size: 4

2025-08-11T14:44:22.931Z,1754923462.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 459.000000 m,
      bearing: 180.767789 deg,
      lat: 36.905933 deg,
      lon: -122.116359 deg,
      deltaT: 4.282978 s,
      deltaX: -1.899994 m,
      approachRate: -0.443615 m/s,
      posRepo size: 4

2025-08-11T14:44:22.932Z,1754923462.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m.
2025-08-11T14:44:22.934Z,1754923462.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.000000 m,
      nav range: 447.928894 m,
      bearing: 180.767789 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020886 deg/s,
      cmd heading: 178.760107 deg,
      new cmd heading: 178.736195 deg.

2025-08-11T14:44:23.355Z,1754923463.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:23.356Z,1754923463.356 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:23.356Z,1754923463.356 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:23.356Z,1754923463.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:23.360Z,1754923463.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m.
2025-08-11T14:44:23.363Z,1754923463.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.000000 m,
      nav range: 447.674957 m,
      bearing: 180.760067 deg,
      approach rate: -0.587155 m/s,
      LOS rate: -0.017863 deg/s,
      cmd heading: 178.736201 deg,
      new cmd heading: 178.713025 deg.

2025-08-11T14:44:23.611Z,1754923463.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998482
2025-08-11T14:44:23.768Z,1754923463.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m.
2025-08-11T14:44:23.771Z,1754923463.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.000000 m,
      nav range: 447.449158 m,
      bearing: 180.753260 deg,
      approach rate: -0.553963 m/s,
      LOS rate: -0.016709 deg/s,
      cmd heading: 178.713020 deg,
      new cmd heading: 178.692587 deg.

2025-08-11T14:44:23.860Z,1754923463.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248296
2025-08-11T14:44:24.112Z,1754923464.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500259
2025-08-11T14:44:24.200Z,1754923464.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m.
2025-08-11T14:44:24.223Z,1754923464.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.000000 m,
      nav range: 447.214966 m,
      bearing: 180.746230 deg,
      approach rate: -0.549227 m/s,
      LOS rate: -0.016496 deg/s,
      cmd heading: 178.692584 deg,
      new cmd heading: 178.671482 deg.

2025-08-11T14:44:24.365Z,1754923464.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752416
2025-08-11T14:44:24.574Z,1754923464.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m.
2025-08-11T14:44:24.578Z,1754923464.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.000000 m,
      nav range: 446.959961 m,
      bearing: 180.739940 deg,
      approach rate: -0.671514 m/s,
      LOS rate: -0.016571 deg/s,
      cmd heading: 178.671479 deg,
      new cmd heading: 178.652600 deg.

2025-08-11T14:44:24.616Z,1754923464.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004111
2025-08-11T14:44:24.868Z,1754923464.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255919
2025-08-11T14:44:24.961Z,1754923464.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m.
2025-08-11T14:44:24.964Z,1754923464.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.000000 m,
      nav range: 446.714569 m,
      bearing: 180.733916 deg,
      approach rate: -0.634063 m/s,
      LOS rate: -0.015574 deg/s,
      cmd heading: 178.652600 deg,
      new cmd heading: 178.634517 deg.

2025-08-11T14:44:25.124Z,1754923465.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511857
2025-08-11T14:44:25.372Z,1754923465.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759918
2025-08-11T14:44:25.431Z,1754923465.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:25.433Z,1754923465.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m.
2025-08-11T14:44:25.436Z,1754923465.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.000000 m,
      nav range: 446.416901 m,
      bearing: 180.726882 deg,
      approach rate: -0.630430 m/s,
      LOS rate: -0.014907 deg/s,
      cmd heading: 178.634514 deg,
      new cmd heading: 178.613398 deg.

2025-08-11T14:44:25.625Z,1754923465.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013034
2025-08-11T14:44:25.800Z,1754923465.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m.
2025-08-11T14:44:25.803Z,1754923465.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.000000 m,
      nav range: 446.197601 m,
      bearing: 180.721724 deg,
      approach rate: -0.597723 m/s,
      LOS rate: -0.014066 deg/s,
      cmd heading: 178.613395 deg,
      new cmd heading: 178.597913 deg.

2025-08-11T14:44:25.877Z,1754923465.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264854
2025-08-11T14:44:26.128Z,1754923466.128 [DAT](INFO): DAT read: Rx Time:14:44:26.8438

2025-08-11T14:44:26.128Z,1754923466.128 [DAT](INFO): Rx dataTimestamp_ set to:1754923466.128213
2025-08-11T14:44:26.129Z,1754923466.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516886
2025-08-11T14:44:26.265Z,1754923466.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.00 m.
2025-08-11T14:44:26.268Z,1754923466.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.000000 m,
      nav range: 445.891449 m,
      bearing: 180.714567 deg,
      approach rate: -0.658531 m/s,
      LOS rate: -0.015407 deg/s,
      cmd heading: 178.597917 deg,
      new cmd heading: 178.576430 deg.

2025-08-11T14:44:26.381Z,1754923466.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768710
2025-08-11T14:44:26.638Z,1754923466.638 [DAT](INFO): DAT read: 14:44:26.8438 LVL= 32032, 32753, 32754, 32755, AGC= 78, IDX=   2,-0.12,-1.226,-2.921,-1.072,-1.563, PHS= 0.439,-1.313, 0.447, RAW= 150.2,   4.9, CAL= 149.4,   5.1, ROT=   0.6,  -5.1

2025-08-11T14:44:26.639Z,1754923466.639 [DAT](INFO): got valid direction response:
 14:44:26.8438 LVL= 32032, 32753, 32754, 32755, AGC= 78, IDX=   2,-0.12,-1.226,-2.921,-1.072,-1.563, PHS= 0.439,-1.313, 0.447, RAW= 150.2,   4.9, CAL= 149.4,   5.1, ROT=   0.6,  -5.1

2025-08-11T14:44:26.640Z,1754923466.640 [DAT](INFO): DAT read: Bearing 334.3,  11.2 (Local)

2025-08-11T14:44:26.640Z,1754923466.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.3,  11.2 (Local)

2025-08-11T14:44:26.642Z,1754923466.642 [DAT](INFO): DAT read: Range 11 to 50 : 464.4 m  (Round-trip  619.3 ms) speed  0.8 m/s

2025-08-11T14:44:26.642Z,1754923466.642 [DAT](INFO): DAT read: user:66>

2025-08-11T14:44:26.648Z,1754923466.648 [DAT](INFO): DAT read: Tx time:14:44:27.9704

2025-08-11T14:44:26.649Z,1754923466.649 [DAT](INFO): Ping request sent.
2025-08-11T14:44:26.650Z,1754923466.650 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:26.650Z,1754923466.650 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:26.652Z,1754923466.652 [DAT](INFO): direction in FSK: [0.995986,0.010430,0.088894]
2025-08-11T14:44:26.653Z,1754923466.653 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:26.653Z,1754923466.653 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:26.657Z,1754923466.657 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:26.658Z,1754923466.658 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:26.846Z,1754923466.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 464.399994 m,
      deltaT: 4.031655 s,
      deltaX: 5.399994 m,
      approachRate: 1.339399 m/s,
      rangeRepo size: 4

2025-08-11T14:44:26.853Z,1754923466.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 464.399994 m,
      bearing: 180.352554 deg,
      lat: 36.905933 deg,
      lon: -122.116328 deg,
      deltaT: 4.031655 s,
      deltaX: 5.399994 m,
      approachRate: 1.339399 m/s,
      posRepo size: 4

2025-08-11T14:44:26.853Z,1754923466.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:26.860Z,1754923466.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 445.516876 m,
      bearing: 180.352554 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015407 deg/s,
      cmd heading: 178.576430 deg,
      new cmd heading: 178.549633 deg.

2025-08-11T14:44:27.348Z,1754923467.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:27.350Z,1754923467.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 445.190643 m,
      bearing: 180.347218 deg,
      approach rate: -0.648696 m/s,
      LOS rate: -0.010619 deg/s,
      cmd heading: 178.549628 deg,
      new cmd heading: 178.533607 deg.

2025-08-11T14:44:27.653Z,1754923467.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:27.656Z,1754923467.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:27.658Z,1754923467.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 444.998688 m,
      bearing: 180.344069 deg,
      approach rate: -0.623332 m/s,
      LOS rate: -0.010231 deg/s,
      cmd heading: 178.533604 deg,
      new cmd heading: 178.524152 deg.

2025-08-11T14:44:27.892Z,1754923467.892 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:27.892Z,1754923467.892 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:27.893Z,1754923467.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:28.063Z,1754923468.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:28.066Z,1754923468.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 444.743774 m,
      bearing: 180.339872 deg,
      approach rate: -0.625824 m/s,
      LOS rate: -0.010308 deg/s,
      cmd heading: 178.524151 deg,
      new cmd heading: 178.511555 deg.

2025-08-11T14:44:28.144Z,1754923468.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495401
2025-08-11T14:44:28.396Z,1754923468.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747068
2025-08-11T14:44:28.491Z,1754923468.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:28.494Z,1754923468.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 444.483307 m,
      bearing: 180.335993 deg,
      approach rate: -0.608509 m/s,
      LOS rate: -0.009069 deg/s,
      cmd heading: 178.511557 deg,
      new cmd heading: 178.499911 deg.

2025-08-11T14:44:28.648Z,1754923468.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999109
2025-08-11T14:44:28.867Z,1754923468.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:28.870Z,1754923468.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 444.254639 m,
      bearing: 180.332583 deg,
      approach rate: -0.608600 m/s,
      LOS rate: -0.009081 deg/s,
      cmd heading: 178.499904 deg,
      new cmd heading: 178.489669 deg.

2025-08-11T14:44:28.900Z,1754923468.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251217
2025-08-11T14:44:29.152Z,1754923469.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503441
2025-08-11T14:44:29.356Z,1754923469.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:29.359Z,1754923469.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 443.968079 m,
      bearing: 180.328654 deg,
      approach rate: -0.585923 m/s,
      LOS rate: -0.008038 deg/s,
      cmd heading: 178.489673 deg,
      new cmd heading: 178.477878 deg.

2025-08-11T14:44:29.405Z,1754923469.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756418
2025-08-11T14:44:29.656Z,1754923469.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007236
2025-08-11T14:44:29.723Z,1754923469.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:29.731Z,1754923469.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:29.745Z,1754923469.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 443.766663 m,
      bearing: 180.325889 deg,
      approach rate: -0.537680 m/s,
      LOS rate: -0.007383 deg/s,
      cmd heading: 178.477884 deg,
      new cmd heading: 178.469587 deg.

2025-08-11T14:44:29.908Z,1754923469.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259101
2025-08-11T14:44:30.093Z,1754923470.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:30.096Z,1754923470.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 443.536041 m,
      bearing: 180.322677 deg,
      approach rate: -0.639755 m/s,
      LOS rate: -0.008914 deg/s,
      cmd heading: 178.469592 deg,
      new cmd heading: 178.459952 deg.

2025-08-11T14:44:30.160Z,1754923470.160 [DAT](INFO): DAT read: Rx Time:14:44:31.0004

2025-08-11T14:44:30.161Z,1754923470.161 [DAT](INFO): Rx dataTimestamp_ set to:1754923470.160612
2025-08-11T14:44:30.161Z,1754923470.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512429
2025-08-11T14:44:30.412Z,1754923470.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763144
2025-08-11T14:44:30.529Z,1754923470.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 464.40 m.
2025-08-11T14:44:30.562Z,1754923470.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 464.399994 m,
      nav range: 443.282562 m,
      bearing: 180.318384 deg,
      approach rate: -0.578233 m/s,
      LOS rate: -0.009799 deg/s,
      cmd heading: 178.459948 deg,
      new cmd heading: 178.447061 deg.

2025-08-11T14:44:30.692Z,1754923470.692 [DAT](INFO): DAT read: 14:44:31.0004 LVL= 24480, 32753, 27378, 32755, AGC= 67, IDX= 502, 0.37, 0.988,-0.475, 1.160, 0.359, PHS= 0.731,-0.789, 0.757, RAW= 150.8,  -9.2, CAL= 151.3, -10.9, ROT= 358.7,  10.9

2025-08-11T14:44:30.693Z,1754923470.693 [DAT](INFO): got valid direction response:
 14:44:31.0004 LVL= 24480, 32753, 27378, 32755, AGC= 67, IDX= 502, 0.37, 0.988,-0.475, 1.160, 0.359, PHS= 0.731,-0.789, 0.757, RAW= 150.8,  -9.2, CAL= 151.3, -10.9, ROT= 358.7,  10.9

2025-08-11T14:44:30.694Z,1754923470.694 [DAT](INFO): DAT read: Bearing 317.3,  10.4 (Local)

2025-08-11T14:44:30.699Z,1754923470.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.3,  10.4 (Local)

2025-08-11T14:44:30.701Z,1754923470.701 [DAT](INFO): DAT read: Range 11 to 50 : 469.4 m  (Round-trip  625.9 ms) speed  0.4 m/s

2025-08-11T14:44:30.703Z,1754923470.703 [DAT](INFO): DAT read: user:67>

2025-08-11T14:44:30.712Z,1754923470.712 [DAT](INFO): DAT read: Tx time:14:44:32.1204

2025-08-11T14:44:30.713Z,1754923470.713 [DAT](INFO): Ping request sent.
2025-08-11T14:44:30.713Z,1754923470.713 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:30.714Z,1754923470.714 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:30.721Z,1754923470.721 [DAT](INFO): direction in FSK: [0.981706,-0.022278,-0.189095]
2025-08-11T14:44:30.722Z,1754923470.722 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:30.722Z,1754923470.722 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:30.742Z,1754923470.742 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:30.743Z,1754923470.743 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:30.968Z,1754923470.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 469.399994 m,
      deltaT: 4.034786 s,
      deltaX: 5.000000 m,
      approachRate: 1.239223 m/s,
      rangeRepo size: 4

2025-08-11T14:44:30.970Z,1754923470.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 469.399994 m,
      bearing: 180.306532 deg,
      lat: 36.905923 deg,
      lon: -122.116327 deg,
      deltaT: 4.034786 s,
      deltaX: 5.000000 m,
      approachRate: 1.239223 m/s,
      posRepo size: 4

2025-08-11T14:44:30.971Z,1754923470.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:30.974Z,1754923470.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 444.122833 m,
      bearing: 180.306532 deg,
      approach rate: -1691700075878108102656.000000 m/s,
      LOS rate: -0.009799 deg/s,
      cmd heading: 178.447066 deg,
      new cmd heading: 178.434201 deg.

2025-08-11T14:44:31.552Z,1754923471.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:31.555Z,1754923471.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 443.796387 m,
      bearing: 180.301039 deg,
      approach rate: -0.557739 m/s,
      LOS rate: -0.009391 deg/s,
      cmd heading: 178.434198 deg,
      new cmd heading: 178.417707 deg.

2025-08-11T14:44:32.029Z,1754923472.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:32.035Z,1754923472.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:32.038Z,1754923472.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 443.535309 m,
      bearing: 180.296752 deg,
      approach rate: -0.545504 m/s,
      LOS rate: -0.008963 deg/s,
      cmd heading: 178.417710 deg,
      new cmd heading: 178.404841 deg.

2025-08-11T14:44:32.176Z,1754923472.176 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:32.176Z,1754923472.176 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:32.176Z,1754923472.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:32.428Z,1754923472.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714915
2025-08-11T14:44:32.494Z,1754923472.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:32.496Z,1754923472.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 443.286896 m,
      bearing: 180.293046 deg,
      approach rate: -0.536915 m/s,
      LOS rate: -0.008014 deg/s,
      cmd heading: 178.404842 deg,
      new cmd heading: 178.393719 deg.

2025-08-11T14:44:32.680Z,1754923472.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966928
2025-08-11T14:44:32.863Z,1754923472.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:32.866Z,1754923472.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 443.091797 m,
      bearing: 180.290195 deg,
      approach rate: -0.527923 m/s,
      LOS rate: -0.007717 deg/s,
      cmd heading: 178.393722 deg,
      new cmd heading: 178.385166 deg.

2025-08-11T14:44:32.933Z,1754923472.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219836
2025-08-11T14:44:33.184Z,1754923473.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471118
2025-08-11T14:44:33.275Z,1754923473.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:33.278Z,1754923473.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 442.874329 m,
      bearing: 180.287083 deg,
      approach rate: -0.528041 m/s,
      LOS rate: -0.007560 deg/s,
      cmd heading: 178.385171 deg,
      new cmd heading: 178.375830 deg.

2025-08-11T14:44:33.436Z,1754923473.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723010
2025-08-11T14:44:33.672Z,1754923473.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:33.675Z,1754923473.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 442.665894 m,
      bearing: 180.283850 deg,
      approach rate: -0.524773 m/s,
      LOS rate: -0.008145 deg/s,
      cmd heading: 178.375827 deg,
      new cmd heading: 178.366121 deg.

2025-08-11T14:44:33.688Z,1754923473.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974762
2025-08-11T14:44:33.940Z,1754923473.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227196
2025-08-11T14:44:34.070Z,1754923474.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:34.077Z,1754923474.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:34.084Z,1754923474.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 442.457764 m,
      bearing: 180.280665 deg,
      approach rate: -0.514417 m/s,
      LOS rate: -0.007875 deg/s,
      cmd heading: 178.366114 deg,
      new cmd heading: 178.356556 deg.

2025-08-11T14:44:34.193Z,1754923474.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479258
2025-08-11T14:44:34.444Z,1754923474.444 [DAT](INFO): DAT read: Rx Time:14:44:35.1373

2025-08-11T14:44:34.445Z,1754923474.445 [DAT](INFO): Rx dataTimestamp_ set to:1754923474.444355
2025-08-11T14:44:34.445Z,1754923474.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731955
2025-08-11T14:44:34.513Z,1754923474.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:34.532Z,1754923474.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 442.228271 m,
      bearing: 180.277438 deg,
      approach rate: -0.525765 m/s,
      LOS rate: -0.007396 deg/s,
      cmd heading: 178.356552 deg,
      new cmd heading: 178.346868 deg.

2025-08-11T14:44:34.697Z,1754923474.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.983605
2025-08-11T14:44:34.909Z,1754923474.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.40 m.
2025-08-11T14:44:34.918Z,1754923474.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.399994 m,
      nav range: 442.032166 m,
      bearing: 180.274725 deg,
      approach rate: -0.495285 m/s,
      LOS rate: -0.006855 deg/s,
      cmd heading: 178.346867 deg,
      new cmd heading: 178.338724 deg.

2025-08-11T14:44:34.954Z,1754923474.954 [DAT](INFO): DAT read: 14:44:35.1373 LVL= 22304, 30513, 27634, 32755, AGC= 72, IDX= 303, 0.20, 2.666, 1.234, 2.793, 2.119, PHS= 0.649,-0.840, 0.630, RAW= 149.4,  -6.0, CAL= 149.3,  -7.3, ROT=   0.7,   7.3

2025-08-11T14:44:34.956Z,1754923474.956 [DAT](INFO): got valid direction response:
 14:44:35.1373 LVL= 22304, 30513, 27634, 32755, AGC= 72, IDX= 303, 0.20, 2.666, 1.234, 2.793, 2.119, PHS= 0.649,-0.840, 0.630, RAW= 149.4,  -6.0, CAL= 149.3,  -7.3, ROT=   0.7,   7.3

2025-08-11T14:44:34.957Z,1754923474.957 [DAT](INFO): DAT read: Bearing 320.3,  11.6 (Local)

2025-08-11T14:44:34.957Z,1754923474.957 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.3,  11.6 (Local)

2025-08-11T14:44:34.958Z,1754923474.958 [DAT](INFO): DAT read: Range 11 to 50 : 459.5 m  (Round-trip  612.7 ms) speed  0.2 m/s

2025-08-11T14:44:34.959Z,1754923474.959 [DAT](INFO): DAT read: user:68>

2025-08-11T14:44:34.960Z,1754923474.960 [DAT](INFO): DAT read: Tx time:14:44:36.2204

2025-08-11T14:44:34.960Z,1754923474.960 [DAT](INFO): Ping request sent.
2025-08-11T14:44:34.960Z,1754923474.960 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:34.961Z,1754923474.961 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:34.962Z,1754923474.962 [DAT](INFO): direction in FSK: [0.991820,0.012118,-0.127065]
2025-08-11T14:44:34.962Z,1754923474.962 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:34.962Z,1754923474.962 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:34.970Z,1754923474.970 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:34.970Z,1754923474.970 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:35.304Z,1754923475.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 459.500000 m,
      deltaT: 4.281782 s,
      deltaX: -9.899994 m,
      approachRate: -2.312120 m/s,
      rangeRepo size: 4

2025-08-11T14:44:35.306Z,1754923475.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 459.500000 m,
      bearing: 180.271826 deg,
      lat: 36.905923 deg,
      lon: -122.116327 deg,
      deltaT: 4.281782 s,
      deltaX: -9.899994 m,
      approachRate: -2.312120 m/s,
      posRepo size: 4

2025-08-11T14:44:35.307Z,1754923475.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.50 m.
2025-08-11T14:44:35.310Z,1754923475.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.500000 m,
      nav range: 441.822815 m,
      bearing: 180.271826 deg,
      approach rate: 970489035909962436332487951201 m/s,
      LOS rate: -0.006855 deg/s,
      cmd heading: 178.338725 deg,
      new cmd heading: 178.330626 deg.

2025-08-11T14:44:35.908Z,1754923475.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.50 m.
2025-08-11T14:44:35.912Z,1754923475.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.500000 m,
      nav range: 441.485901 m,
      bearing: 180.266615 deg,
      approach rate: -0.556574 m/s,
      LOS rate: -0.008616 deg/s,
      cmd heading: 178.330625 deg,
      new cmd heading: 178.314978 deg.

2025-08-11T14:44:36.289Z,1754923476.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:36.291Z,1754923476.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.50 m.
2025-08-11T14:44:36.294Z,1754923476.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.500000 m,
      nav range: 441.274628 m,
      bearing: 180.263305 deg,
      approach rate: -0.551969 m/s,
      LOS rate: -0.008650 deg/s,
      cmd heading: 178.314984 deg,
      new cmd heading: 178.305051 deg.

2025-08-11T14:44:36.461Z,1754923476.461 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:36.461Z,1754923476.461 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:36.461Z,1754923476.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:36.713Z,1754923476.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752733
2025-08-11T14:44:36.770Z,1754923476.770 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +13.61,      +312.6  +6.09,   7.03,  0.00
2025-08-11T14:44:36.806Z,1754923476.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.50 m.
2025-08-11T14:44:36.813Z,1754923476.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.500000 m,
      nav range: 441.001160 m,
      bearing: 180.259017 deg,
      approach rate: -0.531135 m/s,
      LOS rate: -0.008335 deg/s,
      cmd heading: 178.305053 deg,
      new cmd heading: 178.292178 deg.

2025-08-11T14:44:36.964Z,1754923476.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003770
2025-08-11T14:44:37.147Z,1754923477.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.50 m.
2025-08-11T14:44:37.150Z,1754923477.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.500000 m,
      nav range: 440.801666 m,
      bearing: 180.255765 deg,
      approach rate: -0.585390 m/s,
      LOS rate: -0.009546 deg/s,
      cmd heading: 178.292185 deg,
      new cmd heading: 178.282425 deg.

2025-08-11T14:44:37.218Z,1754923477.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257799
2025-08-11T14:44:37.468Z,1754923477.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507805
2025-08-11T14:44:37.573Z,1754923477.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.50 m.
2025-08-11T14:44:37.576Z,1754923477.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.500000 m,
      nav range: 440.550629 m,
      bearing: 180.250842 deg,
      approach rate: -0.588546 m/s,
      LOS rate: -0.011548 deg/s,
      cmd heading: 178.282431 deg,
      new cmd heading: 178.267654 deg.

2025-08-11T14:44:37.721Z,1754923477.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760413
2025-08-11T14:44:37.964Z,1754923477.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.50 m.
2025-08-11T14:44:37.966Z,1754923477.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.500000 m,
      nav range: 440.320862 m,
      bearing: 180.246198 deg,
      approach rate: -0.588352 m/s,
      LOS rate: -0.011897 deg/s,
      cmd heading: 178.267650 deg,
      new cmd heading: 178.253712 deg.

2025-08-11T14:44:37.972Z,1754923477.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011997
2025-08-11T14:44:38.225Z,1754923478.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265023
2025-08-11T14:44:38.430Z,1754923478.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:38.436Z,1754923478.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.50 m.
2025-08-11T14:44:38.443Z,1754923478.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.500000 m,
      nav range: 440.071533 m,
      bearing: 180.241088 deg,
      approach rate: -0.527603 m/s,
      LOS rate: -0.010821 deg/s,
      cmd heading: 178.253717 deg,
      new cmd heading: 178.238376 deg.

2025-08-11T14:44:38.479Z,1754923478.479 [DAT](INFO): DAT read: Rx Time:14:44:39.2240

2025-08-11T14:44:38.480Z,1754923478.480 [DAT](INFO): Rx dataTimestamp_ set to:1754923478.479285
2025-08-11T14:44:38.480Z,1754923478.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519847
2025-08-11T14:44:38.732Z,1754923478.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771896
2025-08-11T14:44:38.825Z,1754923478.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 459.50 m.
2025-08-11T14:44:38.837Z,1754923478.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 459.500000 m,
      nav range: 439.800018 m,
      bearing: 180.236012 deg,
      approach rate: -0.697935 m/s,
      LOS rate: -0.013055 deg/s,
      cmd heading: 178.238376 deg,
      new cmd heading: 178.223140 deg.

2025-08-11T14:44:38.992Z,1754923478.992 [DAT](INFO): DAT read: 14:44:39.2240 LVL= 29744, 32753, 30786, 32755, AGC= 73, IDX= 311, 0.42,-2.479, 2.197,-2.399,-2.774, PHS= 0.397,-1.267, 0.331, RAW= 148.0,   6.7, CAL= 147.4,   7.2, ROT=   2.6,  -7.2

2025-08-11T14:44:38.993Z,1754923478.993 [DAT](INFO): got valid direction response:
 14:44:39.2240 LVL= 29744, 32753, 30786, 32755, AGC= 73, IDX= 311, 0.42,-2.479, 2.197,-2.399,-2.774, PHS= 0.397,-1.267, 0.331, RAW= 148.0,   6.7, CAL= 147.4,   7.2, ROT=   2.6,  -7.2

2025-08-11T14:44:38.994Z,1754923478.994 [DAT](INFO): DAT read: Bearing 335.8,  11.1 (Local)

2025-08-11T14:44:38.995Z,1754923478.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.8,  11.1 (Local)

2025-08-11T14:44:38.999Z,1754923478.999 [DAT](INFO): DAT read: Range 11 to 50 : 449.6 m  (Round-trip  599.5 ms) speed  0.6 m/s

2025-08-11T14:44:39.000Z,1754923479.000 [DAT](INFO): DAT read: user:69>

2025-08-11T14:44:39.001Z,1754923479.001 [DAT](INFO): DAT read: Tx time:14:44:40.3204

2025-08-11T14:44:39.001Z,1754923479.001 [DAT](INFO): Ping request sent.
2025-08-11T14:44:39.001Z,1754923479.001 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:39.002Z,1754923479.002 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:39.003Z,1754923479.003 [DAT](INFO): direction in FSK: [0.991093,0.045005,0.125333]
2025-08-11T14:44:39.003Z,1754923479.003 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:39.040Z,1754923479.040 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:39.059Z,1754923479.059 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:39.060Z,1754923479.060 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:39.291Z,1754923479.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 449.600006 m,
      deltaT: 4.036026 s,
      deltaX: -9.899994 m,
      approachRate: -2.452906 m/s,
      rangeRepo size: 4

2025-08-11T14:44:39.293Z,1754923479.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 449.600006 m,
      bearing: 180.230815 deg,
      lat: 36.905923 deg,
      lon: -122.116327 deg,
      deltaT: 4.036026 s,
      deltaX: -9.899994 m,
      approachRate: -2.452906 m/s,
      posRepo size: 4

2025-08-11T14:44:39.294Z,1754923479.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:39.309Z,1754923479.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 439.526154 m,
      bearing: 180.230815 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013055 deg/s,
      cmd heading: 178.223145 deg,
      new cmd heading: 178.204940 deg.

2025-08-11T14:44:39.706Z,1754923479.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:39.719Z,1754923479.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 439.249969 m,
      bearing: 180.224621 deg,
      approach rate: -0.664151 m/s,
      LOS rate: -0.014903 deg/s,
      cmd heading: 178.204936 deg,
      new cmd heading: 178.186344 deg.

2025-08-11T14:44:40.083Z,1754923480.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:40.086Z,1754923480.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 438.999603 m,
      bearing: 180.218936 deg,
      approach rate: -0.664366 m/s,
      LOS rate: -0.015095 deg/s,
      cmd heading: 178.186344 deg,
      new cmd heading: 178.169278 deg.

2025-08-11T14:44:40.512Z,1754923480.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:40.514Z,1754923480.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:40.517Z,1754923480.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 438.709625 m,
      bearing: 180.212714 deg,
      approach rate: -0.673054 m/s,
      LOS rate: -0.014451 deg/s,
      cmd heading: 178.169282 deg,
      new cmd heading: 178.150604 deg.

2025-08-11T14:44:40.748Z,1754923480.748 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:40.748Z,1754923480.748 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:40.748Z,1754923480.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:40.890Z,1754923480.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:40.893Z,1754923480.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 438.462677 m,
      bearing: 180.207374 deg,
      approach rate: -0.656247 m/s,
      LOS rate: -0.014199 deg/s,
      cmd heading: 178.150608 deg,
      new cmd heading: 178.134579 deg.

2025-08-11T14:44:41.000Z,1754923481.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998934
2025-08-11T14:44:41.252Z,1754923481.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250721
2025-08-11T14:44:41.285Z,1754923481.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:41.300Z,1754923481.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 438.203979 m,
      bearing: 180.201731 deg,
      approach rate: -0.655438 m/s,
      LOS rate: -0.014306 deg/s,
      cmd heading: 178.134585 deg,
      new cmd heading: 178.117645 deg.

2025-08-11T14:44:41.505Z,1754923481.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503754
2025-08-11T14:44:41.745Z,1754923481.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:41.753Z,1754923481.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 437.906342 m,
      bearing: 180.195140 deg,
      approach rate: -0.646609 m/s,
      LOS rate: -0.014327 deg/s,
      cmd heading: 178.117646 deg,
      new cmd heading: 178.097861 deg.

2025-08-11T14:44:41.756Z,1754923481.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754978
2025-08-11T14:44:42.008Z,1754923482.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006770
2025-08-11T14:44:42.095Z,1754923482.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:42.098Z,1754923482.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 437.670868 m,
      bearing: 180.189871 deg,
      approach rate: -0.673478 m/s,
      LOS rate: -0.015078 deg/s,
      cmd heading: 178.097866 deg,
      new cmd heading: 178.082051 deg.

2025-08-11T14:44:42.260Z,1754923482.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259045
2025-08-11T14:44:42.514Z,1754923482.514 [DAT](INFO): DAT read: Rx Time:14:44:43.3206

2025-08-11T14:44:42.514Z,1754923482.514 [DAT](INFO): Rx dataTimestamp_ set to:1754923482.513909
2025-08-11T14:44:42.515Z,1754923482.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513427
2025-08-11T14:44:42.541Z,1754923482.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:42.543Z,1754923482.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:42.546Z,1754923482.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 437.383514 m,
      bearing: 180.183499 deg,
      approach rate: -0.641096 m/s,
      LOS rate: -0.014226 deg/s,
      cmd heading: 178.082047 deg,
      new cmd heading: 178.062918 deg.

2025-08-11T14:44:42.765Z,1754923482.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763468
2025-08-11T14:44:42.954Z,1754923482.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.60 m.
2025-08-11T14:44:42.971Z,1754923482.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.600006 m,
      nav range: 437.140900 m,
      bearing: 180.178113 deg,
      approach rate: -0.592573 m/s,
      LOS rate: -0.013163 deg/s,
      cmd heading: 178.062922 deg,
      new cmd heading: 178.046755 deg.

2025-08-11T14:44:43.022Z,1754923483.022 [DAT](INFO): DAT read: 14:44:43.3206 LVL= 32752, 32753, 31154, 32755, AGC= 76, IDX= 404,-0.20,-0.239,-1.889,-0.088,-0.503, PHS= 0.366,-1.340, 0.371, RAW= 150.1,   7.1, CAL= 149.6,   7.6, ROT=   0.4,  -7.6

2025-08-11T14:44:43.023Z,1754923483.023 [DAT](INFO): got valid direction response:
 14:44:43.3206 LVL= 32752, 32753, 31154, 32755, AGC= 76, IDX= 404,-0.20,-0.239,-1.889,-0.088,-0.503, PHS= 0.366,-1.340, 0.371, RAW= 150.1,   7.1, CAL= 149.6,   7.6, ROT=   0.4,  -7.6

2025-08-11T14:44:43.024Z,1754923483.024 [DAT](INFO): DAT read: Bearing 337.2,   7.3 (Local)

2025-08-11T14:44:43.025Z,1754923483.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.2,   7.3 (Local)

2025-08-11T14:44:43.026Z,1754923483.026 [DAT](INFO): DAT read: Range 11 to 50 : 447.0 m  (Round-trip  596.0 ms) speed  1.0 m/s

2025-08-11T14:44:43.027Z,1754923483.027 [DAT](INFO): DAT read: user:70>

2025-08-11T14:44:43.028Z,1754923483.028 [DAT](INFO): DAT read: Tx time:14:44:44.4204

2025-08-11T14:44:43.028Z,1754923483.028 [DAT](INFO): Ping request sent.
2025-08-11T14:44:43.028Z,1754923483.028 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:43.028Z,1754923483.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:43.029Z,1754923483.029 [DAT](INFO): direction in FSK: [0.991191,0.006920,0.132256]
2025-08-11T14:44:43.030Z,1754923483.030 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:43.030Z,1754923483.030 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:43.033Z,1754923483.033 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:43.033Z,1754923483.033 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:43.402Z,1754923483.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 447.000000 m,
      deltaT: 4.031507 s,
      deltaX: -2.600006 m,
      approachRate: -0.644922 m/s,
      rangeRepo size: 4

2025-08-11T14:44:43.405Z,1754923483.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 447.000000 m,
      bearing: 180.178042 deg,
      lat: 36.905923 deg,
      lon: -122.116328 deg,
      deltaT: 4.031507 s,
      deltaX: -2.600006 m,
      approachRate: -0.644922 m/s,
      posRepo size: 4

2025-08-11T14:44:43.405Z,1754923483.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:43.408Z,1754923483.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 436.834595 m,
      bearing: 180.178042 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013163 deg/s,
      cmd heading: 178.046748 deg,
      new cmd heading: 178.029005 deg.

2025-08-11T14:44:43.904Z,1754923483.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:43.906Z,1754923483.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 436.508484 m,
      bearing: 180.172709 deg,
      approach rate: -0.649524 m/s,
      LOS rate: -0.010630 deg/s,
      cmd heading: 178.029004 deg,
      new cmd heading: 178.012992 deg.

2025-08-11T14:44:44.276Z,1754923484.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:44.279Z,1754923484.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 436.268860 m,
      bearing: 180.168795 deg,
      approach rate: -0.645179 m/s,
      LOS rate: -0.010543 deg/s,
      cmd heading: 178.012994 deg,
      new cmd heading: 178.001247 deg.

2025-08-11T14:44:44.755Z,1754923484.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:44.757Z,1754923484.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:44.760Z,1754923484.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 435.978546 m,
      bearing: 180.164464 deg,
      approach rate: -0.602068 m/s,
      LOS rate: -0.008988 deg/s,
      cmd heading: 178.001246 deg,
      new cmd heading: 177.988244 deg.

2025-08-11T14:44:44.780Z,1754923484.780 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:44.780Z,1754923484.780 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:44.780Z,1754923484.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:45.032Z,1754923485.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003893
2025-08-11T14:44:45.110Z,1754923485.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:45.129Z,1754923485.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 435.766602 m,
      bearing: 180.161299 deg,
      approach rate: -0.601109 m/s,
      LOS rate: -0.008981 deg/s,
      cmd heading: 177.988241 deg,
      new cmd heading: 177.978742 deg.

2025-08-11T14:44:45.284Z,1754923485.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255906
2025-08-11T14:44:45.539Z,1754923485.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510414
2025-08-11T14:44:45.608Z,1754923485.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:45.610Z,1754923485.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 435.484467 m,
      bearing: 180.157131 deg,
      approach rate: -0.567328 m/s,
      LOS rate: -0.008386 deg/s,
      cmd heading: 177.978747 deg,
      new cmd heading: 177.966235 deg.

2025-08-11T14:44:45.788Z,1754923485.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759963
2025-08-11T14:44:46.000Z,1754923486.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:46.022Z,1754923486.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 435.261780 m,
      bearing: 180.153838 deg,
      approach rate: -0.566590 m/s,
      LOS rate: -0.008384 deg/s,
      cmd heading: 177.966234 deg,
      new cmd heading: 177.956348 deg.

2025-08-11T14:44:46.041Z,1754923486.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013219
2025-08-11T14:44:46.292Z,1754923486.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264074
2025-08-11T14:44:46.359Z,1754923486.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:46.369Z,1754923486.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 435.064178 m,
      bearing: 180.150946 deg,
      approach rate: -0.551595 m/s,
      LOS rate: -0.008077 deg/s,
      cmd heading: 177.956344 deg,
      new cmd heading: 177.947664 deg.

2025-08-11T14:44:46.547Z,1754923486.547 [DAT](INFO): DAT read: Rx Time:14:44:47.4282

2025-08-11T14:44:46.548Z,1754923486.548 [DAT](INFO): Rx dataTimestamp_ set to:1754923486.547956
2025-08-11T14:44:46.549Z,1754923486.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520719
2025-08-11T14:44:46.785Z,1754923486.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:46.796Z,1754923486.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767854
2025-08-11T14:44:46.787Z,1754923486.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:46.806Z,1754923486.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 434.826782 m,
      bearing: 180.147087 deg,
      approach rate: -0.554308 m/s,
      LOS rate: -0.009015 deg/s,
      cmd heading: 177.947670 deg,
      new cmd heading: 177.936087 deg.

2025-08-11T14:44:47.050Z,1754923487.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021082
2025-08-11T14:44:47.172Z,1754923487.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 447.00 m.
2025-08-11T14:44:47.177Z,1754923487.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 447.000000 m,
      nav range: 434.617676 m,
      bearing: 180.143719 deg,
      approach rate: -0.543764 m/s,
      LOS rate: -0.008761 deg/s,
      cmd heading: 177.936086 deg,
      new cmd heading: 177.925978 deg.

2025-08-11T14:44:47.306Z,1754923487.306 [DAT](INFO): DAT read: 14:44:47.4282 LVL= 22640, 21809, 21682, 24291, AGC= 71, IDX=   2,-0.06, 0.830,-0.766, 1.063, 0.225, PHS= 0.707,-0.945, 0.794, RAW= 152.5,  -6.6, CAL= 152.6,  -8.1, ROT= 357.4,   8.1

2025-08-11T14:44:47.307Z,1754923487.307 [DAT](INFO): got valid direction response:
 14:44:47.4282 LVL= 22640, 21809, 21682, 24291, AGC= 71, IDX=   2,-0.06, 0.830,-0.766, 1.063, 0.225, PHS= 0.707,-0.945, 0.794, RAW= 152.5,  -6.6, CAL= 152.6,  -8.1, ROT= 357.4,   8.1

2025-08-11T14:44:47.308Z,1754923487.308 [DAT](INFO): DAT read: Bearing 321.1,   4.4 (Local)

2025-08-11T14:44:47.308Z,1754923487.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.1,   4.4 (Local)

2025-08-11T14:44:47.310Z,1754923487.310 [DAT](INFO): DAT read: Range 11 to 50 : 452.7 m  (Round-trip  603.7 ms) speed  0.4 m/s

2025-08-11T14:44:47.310Z,1754923487.310 [DAT](INFO): DAT read: user:71>

2025-08-11T14:44:47.324Z,1754923487.324 [DAT](INFO): DAT read: Tx time:14:44:48.5204

2025-08-11T14:44:47.324Z,1754923487.324 [DAT](INFO): Ping request sent.
2025-08-11T14:44:47.324Z,1754923487.324 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:47.325Z,1754923487.325 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:47.326Z,1754923487.326 [DAT](INFO): direction in FSK: [0.989004,-0.044910,-0.140901]
2025-08-11T14:44:47.326Z,1754923487.326 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:47.326Z,1754923487.326 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:47.340Z,1754923487.340 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:47.340Z,1754923487.340 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:47.645Z,1754923487.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 452.700012 m,
      deltaT: 4.283839 s,
      deltaX: 5.700012 m,
      approachRate: 1.330585 m/s,
      rangeRepo size: 4

2025-08-11T14:44:47.647Z,1754923487.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 452.700012 m,
      bearing: 177.812622 deg,
      lat: 36.905770 deg,
      lon: -122.116122 deg,
      deltaT: 4.283839 s,
      deltaX: 5.700012 m,
      approachRate: 1.330585 m/s,
      posRepo size: 4

2025-08-11T14:44:47.648Z,1754923487.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:47.651Z,1754923487.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 451.706909 m,
      bearing: 177.812622 deg,
      approach rate: -843322394847215616.000000 m/s,
      LOS rate: -0.008761 deg/s,
      cmd heading: 177.925977 deg,
      new cmd heading: 177.913545 deg.

2025-08-11T14:44:47.972Z,1754923487.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:47.974Z,1754923487.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 451.533813 m,
      bearing: 177.808821 deg,
      approach rate: -0.529408 m/s,
      LOS rate: -0.011632 deg/s,
      cmd heading: 177.913546 deg,
      new cmd heading: 177.902137 deg.

2025-08-11T14:44:48.395Z,1754923488.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:48.402Z,1754923488.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 451.324707 m,
      bearing: 177.804263 deg,
      approach rate: -0.493879 m/s,
      LOS rate: -0.010768 deg/s,
      cmd heading: 177.902140 deg,
      new cmd heading: 177.888462 deg.

2025-08-11T14:44:48.803Z,1754923488.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:48.805Z,1754923488.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:48.808Z,1754923488.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 451.101044 m,
      bearing: 177.799195 deg,
      approach rate: -0.544726 m/s,
      LOS rate: -0.012351 deg/s,
      cmd heading: 177.888466 deg,
      new cmd heading: 177.873252 deg.

2025-08-11T14:44:48.812Z,1754923488.812 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:48.812Z,1754923488.812 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:48.812Z,1754923488.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:49.067Z,1754923489.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742906
2025-08-11T14:44:49.208Z,1754923489.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:49.211Z,1754923489.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 450.910583 m,
      bearing: 177.794915 deg,
      approach rate: -0.473065 m/s,
      LOS rate: -0.010633 deg/s,
      cmd heading: 177.873248 deg,
      new cmd heading: 177.860405 deg.

2025-08-11T14:44:49.316Z,1754923489.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991896
2025-08-11T14:44:49.570Z,1754923489.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245719
2025-08-11T14:44:49.710Z,1754923489.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:49.721Z,1754923489.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 450.634644 m,
      bearing: 177.789357 deg,
      approach rate: -0.549282 m/s,
      LOS rate: -0.011071 deg/s,
      cmd heading: 177.860407 deg,
      new cmd heading: 177.843722 deg.

2025-08-11T14:44:49.822Z,1754923489.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497849
2025-08-11T14:44:50.041Z,1754923490.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:50.044Z,1754923490.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 450.442535 m,
      bearing: 177.785579 deg,
      approach rate: -0.580105 m/s,
      LOS rate: -0.011413 deg/s,
      cmd heading: 177.843728 deg,
      new cmd heading: 177.832389 deg.

2025-08-11T14:44:50.077Z,1754923490.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752593
2025-08-11T14:44:50.328Z,1754923490.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003841
2025-08-11T14:44:50.463Z,1754923490.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:50.466Z,1754923490.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 450.214996 m,
      bearing: 177.781099 deg,
      approach rate: -0.539978 m/s,
      LOS rate: -0.010636 deg/s,
      cmd heading: 177.832390 deg,
      new cmd heading: 177.818944 deg.

2025-08-11T14:44:50.584Z,1754923490.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259272
2025-08-11T14:44:50.832Z,1754923490.832 [DAT](INFO): DAT read: Rx Time:14:44:51.5252

2025-08-11T14:44:50.833Z,1754923490.833 [DAT](INFO): Rx dataTimestamp_ set to:1754923490.832462
2025-08-11T14:44:50.833Z,1754923490.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509053
2025-08-11T14:44:50.913Z,1754923490.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:50.920Z,1754923490.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:50.929Z,1754923490.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 449.989502 m,
      bearing: 177.775762 deg,
      approach rate: -0.493446 m/s,
      LOS rate: -0.011685 deg/s,
      cmd heading: 177.818948 deg,
      new cmd heading: 177.802928 deg.

2025-08-11T14:44:51.084Z,1754923491.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759972
2025-08-11T14:44:51.278Z,1754923491.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.70 m.
2025-08-11T14:44:51.281Z,1754923491.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.700012 m,
      nav range: 449.796722 m,
      bearing: 177.771203 deg,
      approach rate: -0.538787 m/s,
      LOS rate: -0.012747 deg/s,
      cmd heading: 177.802924 deg,
      new cmd heading: 177.789241 deg.

2025-08-11T14:44:51.345Z,1754923491.345 [DAT](INFO): DAT read: 14:44:51.5252 LVL= 27056, 31297, 26514, 32755, AGC= 74, IDX= 292,-0.17,-0.143,-1.898, 0.038,-0.393, PHS= 0.352,-1.460, 0.387, RAW= 150.9,   7.9, CAL= 150.4,   8.5, ROT= 359.6,  -8.5

2025-08-11T14:44:51.347Z,1754923491.347 [DAT](INFO): got valid direction response:
 14:44:51.5252 LVL= 27056, 31297, 26514, 32755, AGC= 74, IDX= 292,-0.17,-0.143,-1.898, 0.038,-0.393, PHS= 0.352,-1.460, 0.387, RAW= 150.9,   7.9, CAL= 150.4,   8.5, ROT= 359.6,  -8.5

2025-08-11T14:44:51.348Z,1754923491.348 [DAT](INFO): DAT read: Bearing 337.1,   2.8 (Local)

2025-08-11T14:44:51.349Z,1754923491.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.1,   2.8 (Local)

2025-08-11T14:44:51.351Z,1754923491.351 [DAT](INFO): DAT read: Range 11 to 50 : 450.6 m  (Round-trip  600.8 ms) speed  0.4 m/s

2025-08-11T14:44:51.352Z,1754923491.352 [DAT](INFO): DAT read: user:72>

2025-08-11T14:44:51.353Z,1754923491.353 [DAT](INFO): DAT read: Tx time:14:44:52.6203

2025-08-11T14:44:51.354Z,1754923491.354 [DAT](INFO): Ping request sent.
2025-08-11T14:44:51.354Z,1754923491.354 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:51.354Z,1754923491.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:51.360Z,1754923491.360 [DAT](INFO): direction in FSK: [0.988992,-0.006904,0.147809]
2025-08-11T14:44:51.360Z,1754923491.360 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:51.361Z,1754923491.361 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:51.366Z,1754923491.366 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:51.366Z,1754923491.366 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:51.728Z,1754923491.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 450.600006 m,
      deltaT: 4.036051 s,
      deltaX: -2.100006 m,
      approachRate: -0.520312 m/s,
      rangeRepo size: 4

2025-08-11T14:44:51.730Z,1754923491.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 450.600006 m,
      bearing: 179.672254 deg,
      lat: 36.905845 deg,
      lon: -122.116291 deg,
      deltaT: 4.036051 s,
      deltaX: -2.100006 m,
      approachRate: -0.520312 m/s,
      posRepo size: 4

2025-08-11T14:44:51.731Z,1754923491.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:51.734Z,1754923491.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 440.938721 m,
      bearing: 179.672254 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012747 deg/s,
      cmd heading: 177.789237 deg,
      new cmd heading: 177.772027 deg.

2025-08-11T14:44:52.068Z,1754923492.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:52.071Z,1754923492.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 440.751709 m,
      bearing: 179.668179 deg,
      approach rate: -0.550460 m/s,
      LOS rate: -0.011997 deg/s,
      cmd heading: 177.772025 deg,
      new cmd heading: 177.759797 deg.

2025-08-11T14:44:52.479Z,1754923492.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:52.482Z,1754923492.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 440.528137 m,
      bearing: 179.663273 deg,
      approach rate: -0.543625 m/s,
      LOS rate: -0.011937 deg/s,
      cmd heading: 177.759799 deg,
      new cmd heading: 177.745071 deg.

2025-08-11T14:44:52.904Z,1754923492.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:52.907Z,1754923492.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 440.291687 m,
      bearing: 179.658976 deg,
      approach rate: -0.555569 m/s,
      LOS rate: -0.010101 deg/s,
      cmd heading: 177.745073 deg,
      new cmd heading: 177.732175 deg.

2025-08-11T14:44:53.285Z,1754923493.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:53.287Z,1754923493.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:53.290Z,1754923493.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 440.078217 m,
      bearing: 179.655066 deg,
      approach rate: -0.558153 m/s,
      LOS rate: -0.010229 deg/s,
      cmd heading: 177.732177 deg,
      new cmd heading: 177.720441 deg.

2025-08-11T14:44:53.352Z,1754923493.352 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:53.352Z,1754923493.352 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:53.352Z,1754923493.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:53.608Z,1754923493.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253514
2025-08-11T14:44:53.739Z,1754923493.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:53.742Z,1754923493.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 439.820587 m,
      bearing: 179.650244 deg,
      approach rate: -0.569916 m/s,
      LOS rate: -0.010674 deg/s,
      cmd heading: 177.720443 deg,
      new cmd heading: 177.705968 deg.

2025-08-11T14:44:53.856Z,1754923493.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502451
2025-08-11T14:44:54.103Z,1754923494.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:54.106Z,1754923494.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 439.621674 m,
      bearing: 179.646482 deg,
      approach rate: -0.545971 m/s,
      LOS rate: -0.010329 deg/s,
      cmd heading: 177.705963 deg,
      new cmd heading: 177.694674 deg.

2025-08-11T14:44:54.108Z,1754923494.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754516
2025-08-11T14:44:54.360Z,1754923494.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006633
2025-08-11T14:44:54.492Z,1754923494.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:54.495Z,1754923494.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 439.390808 m,
      bearing: 179.642074 deg,
      approach rate: -0.593420 m/s,
      LOS rate: -0.011336 deg/s,
      cmd heading: 177.694680 deg,
      new cmd heading: 177.681449 deg.

2025-08-11T14:44:54.616Z,1754923494.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261175
2025-08-11T14:44:54.864Z,1754923494.864 [DAT](INFO): DAT read: Rx Time:14:44:55.6226

2025-08-11T14:44:54.865Z,1754923494.865 [DAT](INFO): Rx dataTimestamp_ set to:1754923494.864275
2025-08-11T14:44:54.865Z,1754923494.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511410
2025-08-11T14:44:54.959Z,1754923494.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:54.962Z,1754923494.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 439.113800 m,
      bearing: 179.635875 deg,
      approach rate: -0.593549 m/s,
      LOS rate: -0.013292 deg/s,
      cmd heading: 177.681443 deg,
      new cmd heading: 177.662833 deg.

2025-08-11T14:44:55.116Z,1754923495.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762620
2025-08-11T14:44:55.330Z,1754923495.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:55.333Z,1754923495.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.60 m.
2025-08-11T14:44:55.336Z,1754923495.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.600006 m,
      nav range: 438.892090 m,
      bearing: 179.630882 deg,
      approach rate: -0.593038 m/s,
      LOS rate: -0.013362 deg/s,
      cmd heading: 177.662837 deg,
      new cmd heading: 177.647850 deg.

2025-08-11T14:44:55.376Z,1754923495.376 [DAT](INFO): DAT read: 14:44:55.6226 LVL= 25968, 32753, 32754, 32755, AGC= 71, IDX= 410, 0.03,-0.933,-2.556,-0.749,-1.493, PHS= 0.662,-1.018, 0.700, RAW= 151.1,  -4.1, CAL= 150.7,  -5.2, ROT= 359.3,   5.2

2025-08-11T14:44:55.378Z,1754923495.378 [DAT](INFO): got valid direction response:
 14:44:55.6226 LVL= 25968, 32753, 32754, 32755, AGC= 71, IDX= 410, 0.03,-0.933,-2.556,-0.749,-1.493, PHS= 0.662,-1.018, 0.700, RAW= 151.1,  -4.1, CAL= 150.7,  -5.2, ROT= 359.3,   5.2

2025-08-11T14:44:55.380Z,1754923495.380 [DAT](INFO): DAT read: Bearing 323.5,   2.3 (Local)

2025-08-11T14:44:55.380Z,1754923495.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.5,   2.3 (Local)

2025-08-11T14:44:55.382Z,1754923495.382 [DAT](INFO): DAT read: Range 11 to 50 : 448.6 m  (Round-trip  598.2 ms) speed  0.4 m/s

2025-08-11T14:44:55.384Z,1754923495.384 [DAT](INFO): DAT read: user:73>

2025-08-11T14:44:55.385Z,1754923495.385 [DAT](INFO): DAT read: Tx time:14:44:56.7203

2025-08-11T14:44:55.385Z,1754923495.385 [DAT](INFO): Ping request sent.
2025-08-11T14:44:55.385Z,1754923495.385 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:55.386Z,1754923495.386 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:55.387Z,1754923495.387 [DAT](INFO): direction in FSK: [0.995810,-0.012167,-0.090633]
2025-08-11T14:44:55.388Z,1754923495.388 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:55.388Z,1754923495.388 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:55.401Z,1754923495.401 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:55.401Z,1754923495.401 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:55.761Z,1754923495.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 448.600006 m,
      deltaT: 4.032034 s,
      deltaX: -2.000000 m,
      approachRate: -0.496028 m/s,
      rangeRepo size: 4

2025-08-11T14:44:55.764Z,1754923495.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 448.600006 m,
      bearing: 179.625346 deg,
      lat: 36.905845 deg,
      lon: -122.116291 deg,
      deltaT: 4.032034 s,
      deltaX: -2.000000 m,
      approachRate: -0.496028 m/s,
      posRepo size: 4

2025-08-11T14:44:55.764Z,1754923495.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.60 m.
2025-08-11T14:44:55.767Z,1754923495.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.600006 m,
      nav range: 438.636444 m,
      bearing: 179.625346 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013362 deg/s,
      cmd heading: 177.647852 deg,
      new cmd heading: 177.630695 deg.

2025-08-11T14:44:56.118Z,1754923496.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.60 m.
2025-08-11T14:44:56.121Z,1754923496.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.600006 m,
      nav range: 438.425415 m,
      bearing: 179.620791 deg,
      approach rate: -0.591273 m/s,
      LOS rate: -0.012770 deg/s,
      cmd heading: 177.630694 deg,
      new cmd heading: 177.617021 deg.

2025-08-11T14:44:56.512Z,1754923496.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.60 m.
2025-08-11T14:44:56.515Z,1754923496.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.600006 m,
      nav range: 438.181366 m,
      bearing: 179.615560 deg,
      approach rate: -0.617951 m/s,
      LOS rate: -0.013252 deg/s,
      cmd heading: 177.617020 deg,
      new cmd heading: 177.601319 deg.

2025-08-11T14:44:56.951Z,1754923496.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.60 m.
2025-08-11T14:44:56.956Z,1754923496.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.600006 m,
      nav range: 437.912872 m,
      bearing: 179.609585 deg,
      approach rate: -0.612651 m/s,
      LOS rate: -0.013641 deg/s,
      cmd heading: 177.601325 deg,
      new cmd heading: 177.583390 deg.

2025-08-11T14:44:57.323Z,1754923497.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.60 m.
2025-08-11T14:44:57.326Z,1754923497.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.600006 m,
      nav range: 437.679718 m,
      bearing: 179.604453 deg,
      approach rate: -0.626798 m/s,
      LOS rate: -0.013805 deg/s,
      cmd heading: 177.583388 deg,
      new cmd heading: 177.567983 deg.

2025-08-11T14:44:57.770Z,1754923497.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:57.772Z,1754923497.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.60 m.
2025-08-11T14:44:57.775Z,1754923497.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.600006 m,
      nav range: 437.409576 m,
      bearing: 179.598934 deg,
      approach rate: -0.600647 m/s,
      LOS rate: -0.012278 deg/s,
      cmd heading: 177.567980 deg,
      new cmd heading: 177.551413 deg.

2025-08-11T14:44:57.888Z,1754923497.888 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:44:57.888Z,1754923497.888 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:44:57.889Z,1754923497.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:44:58.140Z,1754923498.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755422
2025-08-11T14:44:58.147Z,1754923498.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.60 m.
2025-08-11T14:44:58.151Z,1754923498.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.600006 m,
      nav range: 437.195007 m,
      bearing: 179.594621 deg,
      approach rate: -0.573283 m/s,
      LOS rate: -0.011530 deg/s,
      cmd heading: 177.551410 deg,
      new cmd heading: 177.538464 deg.

2025-08-11T14:44:58.392Z,1754923498.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007136
2025-08-11T14:44:58.532Z,1754923498.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.60 m.
2025-08-11T14:44:58.535Z,1754923498.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.600006 m,
      nav range: 436.952911 m,
      bearing: 179.589835 deg,
      approach rate: -0.628178 m/s,
      LOS rate: -0.012424 deg/s,
      cmd heading: 177.538459 deg,
      new cmd heading: 177.524095 deg.

2025-08-11T14:44:58.647Z,1754923498.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261536
2025-08-11T14:44:58.896Z,1754923498.896 [DAT](INFO): DAT read: Rx Time:14:44:59.7194

2025-08-11T14:44:58.897Z,1754923498.897 [DAT](INFO): Rx dataTimestamp_ set to:1754923498.896363
2025-08-11T14:44:58.897Z,1754923498.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512184
2025-08-11T14:44:59.062Z,1754923499.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.60 m.
2025-08-11T14:44:59.067Z,1754923499.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 448.600006 m,
      nav range: 436.660431 m,
      bearing: 179.583378 deg,
      approach rate: -0.553350 m/s,
      LOS rate: -0.012225 deg/s,
      cmd heading: 177.524089 deg,
      new cmd heading: 177.504704 deg.

2025-08-11T14:44:59.150Z,1754923499.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764923
2025-08-11T14:44:59.406Z,1754923499.406 [DAT](INFO): DAT read: 14:44:59.7194 LVL= 29680, 32753, 31554, 32755, AGC= 73, IDX= 409, 0.05,-0.370,-1.983,-0.226,-0.833, PHS= 0.566,-1.104, 0.564, RAW= 149.9,  -0.3, CAL= 148.9,  -0.9, ROT=   1.1,   0.9

2025-08-11T14:44:59.407Z,1754923499.407 [DAT](INFO): got valid direction response:
 14:44:59.7194 LVL= 29680, 32753, 31554, 32755, AGC= 73, IDX= 409, 0.05,-0.370,-1.983,-0.226,-0.833, PHS= 0.566,-1.104, 0.564, RAW= 149.9,  -0.3, CAL= 148.9,  -0.9, ROT=   1.1,   0.9

2025-08-11T14:44:59.408Z,1754923499.408 [DAT](INFO): DAT read: Bearing 327.2,   1.0 (Local)

2025-08-11T14:44:59.409Z,1754923499.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.2,   1.0 (Local)

2025-08-11T14:44:59.410Z,1754923499.410 [DAT](INFO): DAT read: Range 11 to 50 : 446.2 m  (Round-trip  595.0 ms) speed  0.4 m/s

2025-08-11T14:44:59.411Z,1754923499.411 [DAT](INFO): DAT read: user:74>

2025-08-11T14:44:59.416Z,1754923499.416 [DAT](INFO): DAT read: Tx time:14:45:00.8203

2025-08-11T14:44:59.416Z,1754923499.416 [DAT](INFO): Ping request sent.
2025-08-11T14:44:59.416Z,1754923499.416 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:44:59.416Z,1754923499.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:44:59.417Z,1754923499.417 [DAT](INFO): direction in FSK: [0.999692,0.019195,-0.015707]
2025-08-11T14:44:59.417Z,1754923499.417 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:59.418Z,1754923499.418 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:59.433Z,1754923499.433 [DAT](INFO): publishing transmit ping time
2025-08-11T14:44:59.433Z,1754923499.433 [DAT](INFO): publishing direction and range info
2025-08-11T14:44:59.541Z,1754923499.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 446.200012 m,
      deltaT: 4.032293 s,
      deltaX: -2.399994 m,
      approachRate: -0.595193 m/s,
      rangeRepo size: 4

2025-08-11T14:44:59.552Z,1754923499.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 446.200012 m,
      bearing: 179.319059 deg,
      lat: 36.905770 deg,
      lon: -122.116268 deg,
      deltaT: 4.032293 s,
      deltaX: -2.399994 m,
      approachRate: -0.595193 m/s,
      posRepo size: 4

2025-08-11T14:44:59.553Z,1754923499.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:44:59.562Z,1754923499.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 444.638031 m,
      bearing: 179.319059 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012225 deg/s,
      cmd heading: 177.504705 deg,
      new cmd heading: 177.487102 deg.

2025-08-11T14:44:59.923Z,1754923499.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:44:59.927Z,1754923499.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:44:59.931Z,1754923499.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 444.400482 m,
      bearing: 179.314205 deg,
      approach rate: -0.616189 m/s,
      LOS rate: -0.012596 deg/s,
      cmd heading: 177.487096 deg,
      new cmd heading: 177.472529 deg.

2025-08-11T14:45:00.157Z,1754923500.157 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:00.157Z,1754923500.157 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:00.158Z,1754923500.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:00.378Z,1754923500.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:45:00.381Z,1754923500.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 444.140656 m,
      bearing: 179.308891 deg,
      approach rate: -0.574774 m/s,
      LOS rate: -0.011763 deg/s,
      cmd heading: 177.472534 deg,
      new cmd heading: 177.456582 deg.

2025-08-11T14:45:00.408Z,1754923500.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992493
2025-08-11T14:45:00.661Z,1754923500.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244947
2025-08-11T14:45:00.819Z,1754923500.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:45:00.822Z,1754923500.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 443.874634 m,
      bearing: 179.303949 deg,
      approach rate: -0.603336 m/s,
      LOS rate: -0.011216 deg/s,
      cmd heading: 177.456579 deg,
      new cmd heading: 177.441744 deg.

2025-08-11T14:45:00.913Z,1754923500.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496560
2025-08-11T14:45:01.166Z,1754923501.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749931
2025-08-11T14:45:01.200Z,1754923501.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:45:01.202Z,1754923501.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 443.653717 m,
      bearing: 179.299875 deg,
      approach rate: -0.581135 m/s,
      LOS rate: -0.010722 deg/s,
      cmd heading: 177.441744 deg,
      new cmd heading: 177.429516 deg.

2025-08-11T14:45:01.417Z,1754923501.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000937
2025-08-11T14:45:01.573Z,1754923501.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:45:01.576Z,1754923501.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 443.436768 m,
      bearing: 179.295904 deg,
      approach rate: -0.579990 m/s,
      LOS rate: -0.010620 deg/s,
      cmd heading: 177.429518 deg,
      new cmd heading: 177.417601 deg.

2025-08-11T14:45:01.669Z,1754923501.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253121
2025-08-11T14:45:01.921Z,1754923501.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504716
2025-08-11T14:45:02.017Z,1754923502.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:02.023Z,1754923502.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:45:02.026Z,1754923502.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 443.191345 m,
      bearing: 179.291761 deg,
      approach rate: -0.550466 m/s,
      LOS rate: -0.009298 deg/s,
      cmd heading: 177.417606 deg,
      new cmd heading: 177.405170 deg.

2025-08-11T14:45:02.174Z,1754923502.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757477
2025-08-11T14:45:02.355Z,1754923502.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:45:02.361Z,1754923502.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 442.989532 m,
      bearing: 179.288389 deg,
      approach rate: -0.600957 m/s,
      LOS rate: -0.010047 deg/s,
      cmd heading: 177.405175 deg,
      new cmd heading: 177.395053 deg.

2025-08-11T14:45:02.424Z,1754923502.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008254
2025-08-11T14:45:02.677Z,1754923502.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260621
2025-08-11T14:45:02.838Z,1754923502.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:45:02.841Z,1754923502.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 442.719299 m,
      bearing: 179.284161 deg,
      approach rate: -0.558996 m/s,
      LOS rate: -0.008751 deg/s,
      cmd heading: 177.395053 deg,
      new cmd heading: 177.382362 deg.

2025-08-11T14:45:02.929Z,1754923502.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512941
2025-08-11T14:45:03.180Z,1754923503.180 [DAT](INFO): DAT read: Rx Time:14:45:03.8181

2025-08-11T14:45:03.181Z,1754923503.181 [DAT](INFO): Rx dataTimestamp_ set to:1754923503.180569
2025-08-11T14:45:03.181Z,1754923503.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765439
2025-08-11T14:45:03.224Z,1754923503.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:45:03.227Z,1754923503.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 442.522583 m,
      bearing: 179.281151 deg,
      approach rate: -0.510293 m/s,
      LOS rate: -0.007813 deg/s,
      cmd heading: 177.382362 deg,
      new cmd heading: 177.373327 deg.

2025-08-11T14:45:03.432Z,1754923503.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016254
2025-08-11T14:45:03.585Z,1754923503.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.20 m.
2025-08-11T14:45:03.588Z,1754923503.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.200012 m,
      nav range: 442.302002 m,
      bearing: 179.277796 deg,
      approach rate: -0.610898 m/s,
      LOS rate: -0.009296 deg/s,
      cmd heading: 177.373333 deg,
      new cmd heading: 177.363263 deg.

2025-08-11T14:45:03.690Z,1754923503.690 [DAT](INFO): DAT read: 14:45:03.8166 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.01,-3.036, 1.493,-2.826, 3.011, PHS= 0.338,-1.474, 0.402, RAW= 151.7,   8.0, CAL= 151.2,   8.6, ROT= 358.8,  -8.6

2025-08-11T14:45:03.693Z,1754923503.693 [DAT](INFO): got valid direction response:
 14:45:03.8166 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.01,-3.036, 1.493,-2.826, 3.011, PHS= 0.338,-1.474, 0.402, RAW= 151.7,   8.0, CAL= 151.2,   8.6, ROT= 358.8,  -8.6

2025-08-11T14:45:03.694Z,1754923503.694 [DAT](INFO): DAT read: Bearing 335.5,  -3.8 (Local)

2025-08-11T14:45:03.694Z,1754923503.694 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.5,  -3.8 (Local)

2025-08-11T14:45:03.696Z,1754923503.696 [DAT](INFO): DAT read: Range 11 to 50 : 444.0 m  (Round-trip  592.1 ms) speed  0.0 m/s

2025-08-11T14:45:03.697Z,1754923503.697 [DAT](INFO): DAT read: user:75>

2025-08-11T14:45:03.697Z,1754923503.697 [DAT](INFO): DAT read: Tx time:14:45:04.9203

2025-08-11T14:45:03.698Z,1754923503.698 [DAT](INFO): Ping request sent.
2025-08-11T14:45:03.698Z,1754923503.698 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:03.698Z,1754923503.698 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:03.707Z,1754923503.707 [DAT](INFO): direction in FSK: [0.988540,-0.020707,0.149535]
2025-08-11T14:45:03.707Z,1754923503.707 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:03.708Z,1754923503.708 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:03.711Z,1754923503.711 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:03.711Z,1754923503.711 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:03.995Z,1754923503.995 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,         +0,    -1,A
2025-08-11T14:45:04.034Z,1754923504.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 444.000000 m,
      deltaT: 4.283747 s,
      deltaX: -2.200012 m,
      approachRate: -0.513572 m/s,
      rangeRepo size: 4

2025-08-11T14:45:04.041Z,1754923504.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 444.000000 m,
      bearing: 177.938528 deg,
      lat: 36.905770 deg,
      lon: -122.116152 deg,
      deltaT: 4.283747 s,
      deltaX: -2.200012 m,
      approachRate: -0.513572 m/s,
      posRepo size: 4

2025-08-11T14:45:04.041Z,1754923504.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:04.049Z,1754923504.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 442.310608 m,
      bearing: 177.938528 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009296 deg/s,
      cmd heading: 177.363265 deg,
      new cmd heading: 177.350757 deg.

2025-08-11T14:45:04.395Z,1754923504.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:04.397Z,1754923504.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:04.400Z,1754923504.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 442.099976 m,
      bearing: 177.934702 deg,
      approach rate: -0.579177 m/s,
      LOS rate: -0.010524 deg/s,
      cmd heading: 177.350752 deg,
      new cmd heading: 177.339270 deg.

2025-08-11T14:45:04.440Z,1754923504.440 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:04.441Z,1754923504.441 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:04.441Z,1754923504.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:04.692Z,1754923504.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994420
2025-08-11T14:45:04.864Z,1754923504.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:04.866Z,1754923504.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 441.856720 m,
      bearing: 177.931709 deg,
      approach rate: -0.521540 m/s,
      LOS rate: -0.006421 deg/s,
      cmd heading: 177.339264 deg,
      new cmd heading: 177.330279 deg.

2025-08-11T14:45:04.945Z,1754923504.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247184
2025-08-11T14:45:05.196Z,1754923505.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498585
2025-08-11T14:45:05.216Z,1754923505.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:05.218Z,1754923505.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 441.673309 m,
      bearing: 177.929450 deg,
      approach rate: -0.521348 m/s,
      LOS rate: -0.006422 deg/s,
      cmd heading: 177.330275 deg,
      new cmd heading: 177.323497 deg.

2025-08-11T14:45:05.449Z,1754923505.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750883
2025-08-11T14:45:05.637Z,1754923505.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:05.644Z,1754923505.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 441.455231 m,
      bearing: 177.926766 deg,
      approach rate: -0.518291 m/s,
      LOS rate: -0.006384 deg/s,
      cmd heading: 177.323500 deg,
      new cmd heading: 177.315442 deg.

2025-08-11T14:45:05.701Z,1754923505.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002907
2025-08-11T14:45:05.952Z,1754923505.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254541
2025-08-11T14:45:06.067Z,1754923506.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:06.080Z,1754923506.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 441.224182 m,
      bearing: 177.924972 deg,
      approach rate: -0.536969 m/s,
      LOS rate: -0.004171 deg/s,
      cmd heading: 177.315440 deg,
      new cmd heading: 177.310056 deg.

2025-08-11T14:45:06.204Z,1754923506.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506824
2025-08-11T14:45:06.456Z,1754923506.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758608
2025-08-11T14:45:06.483Z,1754923506.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:06.485Z,1754923506.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:06.492Z,1754923506.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 440.998596 m,
      bearing: 177.923216 deg,
      approach rate: -0.538678 m/s,
      LOS rate: -0.004194 deg/s,
      cmd heading: 177.310058 deg,
      new cmd heading: 177.304789 deg.

2025-08-11T14:45:06.708Z,1754923506.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010501
2025-08-11T14:45:06.905Z,1754923506.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:06.908Z,1754923506.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 440.774597 m,
      bearing: 177.919883 deg,
      approach rate: -0.533421 m/s,
      LOS rate: -0.007941 deg/s,
      cmd heading: 177.304785 deg,
      new cmd heading: 177.294781 deg.

2025-08-11T14:45:06.961Z,1754923506.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263171
2025-08-11T14:45:07.212Z,1754923507.212 [DAT](INFO): DAT read: Rx Time:14:45:07.9249

2025-08-11T14:45:07.213Z,1754923507.213 [DAT](INFO): Rx dataTimestamp_ set to:1754923507.212304
2025-08-11T14:45:07.213Z,1754923507.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515487
2025-08-11T14:45:07.283Z,1754923507.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:07.286Z,1754923507.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 440.579102 m,
      bearing: 177.916961 deg,
      approach rate: -0.517253 m/s,
      LOS rate: -0.007736 deg/s,
      cmd heading: 177.294786 deg,
      new cmd heading: 177.286014 deg.

2025-08-11T14:45:07.464Z,1754923507.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766506
2025-08-11T14:45:07.695Z,1754923507.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 444.00 m.
2025-08-11T14:45:07.698Z,1754923507.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 444.000000 m,
      nav range: 440.366089 m,
      bearing: 177.913780 deg,
      approach rate: -0.517663 m/s,
      LOS rate: -0.007733 deg/s,
      cmd heading: 177.286016 deg,
      new cmd heading: 177.276470 deg.

2025-08-11T14:45:07.722Z,1754923507.722 [DAT](INFO): DAT read: 14:45:07.9249 LVL= 14352, 14353, 15730, 17251, AGC= 73, IDX=  17, 0.45,-0.310,-1.978,-0.194,-0.737, PHS= 0.529,-1.196, 0.499, RAW= 149.1,   2.0, CAL= 148.2,   1.8, ROT=   1.8,  -1.8

2025-08-11T14:45:07.724Z,1754923507.724 [DAT](INFO): got valid direction response:
 14:45:07.9249 LVL= 14352, 14353, 15730, 17251, AGC= 73, IDX=  17, 0.45,-0.310,-1.978,-0.194,-0.737, PHS= 0.529,-1.196, 0.499, RAW= 149.1,   2.0, CAL= 148.2,   1.8, ROT=   1.8,  -1.8

2025-08-11T14:45:07.725Z,1754923507.725 [DAT](INFO): DAT read: Bearing 328.7,  -1.8 (Local)

2025-08-11T14:45:07.725Z,1754923507.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.7,  -1.8 (Local)

2025-08-11T14:45:07.739Z,1754923507.739 [DAT](INFO): DAT read: Range 11 to 50 : 450.3 m  (Round-trip  600.4 ms) speed  0.4 m/s

2025-08-11T14:45:07.740Z,1754923507.740 [DAT](INFO): DAT read: user:76>

2025-08-11T14:45:07.741Z,1754923507.741 [DAT](INFO): DAT read: Tx time:14:45:09.0203

2025-08-11T14:45:07.742Z,1754923507.742 [DAT](INFO): Ping request sent.
2025-08-11T14:45:07.742Z,1754923507.742 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:07.742Z,1754923507.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:07.764Z,1754923507.764 [DAT](INFO): direction in FSK: [0.999013,0.031395,0.031411]
2025-08-11T14:45:07.764Z,1754923507.764 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:07.764Z,1754923507.764 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:07.776Z,1754923507.776 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:07.776Z,1754923507.776 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:08.113Z,1754923508.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 450.299988 m,
      deltaT: 4.032631 s,
      deltaX: 6.299988 m,
      approachRate: 1.562253 m/s,
      rangeRepo size: 4

2025-08-11T14:45:08.116Z,1754923508.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 450.299988 m,
      bearing: 179.252933 deg,
      lat: 36.905767 deg,
      lon: -122.116268 deg,
      deltaT: 4.032631 s,
      deltaX: 6.299988 m,
      approachRate: 1.562253 m/s,
      posRepo size: 4

2025-08-11T14:45:08.117Z,1754923508.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:08.119Z,1754923508.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 440.281738 m,
      bearing: 179.252933 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007733 deg/s,
      cmd heading: 177.276467 deg,
      new cmd heading: 177.266767 deg.

2025-08-11T14:45:08.501Z,1754923508.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:08.503Z,1754923508.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:08.509Z,1754923508.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 440.087006 m,
      bearing: 179.250180 deg,
      approach rate: -0.499523 m/s,
      LOS rate: -0.007066 deg/s,
      cmd heading: 177.266768 deg,
      new cmd heading: 177.258505 deg.

2025-08-11T14:45:08.724Z,1754923508.724 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:08.724Z,1754923508.724 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:08.724Z,1754923508.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:08.932Z,1754923508.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:08.956Z,1754923508.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 439.852753 m,
      bearing: 179.245375 deg,
      approach rate: -0.546920 m/s,
      LOS rate: -0.011223 deg/s,
      cmd heading: 177.258504 deg,
      new cmd heading: 177.244083 deg.

2025-08-11T14:45:08.976Z,1754923508.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234134
2025-08-11T14:45:09.228Z,1754923509.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485944
2025-08-11T14:45:09.293Z,1754923509.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:09.296Z,1754923509.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 439.657928 m,
      bearing: 179.241344 deg,
      approach rate: -0.538575 m/s,
      LOS rate: -0.011150 deg/s,
      cmd heading: 177.244078 deg,
      new cmd heading: 177.231978 deg.

2025-08-11T14:45:09.480Z,1754923509.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737851
2025-08-11T14:45:09.709Z,1754923509.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:09.712Z,1754923509.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 439.436432 m,
      bearing: 179.236710 deg,
      approach rate: -0.531918 m/s,
      LOS rate: -0.011133 deg/s,
      cmd heading: 177.231975 deg,
      new cmd heading: 177.218067 deg.

2025-08-11T14:45:09.732Z,1754923509.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990086
2025-08-11T14:45:09.984Z,1754923509.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241954
2025-08-11T14:45:10.152Z,1754923510.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:10.164Z,1754923510.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 439.208618 m,
      bearing: 179.232644 deg,
      approach rate: -0.515348 m/s,
      LOS rate: -0.009203 deg/s,
      cmd heading: 177.218069 deg,
      new cmd heading: 177.205864 deg.

2025-08-11T14:45:10.237Z,1754923510.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494955
2025-08-11T14:45:10.488Z,1754923510.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746113
2025-08-11T14:45:10.511Z,1754923510.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:10.514Z,1754923510.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:10.517Z,1754923510.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 438.992249 m,
      bearing: 179.228733 deg,
      approach rate: -0.596686 m/s,
      LOS rate: -0.010791 deg/s,
      cmd heading: 177.205870 deg,
      new cmd heading: 177.194132 deg.

2025-08-11T14:45:10.740Z,1754923510.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997946
2025-08-11T14:45:10.981Z,1754923510.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:10.984Z,1754923510.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 438.729431 m,
      bearing: 179.223098 deg,
      approach rate: -0.562852 m/s,
      LOS rate: -0.012074 deg/s,
      cmd heading: 177.194136 deg,
      new cmd heading: 177.177223 deg.

2025-08-11T14:45:10.992Z,1754923510.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250041
2025-08-11T14:45:11.245Z,1754923511.245 [DAT](INFO): DAT read: Rx Time:14:45:12.0103

2025-08-11T14:45:11.245Z,1754923511.245 [DAT](INFO): Rx dataTimestamp_ set to:1754923511.244753
2025-08-11T14:45:11.246Z,1754923511.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503453
2025-08-11T14:45:11.337Z,1754923511.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:11.340Z,1754923511.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 438.536316 m,
      bearing: 179.218953 deg,
      approach rate: -0.541920 m/s,
      LOS rate: -0.011636 deg/s,
      cmd heading: 177.177224 deg,
      new cmd heading: 177.164785 deg.

2025-08-11T14:45:11.496Z,1754923511.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753958
2025-08-11T14:45:11.730Z,1754923511.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.30 m.
2025-08-11T14:45:11.732Z,1754923511.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.299988 m,
      nav range: 438.308594 m,
      bearing: 179.213994 deg,
      approach rate: -0.580221 m/s,
      LOS rate: -0.012643 deg/s,
      cmd heading: 177.164780 deg,
      new cmd heading: 177.149893 deg.

2025-08-11T14:45:11.756Z,1754923511.756 [DAT](INFO): DAT read: 14:45:12.0103 LVL= 23152, 24737, 24146, 30019, AGC= 75, IDX= 300, 0.36,-1.033,-2.702,-0.887,-1.488, PHS= 0.558,-1.169, 0.557, RAW= 150.0,   0.6, CAL= 148.9,   0.2, ROT=   1.1,  -0.2

2025-08-11T14:45:11.757Z,1754923511.757 [DAT](INFO): got valid direction response:
 14:45:12.0103 LVL= 23152, 24737, 24146, 30019, AGC= 75, IDX= 300, 0.36,-1.033,-2.702,-0.887,-1.488, PHS= 0.558,-1.169, 0.557, RAW= 150.0,   0.6, CAL= 148.9,   0.2, ROT=   1.1,  -0.2

2025-08-11T14:45:11.758Z,1754923511.758 [DAT](INFO): DAT read: Bearing 327.5,  -2.4 (Local)

2025-08-11T14:45:11.759Z,1754923511.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.5,  -2.4 (Local)

2025-08-11T14:45:11.761Z,1754923511.761 [DAT](INFO): DAT read: Range 11 to 50 : 439.4 m  (Round-trip  585.9 ms) speed  0.4 m/s

2025-08-11T14:45:11.762Z,1754923511.762 [DAT](INFO): DAT read: user:77>

2025-08-11T14:45:11.768Z,1754923511.768 [DAT](INFO): DAT read: Tx time:14:45:13.1203

2025-08-11T14:45:11.768Z,1754923511.768 [DAT](INFO): Ping request sent.
2025-08-11T14:45:11.768Z,1754923511.768 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:11.769Z,1754923511.769 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:11.770Z,1754923511.770 [DAT](INFO): direction in FSK: [0.999810,0.019197,0.003491]
2025-08-11T14:45:11.770Z,1754923511.770 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:11.770Z,1754923511.770 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:11.781Z,1754923511.781 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:11.781Z,1754923511.781 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:12.233Z,1754923512.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 439.399994 m,
      deltaT: 4.033263 s,
      deltaX: -10.899994 m,
      approachRate: -2.702525 m/s,
      rangeRepo size: 4

2025-08-11T14:45:12.248Z,1754923512.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 439.399994 m,
      bearing: 179.208459 deg,
      lat: 36.905763 deg,
      lon: -122.116268 deg,
      deltaT: 4.033263 s,
      deltaX: -10.899994 m,
      approachRate: -2.702525 m/s,
      posRepo size: 4

2025-08-11T14:45:12.248Z,1754923512.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 439.40 m.
2025-08-11T14:45:12.267Z,1754923512.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 439.399994 m,
      nav range: 438.448303 m,
      bearing: 179.208459 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012643 deg/s,
      cmd heading: 177.149890 deg,
      new cmd heading: 177.130805 deg.

2025-08-11T14:45:12.602Z,1754923512.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:12.604Z,1754923512.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 439.40 m.
2025-08-11T14:45:12.607Z,1754923512.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 439.399994 m,
      nav range: 438.214935 m,
      bearing: 179.203268 deg,
      approach rate: -0.627640 m/s,
      LOS rate: -0.013967 deg/s,
      cmd heading: 177.130806 deg,
      new cmd heading: 177.115227 deg.

2025-08-11T14:45:12.756Z,1754923512.756 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:12.756Z,1754923512.756 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:12.756Z,1754923512.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:13.008Z,1754923513.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240092
2025-08-11T14:45:13.070Z,1754923513.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 439.40 m.
2025-08-11T14:45:13.077Z,1754923513.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 439.399994 m,
      nav range: 437.958282 m,
      bearing: 179.197240 deg,
      approach rate: -0.551232 m/s,
      LOS rate: -0.012955 deg/s,
      cmd heading: 177.115234 deg,
      new cmd heading: 177.097138 deg.

2025-08-11T14:45:13.260Z,1754923513.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492162
2025-08-11T14:45:13.433Z,1754923513.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 439.40 m.
2025-08-11T14:45:13.443Z,1754923513.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 439.399994 m,
      nav range: 437.747192 m,
      bearing: 179.192335 deg,
      approach rate: -0.581173 m/s,
      LOS rate: -0.013512 deg/s,
      cmd heading: 177.097134 deg,
      new cmd heading: 177.082411 deg.

2025-08-11T14:45:13.514Z,1754923513.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745545
2025-08-11T14:45:13.764Z,1754923513.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996110
2025-08-11T14:45:13.821Z,1754923513.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 439.40 m.
2025-08-11T14:45:13.824Z,1754923513.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 439.399994 m,
      nav range: 437.515015 m,
      bearing: 179.186991 deg,
      approach rate: -0.598313 m/s,
      LOS rate: -0.013777 deg/s,
      cmd heading: 177.082408 deg,
      new cmd heading: 177.066369 deg.

2025-08-11T14:45:14.016Z,1754923514.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248447
2025-08-11T14:45:14.250Z,1754923514.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 439.40 m.
2025-08-11T14:45:14.253Z,1754923514.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 439.399994 m,
      nav range: 437.260712 m,
      bearing: 179.181609 deg,
      approach rate: -0.593133 m/s,
      LOS rate: -0.012561 deg/s,
      cmd heading: 177.066370 deg,
      new cmd heading: 177.050215 deg.

2025-08-11T14:45:14.268Z,1754923514.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500199
2025-08-11T14:45:14.521Z,1754923514.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752564
2025-08-11T14:45:14.706Z,1754923514.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:14.709Z,1754923514.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 439.40 m.
2025-08-11T14:45:14.712Z,1754923514.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 439.399994 m,
      nav range: 436.988892 m,
      bearing: 179.175919 deg,
      approach rate: -0.592823 m/s,
      LOS rate: -0.012418 deg/s,
      cmd heading: 177.050210 deg,
      new cmd heading: 177.033128 deg.

2025-08-11T14:45:14.777Z,1754923514.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008073
2025-08-11T14:45:15.024Z,1754923515.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256233
2025-08-11T14:45:15.100Z,1754923515.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 439.40 m.
2025-08-11T14:45:15.102Z,1754923515.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 439.399994 m,
      nav range: 436.773132 m,
      bearing: 179.171751 deg,
      approach rate: -0.551770 m/s,
      LOS rate: -0.010663 deg/s,
      cmd heading: 177.033135 deg,
      new cmd heading: 177.020626 deg.

2025-08-11T14:45:15.276Z,1754923515.276 [DAT](INFO): DAT read: Rx Time:14:45:16.1076

2025-08-11T14:45:15.277Z,1754923515.277 [DAT](INFO): Rx dataTimestamp_ set to:1754923515.276319
2025-08-11T14:45:15.277Z,1754923515.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509157
2025-08-11T14:45:15.497Z,1754923515.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 439.40 m.
2025-08-11T14:45:15.505Z,1754923515.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 439.399994 m,
      nav range: 436.537506 m,
      bearing: 179.167266 deg,
      approach rate: -0.593030 m/s,
      LOS rate: -0.011294 deg/s,
      cmd heading: 177.020622 deg,
      new cmd heading: 177.007160 deg.

2025-08-11T14:45:15.528Z,1754923515.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760392
2025-08-11T14:45:15.795Z,1754923515.795 [DAT](INFO): DAT read: 14:45:16.1076 LVL= 29168, 29137, 25554, 32755, AGC= 73, IDX= 416, 0.34,-2.248, 2.325,-2.041,-2.418, PHS= 0.272,-1.495, 0.333, RAW= 151.7,   9.9, CAL= 151.4,  10.8, ROT= 358.6, -10.8

2025-08-11T14:45:15.797Z,1754923515.797 [DAT](INFO): got valid direction response:
 14:45:16.1076 LVL= 29168, 29137, 25554, 32755, AGC= 73, IDX= 416, 0.34,-2.248, 2.325,-2.041,-2.418, PHS= 0.272,-1.495, 0.333, RAW= 151.7,   9.9, CAL= 151.4,  10.8, ROT= 358.6, -10.8

2025-08-11T14:45:15.798Z,1754923515.798 [DAT](INFO): DAT read: Bearing 337.5,  -7.5 (Local)

2025-08-11T14:45:15.798Z,1754923515.798 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.5,  -7.5 (Local)

2025-08-11T14:45:15.800Z,1754923515.800 [DAT](INFO): DAT read: Range 11 to 50 : 437.4 m  (Round-trip  583.2 ms) speed  0.4 m/s

2025-08-11T14:45:15.800Z,1754923515.800 [DAT](INFO): DAT read: user:78>

2025-08-11T14:45:15.801Z,1754923515.801 [DAT](INFO): DAT read: Tx time:14:45:17.2203

2025-08-11T14:45:15.801Z,1754923515.801 [DAT](INFO): Ping request sent.
2025-08-11T14:45:15.801Z,1754923515.801 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:15.802Z,1754923515.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:15.803Z,1754923515.803 [DAT](INFO): direction in FSK: [0.981994,-0.023999,0.187381]
2025-08-11T14:45:15.804Z,1754923515.804 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:15.804Z,1754923515.804 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:15.807Z,1754923515.807 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:15.831Z,1754923515.831 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:16.005Z,1754923516.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 437.399994 m,
      deltaT: 4.033229 s,
      deltaX: -2.000000 m,
      approachRate: -0.495881 m/s,
      rangeRepo size: 4

2025-08-11T14:45:16.012Z,1754923516.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 437.399994 m,
      bearing: 179.162495 deg,
      lat: 36.905763 deg,
      lon: -122.116268 deg,
      deltaT: 4.033229 s,
      deltaX: -2.000000 m,
      approachRate: -0.495881 m/s,
      posRepo size: 4

2025-08-11T14:45:16.012Z,1754923516.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:16.023Z,1754923516.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 436.283447 m,
      bearing: 179.162495 deg,
      approach rate: -130473.187500 m/s,
      LOS rate: -0.011294 deg/s,
      cmd heading: 177.007166 deg,
      new cmd heading: 176.989965 deg.

2025-08-11T14:45:16.352Z,1754923516.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:16.354Z,1754923516.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 436.031036 m,
      bearing: 179.159292 deg,
      approach rate: -0.727049 m/s,
      LOS rate: -0.009231 deg/s,
      cmd heading: 176.989968 deg,
      new cmd heading: 176.980354 deg.

2025-08-11T14:45:16.731Z,1754923516.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:16.733Z,1754923516.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:16.736Z,1754923516.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 435.813873 m,
      bearing: 179.156551 deg,
      approach rate: -0.569109 m/s,
      LOS rate: -0.007188 deg/s,
      cmd heading: 176.980351 deg,
      new cmd heading: 176.972123 deg.

2025-08-11T14:45:16.789Z,1754923516.789 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:16.789Z,1754923516.789 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:16.789Z,1754923516.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:17.040Z,1754923517.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238609
2025-08-11T14:45:17.188Z,1754923517.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:17.191Z,1754923517.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 435.557007 m,
      bearing: 179.153514 deg,
      approach rate: -0.565119 m/s,
      LOS rate: -0.006684 deg/s,
      cmd heading: 176.972128 deg,
      new cmd heading: 176.963013 deg.

2025-08-11T14:45:17.292Z,1754923517.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490658
2025-08-11T14:45:17.544Z,1754923517.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742642
2025-08-11T14:45:17.643Z,1754923517.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:17.649Z,1754923517.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 435.309296 m,
      bearing: 179.150587 deg,
      approach rate: -0.544927 m/s,
      LOS rate: -0.006442 deg/s,
      cmd heading: 176.963016 deg,
      new cmd heading: 176.954230 deg.

2025-08-11T14:45:17.796Z,1754923517.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994851
2025-08-11T14:45:18.048Z,1754923518.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246870
2025-08-11T14:45:18.096Z,1754923518.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:18.099Z,1754923518.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 435.043457 m,
      bearing: 179.147687 deg,
      approach rate: -0.586304 m/s,
      LOS rate: -0.006401 deg/s,
      cmd heading: 176.954232 deg,
      new cmd heading: 176.945525 deg.

2025-08-11T14:45:18.301Z,1754923518.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499596
2025-08-11T14:45:18.552Z,1754923518.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750611
2025-08-11T14:45:18.570Z,1754923518.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:18.577Z,1754923518.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 434.788055 m,
      bearing: 179.144817 deg,
      approach rate: -0.539175 m/s,
      LOS rate: -0.006062 deg/s,
      cmd heading: 176.945531 deg,
      new cmd heading: 176.936916 deg.

2025-08-11T14:45:18.804Z,1754923518.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002645
2025-08-11T14:45:19.032Z,1754923519.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:19.034Z,1754923519.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:19.041Z,1754923519.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 434.539734 m,
      bearing: 179.141980 deg,
      approach rate: -0.534891 m/s,
      LOS rate: -0.006114 deg/s,
      cmd heading: 176.936911 deg,
      new cmd heading: 176.928396 deg.

2025-08-11T14:45:19.056Z,1754923519.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254727
2025-08-11T14:45:19.309Z,1754923519.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507370
2025-08-11T14:45:19.397Z,1754923519.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:19.400Z,1754923519.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 434.324249 m,
      bearing: 179.138923 deg,
      approach rate: -0.593430 m/s,
      LOS rate: -0.008424 deg/s,
      cmd heading: 176.928401 deg,
      new cmd heading: 176.919224 deg.

2025-08-11T14:45:19.560Z,1754923519.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758665
2025-08-11T14:45:19.780Z,1754923519.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:19.783Z,1754923519.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 434.121796 m,
      bearing: 179.136000 deg,
      approach rate: -0.528524 m/s,
      LOS rate: -0.007633 deg/s,
      cmd heading: 176.919221 deg,
      new cmd heading: 176.910449 deg.

2025-08-11T14:45:19.817Z,1754923519.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015206
2025-08-11T14:45:20.068Z,1754923520.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.266872
2025-08-11T14:45:20.216Z,1754923520.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:20.223Z,1754923520.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 433.905518 m,
      bearing: 179.132057 deg,
      approach rate: -0.495698 m/s,
      LOS rate: -0.009042 deg/s,
      cmd heading: 176.910451 deg,
      new cmd heading: 176.898616 deg.

2025-08-11T14:45:20.321Z,1754923520.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519382
2025-08-11T14:45:20.572Z,1754923520.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.770703
2025-08-11T14:45:20.585Z,1754923520.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:20.588Z,1754923520.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 433.703827 m,
      bearing: 179.128354 deg,
      approach rate: -0.546995 m/s,
      LOS rate: -0.010049 deg/s,
      cmd heading: 176.898621 deg,
      new cmd heading: 176.887505 deg.

2025-08-11T14:45:20.826Z,1754923520.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024112
2025-08-11T14:45:21.025Z,1754923521.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:21.058Z,1754923521.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 433.496094 m,
      bearing: 179.124500 deg,
      approach rate: -0.475217 m/s,
      LOS rate: -0.008820 deg/s,
      cmd heading: 176.887501 deg,
      new cmd heading: 176.875935 deg.

2025-08-11T14:45:21.076Z,1754923521.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.274763
2025-08-11T14:45:21.330Z,1754923521.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528839
2025-08-11T14:45:21.461Z,1754923521.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:21.463Z,1754923521.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:21.486Z,1754923521.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 433.263733 m,
      bearing: 179.120148 deg,
      approach rate: -0.527447 m/s,
      LOS rate: -0.009884 deg/s,
      cmd heading: 176.875931 deg,
      new cmd heading: 176.862869 deg.

2025-08-11T14:45:21.584Z,1754923521.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782247
2025-08-11T14:45:21.832Z,1754923521.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.030675
2025-08-11T14:45:21.854Z,1754923521.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:21.861Z,1754923521.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 433.045532 m,
      bearing: 179.116019 deg,
      approach rate: -0.558049 m/s,
      LOS rate: -0.010567 deg/s,
      cmd heading: 176.862872 deg,
      new cmd heading: 176.850477 deg.

2025-08-11T14:45:22.087Z,1754923522.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284959
2025-08-11T14:45:22.268Z,1754923522.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:22.271Z,1754923522.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 432.809875 m,
      bearing: 179.112133 deg,
      approach rate: -0.568319 m/s,
      LOS rate: -0.009377 deg/s,
      cmd heading: 176.850482 deg,
      new cmd heading: 176.838817 deg.

2025-08-11T14:45:22.336Z,1754923522.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.534867
2025-08-11T14:45:22.591Z,1754923522.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.789711
2025-08-11T14:45:22.694Z,1754923522.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:22.698Z,1754923522.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 432.570038 m,
      bearing: 179.108173 deg,
      approach rate: -0.563204 m/s,
      LOS rate: -0.009302 deg/s,
      cmd heading: 176.838816 deg,
      new cmd heading: 176.826932 deg.

2025-08-11T14:45:22.840Z,1754923522.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.038974
2025-08-11T14:45:23.092Z,1754923523.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.290707
2025-08-11T14:45:23.162Z,1754923523.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:23.165Z,1754923523.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 432.325043 m,
      bearing: 179.103158 deg,
      approach rate: -0.524085 m/s,
      LOS rate: -0.010735 deg/s,
      cmd heading: 176.826931 deg,
      new cmd heading: 176.811877 deg.

2025-08-11T14:45:23.345Z,1754923523.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.543045
2025-08-11T14:45:23.598Z,1754923523.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.796335
2025-08-11T14:45:23.655Z,1754923523.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:23.657Z,1754923523.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:23.676Z,1754923523.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 432.067413 m,
      bearing: 179.097816 deg,
      approach rate: -0.520297 m/s,
      LOS rate: -0.010796 deg/s,
      cmd heading: 176.811878 deg,
      new cmd heading: 176.795841 deg.

2025-08-11T14:45:23.849Z,1754923523.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.047606
2025-08-11T14:45:24.104Z,1754923524.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.301539
2025-08-11T14:45:24.186Z,1754923524.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:24.189Z,1754923524.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 431.767456 m,
      bearing: 179.092124 deg,
      approach rate: -0.567207 m/s,
      LOS rate: -0.010770 deg/s,
      cmd heading: 176.795840 deg,
      new cmd heading: 176.778754 deg.

2025-08-11T14:45:24.352Z,1754923524.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.550593
2025-08-11T14:45:24.551Z,1754923524.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:24.554Z,1754923524.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 431.573029 m,
      bearing: 179.088410 deg,
      approach rate: -0.538339 m/s,
      LOS rate: -0.010289 deg/s,
      cmd heading: 176.778751 deg,
      new cmd heading: 176.767603 deg.

2025-08-11T14:45:24.605Z,1754923524.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.803672
2025-08-11T14:45:24.856Z,1754923524.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.054690
2025-08-11T14:45:24.948Z,1754923524.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:24.951Z,1754923524.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 431.340637 m,
      bearing: 179.083921 deg,
      approach rate: -0.578675 m/s,
      LOS rate: -0.011184 deg/s,
      cmd heading: 176.767604 deg,
      new cmd heading: 176.754130 deg.

2025-08-11T14:45:25.112Z,1754923525.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.310029
2025-08-11T14:45:25.360Z,1754923525.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.558725
2025-08-11T14:45:25.363Z,1754923525.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:25.366Z,1754923525.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 431.113251 m,
      bearing: 179.078931 deg,
      approach rate: -0.548922 m/s,
      LOS rate: -0.012052 deg/s,
      cmd heading: 176.754135 deg,
      new cmd heading: 176.739157 deg.

2025-08-11T14:45:25.615Z,1754923525.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.813318
2025-08-11T14:45:25.740Z,1754923525.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:25.743Z,1754923525.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:25.745Z,1754923525.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 430.905914 m,
      bearing: 179.074344 deg,
      approach rate: -0.545921 m/s,
      LOS rate: -0.012082 deg/s,
      cmd heading: 176.739163 deg,
      new cmd heading: 176.725398 deg.

2025-08-11T14:45:25.864Z,1754923525.864 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:25.864Z,1754923525.864 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:25.864Z,1754923525.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:26.118Z,1754923526.118 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:26.120Z,1754923526.120 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:26.121Z,1754923526.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:26.237Z,1754923526.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:26.244Z,1754923526.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 430.626617 m,
      bearing: 179.068950 deg,
      approach rate: -0.564813 m/s,
      LOS rate: -0.010916 deg/s,
      cmd heading: 176.725394 deg,
      new cmd heading: 176.709201 deg.

2025-08-11T14:45:26.368Z,1754923526.368 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:26.368Z,1754923526.368 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:26.369Z,1754923526.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:26.563Z,1754923526.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:26.565Z,1754923526.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 430.439148 m,
      bearing: 179.065309 deg,
      approach rate: -0.575851 m/s,
      LOS rate: -0.011190 deg/s,
      cmd heading: 176.709206 deg,
      new cmd heading: 176.698278 deg.

2025-08-11T14:45:26.621Z,1754923526.621 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:26.621Z,1754923526.621 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:26.622Z,1754923526.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:26.872Z,1754923526.872 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:26.872Z,1754923526.872 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:26.872Z,1754923526.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:26.986Z,1754923526.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:26.989Z,1754923526.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 430.207214 m,
      bearing: 179.060784 deg,
      approach rate: -0.548218 m/s,
      LOS rate: -0.010703 deg/s,
      cmd heading: 176.698278 deg,
      new cmd heading: 176.684694 deg.

2025-08-11T14:45:27.126Z,1754923527.126 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:27.127Z,1754923527.127 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:27.128Z,1754923527.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:27.376Z,1754923527.376 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:27.376Z,1754923527.376 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:27.376Z,1754923527.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:27.447Z,1754923527.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:27.470Z,1754923527.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 429.937347 m,
      bearing: 179.055357 deg,
      approach rate: -0.585353 m/s,
      LOS rate: -0.011778 deg/s,
      cmd heading: 176.684699 deg,
      new cmd heading: 176.668410 deg.

2025-08-11T14:45:27.628Z,1754923527.628 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:27.628Z,1754923527.628 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:27.629Z,1754923527.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:27.801Z,1754923527.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:27.803Z,1754923527.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:27.805Z,1754923527.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 429.736023 m,
      bearing: 179.051313 deg,
      approach rate: -0.565556 m/s,
      LOS rate: -0.011367 deg/s,
      cmd heading: 176.668416 deg,
      new cmd heading: 176.656278 deg.

2025-08-11T14:45:27.881Z,1754923527.881 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:27.881Z,1754923527.881 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:27.881Z,1754923527.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:28.134Z,1754923528.134 [DAT](INFO): Reached modem response timeout
2025-08-11T14:45:28.135Z,1754923528.135 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:45:28.136Z,1754923528.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:28.273Z,1754923528.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:28.280Z,1754923528.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 429.476837 m,
      bearing: 179.046812 deg,
      approach rate: -0.551111 m/s,
      LOS rate: -0.009576 deg/s,
      cmd heading: 176.656272 deg,
      new cmd heading: 176.642761 deg.

2025-08-11T14:45:28.384Z,1754923528.384 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:45:28.385Z,1754923528.385 [DAT](INFO): response not received
2025-08-11T14:45:28.386Z,1754923528.386 [DAT](INFO): DAT read: user:79>

2025-08-11T14:45:28.389Z,1754923528.389 [DAT](INFO): DAT read: Tx time:14:45:29.6703

2025-08-11T14:45:28.391Z,1754923528.391 [DAT](INFO): Ping request sent.
2025-08-11T14:45:28.391Z,1754923528.391 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:28.392Z,1754923528.392 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:28.393Z,1754923528.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002063
2025-08-11T14:45:28.629Z,1754923528.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:28.632Z,1754923528.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 429.263855 m,
      bearing: 179.043144 deg,
      approach rate: -0.597352 m/s,
      LOS rate: -0.010292 deg/s,
      cmd heading: 176.642762 deg,
      new cmd heading: 176.631754 deg.

2025-08-11T14:45:28.636Z,1754923528.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245472
2025-08-11T14:45:28.888Z,1754923528.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497338
2025-08-11T14:45:29.078Z,1754923529.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:29.106Z,1754923529.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 429.007477 m,
      bearing: 179.038757 deg,
      approach rate: -0.572010 m/s,
      LOS rate: -0.009795 deg/s,
      cmd heading: 176.631752 deg,
      new cmd heading: 176.618582 deg.

2025-08-11T14:45:29.146Z,1754923529.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755129
2025-08-11T14:45:29.393Z,1754923529.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001959
2025-08-11T14:45:29.508Z,1754923529.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:29.511Z,1754923529.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 428.773041 m,
      bearing: 179.034562 deg,
      approach rate: -0.544764 m/s,
      LOS rate: -0.009754 deg/s,
      cmd heading: 176.618583 deg,
      new cmd heading: 176.605991 deg.

2025-08-11T14:45:29.644Z,1754923529.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253369
2025-08-11T14:45:29.878Z,1754923529.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:29.881Z,1754923529.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:29.884Z,1754923529.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 428.544067 m,
      bearing: 179.030496 deg,
      approach rate: -0.614557 m/s,
      LOS rate: -0.010916 deg/s,
      cmd heading: 176.605988 deg,
      new cmd heading: 176.593787 deg.

2025-08-11T14:45:29.896Z,1754923529.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505487
2025-08-11T14:45:30.151Z,1754923530.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759660
2025-08-11T14:45:30.295Z,1754923530.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:30.298Z,1754923530.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 428.316986 m,
      bearing: 179.026224 deg,
      approach rate: -0.547770 m/s,
      LOS rate: -0.010311 deg/s,
      cmd heading: 176.593790 deg,
      new cmd heading: 176.580967 deg.

2025-08-11T14:45:30.400Z,1754923530.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009630
2025-08-11T14:45:30.652Z,1754923530.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261503
2025-08-11T14:45:30.662Z,1754923530.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:30.665Z,1754923530.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 428.116058 m,
      bearing: 179.022513 deg,
      approach rate: -0.547806 m/s,
      LOS rate: -0.010124 deg/s,
      cmd heading: 176.580963 deg,
      new cmd heading: 176.569822 deg.

2025-08-11T14:45:30.905Z,1754923530.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513757
2025-08-11T14:45:31.064Z,1754923531.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:31.066Z,1754923531.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 427.896362 m,
      bearing: 179.018531 deg,
      approach rate: -0.547413 m/s,
      LOS rate: -0.009926 deg/s,
      cmd heading: 176.569816 deg,
      new cmd heading: 176.557865 deg.

2025-08-11T14:45:31.159Z,1754923531.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767813
2025-08-11T14:45:31.408Z,1754923531.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017335
2025-08-11T14:45:31.515Z,1754923531.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:31.518Z,1754923531.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 427.651886 m,
      bearing: 179.014202 deg,
      approach rate: -0.541195 m/s,
      LOS rate: -0.009589 deg/s,
      cmd heading: 176.557863 deg,
      new cmd heading: 176.544868 deg.

2025-08-11T14:45:31.660Z,1754923531.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269420
2025-08-11T14:45:31.872Z,1754923531.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:31.875Z,1754923531.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 427.458527 m,
      bearing: 179.010855 deg,
      approach rate: -0.541743 m/s,
      LOS rate: -0.009381 deg/s,
      cmd heading: 176.544872 deg,
      new cmd heading: 176.534827 deg.

2025-08-11T14:45:31.913Z,1754923531.913 [DAT](INFO): DAT read: Rx Time:14:45:32.6571

2025-08-11T14:45:31.914Z,1754923531.914 [DAT](INFO): Rx dataTimestamp_ set to:1754923531.913260
2025-08-11T14:45:31.915Z,1754923531.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523569
2025-08-11T14:45:32.164Z,1754923532.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773436
2025-08-11T14:45:32.361Z,1754923532.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:32.393Z,1754923532.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.40 m.
2025-08-11T14:45:32.404Z,1754923532.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.399994 m,
      nav range: 427.193665 m,
      bearing: 179.005724 deg,
      approach rate: -0.539061 m/s,
      LOS rate: -0.010450 deg/s,
      cmd heading: 176.534831 deg,
      new cmd heading: 176.519428 deg.

2025-08-11T14:45:32.422Z,1754923532.422 [DAT](INFO): DAT read: 14:45:32.6571 LVL= 31280, 32753, 30162, 32755, AGC= 75, IDX= 411, 0.34,-0.486,-2.021,-0.402,-0.867, PHS= 0.483,-1.109, 0.422, RAW= 148.1,   2.7, CAL= 147.3,   2.6, ROT=   2.7,  -2.6

2025-08-11T14:45:32.423Z,1754923532.423 [DAT](INFO): got valid direction response:
 14:45:32.6571 LVL= 31280, 32753, 30162, 32755, AGC= 75, IDX= 411, 0.34,-0.486,-2.021,-0.402,-0.867, PHS= 0.483,-1.109, 0.422, RAW= 148.1,   2.7, CAL= 147.3,   2.6, ROT=   2.7,  -2.6

2025-08-11T14:45:32.424Z,1754923532.424 [DAT](INFO): DAT read: Bearing 329.5,  -2.5 (Local)

2025-08-11T14:45:32.425Z,1754923532.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.5,  -2.5 (Local)

2025-08-11T14:45:32.426Z,1754923532.426 [DAT](INFO): DAT read: Range 11 to 50 : 437.0 m  (Round-trip  582.7 ms) speed  0.5 m/s

2025-08-11T14:45:32.427Z,1754923532.427 [DAT](INFO): DAT read: user:80>

2025-08-11T14:45:32.428Z,1754923532.428 [DAT](INFO): DAT read: Tx time:14:45:33.7703

2025-08-11T14:45:32.428Z,1754923532.428 [DAT](INFO): Ping request sent.
2025-08-11T14:45:32.428Z,1754923532.428 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:32.428Z,1754923532.428 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:32.429Z,1754923532.429 [DAT](INFO): direction in FSK: [0.997862,0.047058,0.045363]
2025-08-11T14:45:32.430Z,1754923532.430 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:32.430Z,1754923532.430 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:32.433Z,1754923532.433 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:32.433Z,1754923532.433 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:32.754Z,1754923532.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 437.000000 m,
      deltaT: 16.632914 s,
      deltaX: -0.399994 m,
      approachRate: -0.024048 m/s,
      rangeRepo size: 4

2025-08-11T14:45:32.761Z,1754923532.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 437.000000 m,
      bearing: 179.090371 deg,
      lat: 36.905763 deg,
      lon: -122.116275 deg,
      deltaT: 16.632914 s,
      deltaX: -0.399994 m,
      approachRate: -0.024048 m/s,
      posRepo size: 4

2025-08-11T14:45:32.761Z,1754923532.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.00 m.
2025-08-11T14:45:32.768Z,1754923532.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.000000 m,
      nav range: 426.986877 m,
      bearing: 179.090371 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010450 deg/s,
      cmd heading: 176.519423 deg,
      new cmd heading: 176.507188 deg.

2025-08-11T14:45:33.136Z,1754923533.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.00 m.
2025-08-11T14:45:33.138Z,1754923533.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.000000 m,
      nav range: 426.766022 m,
      bearing: 179.086374 deg,
      approach rate: -0.578900 m/s,
      LOS rate: -0.010481 deg/s,
      cmd heading: 176.507183 deg,
      new cmd heading: 176.495187 deg.

2025-08-11T14:45:33.577Z,1754923533.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.00 m.
2025-08-11T14:45:33.583Z,1754923533.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.000000 m,
      nav range: 426.526154 m,
      bearing: 179.081519 deg,
      approach rate: -0.543295 m/s,
      LOS rate: -0.011003 deg/s,
      cmd heading: 176.495189 deg,
      new cmd heading: 176.480616 deg.

2025-08-11T14:45:33.968Z,1754923533.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.00 m.
2025-08-11T14:45:33.970Z,1754923533.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.000000 m,
      nav range: 426.321869 m,
      bearing: 179.077477 deg,
      approach rate: -0.522789 m/s,
      LOS rate: -0.010350 deg/s,
      cmd heading: 176.480613 deg,
      new cmd heading: 176.468480 deg.

2025-08-11T14:45:34.374Z,1754923534.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:34.376Z,1754923534.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.00 m.
2025-08-11T14:45:34.379Z,1754923534.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.000000 m,
      nav range: 426.092865 m,
      bearing: 179.072986 deg,
      approach rate: -0.560127 m/s,
      LOS rate: -0.010991 deg/s,
      cmd heading: 176.468483 deg,
      new cmd heading: 176.455003 deg.

2025-08-11T14:45:34.432Z,1754923534.432 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:34.432Z,1754923534.432 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:34.432Z,1754923534.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:34.684Z,1754923534.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256084
2025-08-11T14:45:34.748Z,1754923534.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.00 m.
2025-08-11T14:45:34.750Z,1754923534.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.000000 m,
      nav range: 425.893799 m,
      bearing: 179.069164 deg,
      approach rate: -0.536645 m/s,
      LOS rate: -0.010309 deg/s,
      cmd heading: 176.455000 deg,
      new cmd heading: 176.443528 deg.

2025-08-11T14:45:34.937Z,1754923534.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508985
2025-08-11T14:45:35.148Z,1754923535.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.00 m.
2025-08-11T14:45:35.151Z,1754923535.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.000000 m,
      nav range: 425.678986 m,
      bearing: 179.065087 deg,
      approach rate: -0.535814 m/s,
      LOS rate: -0.010172 deg/s,
      cmd heading: 176.443526 deg,
      new cmd heading: 176.431291 deg.

2025-08-11T14:45:35.190Z,1754923535.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762318
2025-08-11T14:45:35.440Z,1754923535.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012107
2025-08-11T14:45:35.598Z,1754923535.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.00 m.
2025-08-11T14:45:35.625Z,1754923535.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.000000 m,
      nav range: 425.436462 m,
      bearing: 179.061325 deg,
      approach rate: -0.540695 m/s,
      LOS rate: -0.008392 deg/s,
      cmd heading: 176.431286 deg,
      new cmd heading: 176.419993 deg.

2025-08-11T14:45:35.693Z,1754923535.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264696
2025-08-11T14:45:35.945Z,1754923535.945 [DAT](INFO): DAT read: Rx Time:14:45:36.7541

2025-08-11T14:45:35.946Z,1754923535.946 [DAT](INFO): Rx dataTimestamp_ set to:1754923535.945139
2025-08-11T14:45:35.946Z,1754923535.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518255
2025-08-11T14:45:35.972Z,1754923535.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 437.00 m.
2025-08-11T14:45:36.003Z,1754923536.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 437.000000 m,
      nav range: 425.223297 m,
      bearing: 179.058055 deg,
      approach rate: -0.567139 m/s,
      LOS rate: -0.008707 deg/s,
      cmd heading: 176.419989 deg,
      new cmd heading: 176.410171 deg.

2025-08-11T14:45:36.197Z,1754923536.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769247
2025-08-11T14:45:36.455Z,1754923536.455 [DAT](INFO): DAT read: 14:45:36.7541 LVL= 24896, 32753, 25650, 32755, AGC= 73, IDX= 413, 0.02,-2.971, 1.644,-2.878, 2.961, PHS= 0.454,-1.272, 0.400, RAW= 148.4,   5.0, CAL= 147.8,   5.2, ROT=   2.2,  -5.2

2025-08-11T14:45:36.456Z,1754923536.456 [DAT](INFO): got valid direction response:
 14:45:36.7541 LVL= 24896, 32753, 25650, 32755, AGC= 73, IDX= 413, 0.02,-2.971, 1.644,-2.878, 2.961, PHS= 0.454,-1.272, 0.400, RAW= 148.4,   5.0, CAL= 147.8,   5.2, ROT=   2.2,  -5.2

2025-08-11T14:45:36.457Z,1754923536.457 [DAT](INFO): DAT read: Bearing 331.1,  -4.2 (Local)

2025-08-11T14:45:36.458Z,1754923536.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.1,  -4.2 (Local)

2025-08-11T14:45:36.459Z,1754923536.459 [DAT](INFO): DAT read: Range 11 to 50 : 434.7 m  (Round-trip  579.7 ms) speed  0.5 m/s

2025-08-11T14:45:36.460Z,1754923536.460 [DAT](INFO): DAT read: user:81>

2025-08-11T14:45:36.461Z,1754923536.461 [DAT](INFO): DAT read: Tx time:14:45:37.8703

2025-08-11T14:45:36.461Z,1754923536.461 [DAT](INFO): Ping request sent.
2025-08-11T14:45:36.461Z,1754923536.461 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:36.461Z,1754923536.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:36.462Z,1754923536.462 [DAT](INFO): direction in FSK: [0.995150,0.038230,0.090633]
2025-08-11T14:45:36.463Z,1754923536.463 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:36.463Z,1754923536.463 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:36.466Z,1754923536.466 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:36.466Z,1754923536.466 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:36.514Z,1754923536.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 434.700012 m,
      deltaT: 4.033159 s,
      deltaX: -2.299988 m,
      approachRate: -0.570270 m/s,
      rangeRepo size: 4

2025-08-11T14:45:36.520Z,1754923536.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 434.700012 m,
      bearing: 179.189939 deg,
      lat: 36.905681 deg,
      lon: -122.116285 deg,
      deltaT: 4.033159 s,
      deltaX: -2.299988 m,
      approachRate: -0.570270 m/s,
      posRepo size: 4

2025-08-11T14:45:36.521Z,1754923536.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:36.524Z,1754923536.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 434.069244 m,
      bearing: 179.189939 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008707 deg/s,
      cmd heading: 176.410167 deg,
      new cmd heading: 176.396051 deg.

2025-08-11T14:45:36.834Z,1754923536.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:36.840Z,1754923536.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:36.842Z,1754923536.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 433.880829 m,
      bearing: 179.187453 deg,
      approach rate: -0.576256 m/s,
      LOS rate: -0.007605 deg/s,
      cmd heading: 176.396056 deg,
      new cmd heading: 176.388596 deg.

2025-08-11T14:45:36.952Z,1754923536.952 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:36.952Z,1754923536.952 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:36.952Z,1754923536.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:37.182Z,1754923537.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:37.185Z,1754923537.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 433.676727 m,
      bearing: 179.184785 deg,
      approach rate: -0.596923 m/s,
      LOS rate: -0.007807 deg/s,
      cmd heading: 176.388597 deg,
      new cmd heading: 176.380589 deg.

2025-08-11T14:45:37.204Z,1754923537.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743105
2025-08-11T14:45:37.456Z,1754923537.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994998
2025-08-11T14:45:37.647Z,1754923537.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:37.650Z,1754923537.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 433.394623 m,
      bearing: 179.182765 deg,
      approach rate: -0.617056 m/s,
      LOS rate: -0.004421 deg/s,
      cmd heading: 176.380592 deg,
      new cmd heading: 176.374528 deg.

2025-08-11T14:45:37.709Z,1754923537.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248114
2025-08-11T14:45:37.960Z,1754923537.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499049
2025-08-11T14:45:38.011Z,1754923538.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:38.014Z,1754923538.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 433.164032 m,
      bearing: 179.181112 deg,
      approach rate: -0.619670 m/s,
      LOS rate: -0.004444 deg/s,
      cmd heading: 176.374527 deg,
      new cmd heading: 176.369565 deg.

2025-08-11T14:45:38.214Z,1754923538.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752714
2025-08-11T14:45:38.439Z,1754923538.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:38.442Z,1754923538.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 432.906525 m,
      bearing: 179.179014 deg,
      approach rate: -0.601615 m/s,
      LOS rate: -0.004904 deg/s,
      cmd heading: 176.369568 deg,
      new cmd heading: 176.363271 deg.

2025-08-11T14:45:38.464Z,1754923538.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003078
2025-08-11T14:45:38.716Z,1754923538.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255070
2025-08-11T14:45:38.814Z,1754923538.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:38.821Z,1754923538.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 432.683929 m,
      bearing: 179.177096 deg,
      approach rate: -0.593801 m/s,
      LOS rate: -0.005119 deg/s,
      cmd heading: 176.363271 deg,
      new cmd heading: 176.357514 deg.

2025-08-11T14:45:38.968Z,1754923538.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506956
2025-08-11T14:45:39.203Z,1754923539.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:39.206Z,1754923539.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:39.220Z,1754923539.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759145
2025-08-11T14:45:39.229Z,1754923539.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 432.449005 m,
      bearing: 179.175004 deg,
      approach rate: -0.599883 m/s,
      LOS rate: -0.005346 deg/s,
      cmd heading: 176.357520 deg,
      new cmd heading: 176.351239 deg.

2025-08-11T14:45:39.472Z,1754923539.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010985
2025-08-11T14:45:39.675Z,1754923539.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:39.677Z,1754923539.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 432.168518 m,
      bearing: 179.172260 deg,
      approach rate: -0.597948 m/s,
      LOS rate: -0.005852 deg/s,
      cmd heading: 176.351236 deg,
      new cmd heading: 176.343000 deg.

2025-08-11T14:45:39.725Z,1754923539.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264109
2025-08-11T14:45:39.976Z,1754923539.976 [DAT](INFO): DAT read: Rx Time:14:45:40.8510

2025-08-11T14:45:39.977Z,1754923539.977 [DAT](INFO): Rx dataTimestamp_ set to:1754923539.976363
2025-08-11T14:45:39.977Z,1754923539.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516105
2025-08-11T14:45:40.052Z,1754923540.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:40.054Z,1754923540.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 431.944855 m,
      bearing: 179.170024 deg,
      approach rate: -0.593637 m/s,
      LOS rate: -0.005940 deg/s,
      cmd heading: 176.342999 deg,
      new cmd heading: 176.336285 deg.

2025-08-11T14:45:40.229Z,1754923540.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767697
2025-08-11T14:45:40.485Z,1754923540.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024028
2025-08-11T14:45:40.629Z,1754923540.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.70 m.
2025-08-11T14:45:40.632Z,1754923540.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.700012 m,
      nav range: 431.601715 m,
      bearing: 179.166091 deg,
      approach rate: -0.594464 m/s,
      LOS rate: -0.006819 deg/s,
      cmd heading: 176.336292 deg,
      new cmd heading: 176.324484 deg.

2025-08-11T14:45:40.738Z,1754923540.738 [DAT](INFO): DAT read: 14:45:40.8510 LVL= 20176, 27089, 20466, 29283, AGC= 69, IDX= 413, 0.50,-0.533,-2.206,-0.401,-0.876, PHS= 0.445,-1.285, 0.431, RAW= 149.6,   4.8, CAL= 148.8,   5.0, ROT=   1.2,  -5.0

2025-08-11T14:45:40.739Z,1754923540.739 [DAT](INFO): got valid direction response:
 14:45:40.8510 LVL= 20176, 27089, 20466, 29283, AGC= 69, IDX= 413, 0.50,-0.533,-2.206,-0.401,-0.876, PHS= 0.445,-1.285, 0.431, RAW= 149.6,   4.8, CAL= 148.8,   5.0, ROT=   1.2,  -5.0

2025-08-11T14:45:40.740Z,1754923540.740 [DAT](INFO): DAT read: Bearing 330.9,  -5.9 (Local)

2025-08-11T14:45:40.740Z,1754923540.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.9,  -5.9 (Local)

2025-08-11T14:45:40.742Z,1754923540.742 [DAT](INFO): DAT read: Range 11 to 50 : 432.4 m  (Round-trip  576.6 ms) speed  0.2 m/s

2025-08-11T14:45:40.742Z,1754923540.742 [DAT](INFO): DAT read: user:82>

2025-08-11T14:45:40.743Z,1754923540.743 [DAT](INFO): DAT read: Tx time:14:45:41.9703

2025-08-11T14:45:40.744Z,1754923540.744 [DAT](INFO): Ping request sent.
2025-08-11T14:45:40.744Z,1754923540.744 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:40.744Z,1754923540.744 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:40.745Z,1754923540.745 [DAT](INFO): direction in FSK: [0.995976,0.020863,0.087156]
2025-08-11T14:45:40.745Z,1754923540.745 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:40.745Z,1754923540.745 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:40.750Z,1754923540.750 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:40.750Z,1754923540.750 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:41.114Z,1754923541.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 432.399994 m,
      deltaT: 4.282694 s,
      deltaX: -2.300018 m,
      approachRate: -0.537049 m/s,
      rangeRepo size: 4

2025-08-11T14:45:41.116Z,1754923541.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 432.399994 m,
      bearing: 179.046633 deg,
      lat: 36.905677 deg,
      lon: -122.116275 deg,
      deltaT: 4.282694 s,
      deltaX: -2.300018 m,
      approachRate: -0.537049 m/s,
      posRepo size: 4

2025-08-11T14:45:41.117Z,1754923541.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.40 m.
2025-08-11T14:45:41.120Z,1754923541.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.399994 m,
      nav range: 431.679596 m,
      bearing: 179.046633 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006819 deg/s,
      cmd heading: 176.324489 deg,
      new cmd heading: 176.314574 deg.

2025-08-11T14:45:41.608Z,1754923541.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:41.610Z,1754923541.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.40 m.
2025-08-11T14:45:41.613Z,1754923541.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.399994 m,
      nav range: 431.391815 m,
      bearing: 179.041998 deg,
      approach rate: -0.578876 m/s,
      LOS rate: -0.009328 deg/s,
      cmd heading: 176.314572 deg,
      new cmd heading: 176.300659 deg.

2025-08-11T14:45:41.740Z,1754923541.740 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:41.740Z,1754923541.740 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:41.741Z,1754923541.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:41.982Z,1754923541.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.40 m.
2025-08-11T14:45:41.985Z,1754923541.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.399994 m,
      nav range: 431.182281 m,
      bearing: 179.038595 deg,
      approach rate: -0.564250 m/s,
      LOS rate: -0.009169 deg/s,
      cmd heading: 176.300665 deg,
      new cmd heading: 176.290451 deg.

2025-08-11T14:45:41.992Z,1754923541.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248570
2025-08-11T14:45:42.244Z,1754923542.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500434
2025-08-11T14:45:42.438Z,1754923542.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.40 m.
2025-08-11T14:45:42.441Z,1754923542.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.399994 m,
      nav range: 430.922333 m,
      bearing: 179.033652 deg,
      approach rate: -0.569648 m/s,
      LOS rate: -0.010840 deg/s,
      cmd heading: 176.290447 deg,
      new cmd heading: 176.275607 deg.

2025-08-11T14:45:42.496Z,1754923542.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752653
2025-08-11T14:45:42.748Z,1754923542.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004547
2025-08-11T14:45:42.772Z,1754923542.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.40 m.
2025-08-11T14:45:42.775Z,1754923542.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.399994 m,
      nav range: 430.738281 m,
      bearing: 179.030138 deg,
      approach rate: -0.551102 m/s,
      LOS rate: -0.010525 deg/s,
      cmd heading: 176.275612 deg,
      new cmd heading: 176.265067 deg.

2025-08-11T14:45:43.001Z,1754923543.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257571
2025-08-11T14:45:43.252Z,1754923543.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508526
2025-08-11T14:45:43.253Z,1754923543.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.40 m.
2025-08-11T14:45:43.256Z,1754923543.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.399994 m,
      nav range: 430.474640 m,
      bearing: 179.025098 deg,
      approach rate: -0.550551 m/s,
      LOS rate: -0.010532 deg/s,
      cmd heading: 176.265066 deg,
      new cmd heading: 176.249936 deg.

2025-08-11T14:45:43.504Z,1754923543.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760465
2025-08-11T14:45:43.756Z,1754923543.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012597
2025-08-11T14:45:43.763Z,1754923543.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:43.765Z,1754923543.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.40 m.
2025-08-11T14:45:43.780Z,1754923543.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.399994 m,
      nav range: 430.207214 m,
      bearing: 179.019731 deg,
      approach rate: -0.519911 m/s,
      LOS rate: -0.010441 deg/s,
      cmd heading: 176.249931 deg,
      new cmd heading: 176.233819 deg.

2025-08-11T14:45:44.008Z,1754923544.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264518
2025-08-11T14:45:44.127Z,1754923544.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.40 m.
2025-08-11T14:45:44.130Z,1754923544.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.399994 m,
      nav range: 430.005280 m,
      bearing: 179.015649 deg,
      approach rate: -0.558144 m/s,
      LOS rate: -0.011287 deg/s,
      cmd heading: 176.233825 deg,
      new cmd heading: 176.221574 deg.

2025-08-11T14:45:44.261Z,1754923544.261 [DAT](INFO): DAT read: Rx Time:14:45:44.9480

2025-08-11T14:45:44.261Z,1754923544.261 [DAT](INFO): Rx dataTimestamp_ set to:1754923544.261051
2025-08-11T14:45:44.262Z,1754923544.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518532
2025-08-11T14:45:44.512Z,1754923544.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768552
2025-08-11T14:45:44.590Z,1754923544.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.40 m.
2025-08-11T14:45:44.624Z,1754923544.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.399994 m,
      nav range: 429.781219 m,
      bearing: 179.011361 deg,
      approach rate: -0.491177 m/s,
      LOS rate: -0.009404 deg/s,
      cmd heading: 176.221572 deg,
      new cmd heading: 176.208702 deg.

2025-08-11T14:45:44.771Z,1754923544.771 [DAT](INFO): DAT read: 14:45:44.9480 LVL= 24688, 31361, 25826, 32755, AGC= 73, IDX= 414, 0.17, 2.873, 1.162, 3.012, 2.533, PHS= 0.442,-1.326, 0.435, RAW= 149.8,   5.1, CAL= 149.1,   5.3, ROT=   0.9,  -5.3

2025-08-11T14:45:44.772Z,1754923544.772 [DAT](INFO): got valid direction response:
 14:45:44.9480 LVL= 24688, 31361, 25826, 32755, AGC= 73, IDX= 414, 0.17, 2.873, 1.162, 3.012, 2.533, PHS= 0.442,-1.326, 0.435, RAW= 149.8,   5.1, CAL= 149.1,   5.3, ROT=   0.9,  -5.3

2025-08-11T14:45:44.773Z,1754923544.773 [DAT](INFO): DAT read: Bearing 331.8,  -6.1 (Local)

2025-08-11T14:45:44.773Z,1754923544.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.8,  -6.1 (Local)

2025-08-11T14:45:44.774Z,1754923544.774 [DAT](INFO): DAT read: Range 11 to 50 : 430.2 m  (Round-trip  573.6 ms) speed  0.5 m/s

2025-08-11T14:45:44.776Z,1754923544.776 [DAT](INFO): DAT read: user:83>

2025-08-11T14:45:44.777Z,1754923544.777 [DAT](INFO): DAT read: Tx time:14:45:46.0703

2025-08-11T14:45:44.777Z,1754923544.777 [DAT](INFO): Ping request sent.
2025-08-11T14:45:44.777Z,1754923544.777 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:44.777Z,1754923544.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:44.778Z,1754923544.778 [DAT](INFO): direction in FSK: [0.995602,0.015640,0.092371]
2025-08-11T14:45:44.778Z,1754923544.778 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:44.779Z,1754923544.779 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:44.782Z,1754923544.782 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:44.782Z,1754923544.782 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:44.997Z,1754923544.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 430.200012 m,
      deltaT: 4.032008 s,
      deltaX: -2.199982 m,
      approachRate: -0.545629 m/s,
      rangeRepo size: 4

2025-08-11T14:45:44.999Z,1754923544.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 430.200012 m,
      bearing: 179.019239 deg,
      lat: 36.905676 deg,
      lon: -122.116276 deg,
      deltaT: 4.032008 s,
      deltaX: -2.199982 m,
      approachRate: -0.545629 m/s,
      posRepo size: 4

2025-08-11T14:45:45.004Z,1754923545.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:45.007Z,1754923545.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 429.750244 m,
      bearing: 179.019239 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009404 deg/s,
      cmd heading: 176.208704 deg,
      new cmd heading: 176.197085 deg.

2025-08-11T14:45:45.433Z,1754923545.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:45.440Z,1754923545.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 429.518951 m,
      bearing: 179.014738 deg,
      approach rate: -0.528533 m/s,
      LOS rate: -0.010291 deg/s,
      cmd heading: 176.197079 deg,
      new cmd heading: 176.183568 deg.

2025-08-11T14:45:45.814Z,1754923545.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:45.820Z,1754923545.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:45.823Z,1754923545.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 429.316589 m,
      bearing: 179.011373 deg,
      approach rate: -0.522489 m/s,
      LOS rate: -0.008692 deg/s,
      cmd heading: 176.183569 deg,
      new cmd heading: 176.173469 deg.

2025-08-11T14:45:46.024Z,1754923546.024 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:46.024Z,1754923546.024 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:46.024Z,1754923546.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:46.188Z,1754923546.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:46.191Z,1754923546.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 429.107880 m,
      bearing: 179.007867 deg,
      approach rate: -0.566476 m/s,
      LOS rate: -0.009519 deg/s,
      cmd heading: 176.173473 deg,
      new cmd heading: 176.162952 deg.

2025-08-11T14:45:46.276Z,1754923546.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499401
2025-08-11T14:45:46.528Z,1754923546.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751285
2025-08-11T14:45:46.608Z,1754923546.608 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +19.94,      +352.50,   87
2025-08-11T14:45:46.624Z,1754923546.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:46.626Z,1754923546.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 428.874420 m,
      bearing: 179.003915 deg,
      approach rate: -0.536194 m/s,
      LOS rate: -0.009083 deg/s,
      cmd heading: 176.162955 deg,
      new cmd heading: 176.151091 deg.

2025-08-11T14:45:46.780Z,1754923546.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003236
2025-08-11T14:45:46.989Z,1754923546.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:46.991Z,1754923546.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 428.678833 m,
      bearing: 179.000573 deg,
      approach rate: -0.536287 m/s,
      LOS rate: -0.009168 deg/s,
      cmd heading: 176.151098 deg,
      new cmd heading: 176.141067 deg.

2025-08-11T14:45:47.033Z,1754923547.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255938
2025-08-11T14:45:47.284Z,1754923547.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507390
2025-08-11T14:45:47.461Z,1754923547.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:47.468Z,1754923547.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 428.438873 m,
      bearing: 178.996438 deg,
      approach rate: -0.507992 m/s,
      LOS rate: -0.008758 deg/s,
      cmd heading: 176.141071 deg,
      new cmd heading: 176.128660 deg.

2025-08-11T14:45:47.537Z,1754923547.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760035
2025-08-11T14:45:47.788Z,1754923547.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011098
2025-08-11T14:45:47.843Z,1754923547.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:47.845Z,1754923547.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:47.852Z,1754923547.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 428.229095 m,
      bearing: 178.994296 deg,
      approach rate: -0.545917 m/s,
      LOS rate: -0.005578 deg/s,
      cmd heading: 176.128654 deg,
      new cmd heading: 176.122223 deg.

2025-08-11T14:45:48.042Z,1754923548.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264828
2025-08-11T14:45:48.231Z,1754923548.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:48.234Z,1754923548.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 428.020355 m,
      bearing: 178.992150 deg,
      approach rate: -0.546538 m/s,
      LOS rate: -0.005619 deg/s,
      cmd heading: 176.122220 deg,
      new cmd heading: 176.115781 deg.

2025-08-11T14:45:48.292Z,1754923548.292 [DAT](INFO): DAT read: Rx Time:14:45:49.0448

2025-08-11T14:45:48.293Z,1754923548.293 [DAT](INFO): Rx dataTimestamp_ set to:1754923548.292551
2025-08-11T14:45:48.293Z,1754923548.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516481
2025-08-11T14:45:48.546Z,1754923548.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768947
2025-08-11T14:45:48.791Z,1754923548.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.20 m.
2025-08-11T14:45:48.794Z,1754923548.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 430.200012 m,
      nav range: 427.716736 m,
      bearing: 178.988516 deg,
      approach rate: -0.554129 m/s,
      LOS rate: -0.006637 deg/s,
      cmd heading: 176.115786 deg,
      new cmd heading: 176.104876 deg.

2025-08-11T14:45:48.802Z,1754923548.802 [DAT](INFO): DAT read: 14:45:49.0448 LVL= 28144, 32753, 26098, 32755, AGC= 71, IDX= 413, 0.17, 2.094, 0.487, 2.230, 1.729, PHS= 0.467,-1.197, 0.457, RAW= 149.7,   3.3, CAL= 148.8,   3.3, ROT=   1.2,  -3.3

2025-08-11T14:45:48.803Z,1754923548.803 [DAT](INFO): got valid direction response:
 14:45:49.0448 LVL= 28144, 32753, 26098, 32755, AGC= 71, IDX= 413, 0.17, 2.094, 0.487, 2.230, 1.729, PHS= 0.467,-1.197, 0.457, RAW= 149.7,   3.3, CAL= 148.8,   3.3, ROT=   1.2,  -3.3

2025-08-11T14:45:48.804Z,1754923548.804 [DAT](INFO): DAT read: Bearing 330.4,  -4.6 (Local)

2025-08-11T14:45:48.804Z,1754923548.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.4,  -4.6 (Local)

2025-08-11T14:45:48.806Z,1754923548.806 [DAT](INFO): DAT read: Range 11 to 50 : 427.8 m  (Round-trip  570.4 ms) speed  0.4 m/s

2025-08-11T14:45:48.809Z,1754923548.809 [DAT](INFO): DAT read: user:84>

2025-08-11T14:45:48.812Z,1754923548.812 [DAT](INFO): DAT read: Tx time:14:45:50.1703

2025-08-11T14:45:48.812Z,1754923548.812 [DAT](INFO): Ping request sent.
2025-08-11T14:45:48.812Z,1754923548.812 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:48.813Z,1754923548.813 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:48.814Z,1754923548.814 [DAT](INFO): direction in FSK: [0.998123,0.020908,0.057564]
2025-08-11T14:45:48.814Z,1754923548.814 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:48.814Z,1754923548.814 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:48.817Z,1754923548.817 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:48.817Z,1754923548.817 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:49.293Z,1754923549.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 427.799988 m,
      deltaT: 4.032042 s,
      deltaX: -2.400024 m,
      approachRate: -0.595238 m/s,
      rangeRepo size: 4

2025-08-11T14:45:49.296Z,1754923549.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 427.799988 m,
      bearing: 179.223000 deg,
      lat: 36.905673 deg,
      lon: -122.116296 deg,
      deltaT: 4.032042 s,
      deltaX: -2.400024 m,
      approachRate: -0.595238 m/s,
      posRepo size: 4

2025-08-11T14:45:49.297Z,1754923549.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.80 m.
2025-08-11T14:45:49.301Z,1754923549.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.799988 m,
      nav range: 427.661621 m,
      bearing: 179.223000 deg,
      approach rate: 15.102505 m/s,
      LOS rate: -0.006637 deg/s,
      cmd heading: 176.104871 deg,
      new cmd heading: 176.094569 deg.

2025-08-11T14:45:49.801Z,1754923549.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.80 m.
2025-08-11T14:45:49.805Z,1754923549.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.799988 m,
      nav range: 427.384857 m,
      bearing: 179.219845 deg,
      approach rate: -0.543925 m/s,
      LOS rate: -0.006204 deg/s,
      cmd heading: 176.094571 deg,
      new cmd heading: 176.085101 deg.

2025-08-11T14:45:50.165Z,1754923550.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:50.168Z,1754923550.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.80 m.
2025-08-11T14:45:50.170Z,1754923550.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.799988 m,
      nav range: 427.170319 m,
      bearing: 179.217383 deg,
      approach rate: -0.586136 m/s,
      LOS rate: -0.006730 deg/s,
      cmd heading: 176.085105 deg,
      new cmd heading: 176.077714 deg.

2025-08-11T14:45:50.308Z,1754923550.308 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:50.309Z,1754923550.309 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:50.309Z,1754923550.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:50.561Z,1754923550.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748377
2025-08-11T14:45:50.619Z,1754923550.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.80 m.
2025-08-11T14:45:50.622Z,1754923550.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.799988 m,
      nav range: 426.911621 m,
      bearing: 179.213690 deg,
      approach rate: -0.577783 m/s,
      LOS rate: -0.008253 deg/s,
      cmd heading: 176.077714 deg,
      new cmd heading: 176.066628 deg.

2025-08-11T14:45:50.815Z,1754923550.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002081
2025-08-11T14:45:50.983Z,1754923550.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.80 m.
2025-08-11T14:45:50.986Z,1754923550.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.799988 m,
      nav range: 426.699829 m,
      bearing: 179.210638 deg,
      approach rate: -0.575669 m/s,
      LOS rate: -0.008301 deg/s,
      cmd heading: 176.066622 deg,
      new cmd heading: 176.057461 deg.

2025-08-11T14:45:51.066Z,1754923551.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252959
2025-08-11T14:45:51.317Z,1754923551.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504107
2025-08-11T14:45:51.386Z,1754923551.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.80 m.
2025-08-11T14:45:51.389Z,1754923551.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.799988 m,
      nav range: 426.467590 m,
      bearing: 179.207268 deg,
      approach rate: -0.575652 m/s,
      LOS rate: -0.008358 deg/s,
      cmd heading: 176.057456 deg,
      new cmd heading: 176.047340 deg.

2025-08-11T14:45:51.568Z,1754923551.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755873
2025-08-11T14:45:51.773Z,1754923551.773 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021618330154,35.0, +10.1,   0.0,1490.:RA,  0.00,  90.62,  78.06,  80.10
2025-08-11T14:45:51.790Z,1754923551.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.80 m.
2025-08-11T14:45:51.793Z,1754923551.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.799988 m,
      nav range: 426.235077 m,
      bearing: 179.203891 deg,
      approach rate: -0.575672 m/s,
      LOS rate: -0.008365 deg/s,
      cmd heading: 176.047334 deg,
      new cmd heading: 176.037198 deg.

2025-08-11T14:45:51.820Z,1754923551.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007542
2025-08-11T14:45:52.072Z,1754923552.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259629
2025-08-11T14:45:52.182Z,1754923552.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:52.186Z,1754923552.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.80 m.
2025-08-11T14:45:52.190Z,1754923552.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.799988 m,
      nav range: 426.008362 m,
      bearing: 179.200599 deg,
      approach rate: -0.572831 m/s,
      LOS rate: -0.008322 deg/s,
      cmd heading: 176.037198 deg,
      new cmd heading: 176.027317 deg.

2025-08-11T14:45:52.324Z,1754923552.324 [DAT](INFO): DAT read: Rx Time:14:45:53.1421

2025-08-11T14:45:52.325Z,1754923552.325 [DAT](INFO): Rx dataTimestamp_ set to:1754923552.324339
2025-08-11T14:45:52.325Z,1754923552.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512652
2025-08-11T14:45:52.576Z,1754923552.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763664
2025-08-11T14:45:52.649Z,1754923552.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 427.80 m.
2025-08-11T14:45:52.655Z,1754923552.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 427.799988 m,
      nav range: 425.742340 m,
      bearing: 179.193970 deg,
      approach rate: -0.575304 m/s,
      LOS rate: -0.014345 deg/s,
      cmd heading: 176.027321 deg,
      new cmd heading: 176.007422 deg.

2025-08-11T14:45:52.837Z,1754923552.837 [DAT](INFO): DAT read: 14:45:53.1421 LVL= 26512, 32753, 29618, 32755, AGC= 76, IDX= 418,-0.16,-0.614,-2.288,-0.437,-1.087, PHS= 0.575,-1.157, 0.606, RAW= 150.9,  -0.3, CAL= 149.8,  -0.9, ROT=   0.2,   0.9

2025-08-11T14:45:52.838Z,1754923552.838 [DAT](INFO): got valid direction response:
 14:45:53.1421 LVL= 26512, 32753, 29618, 32755, AGC= 76, IDX= 418,-0.16,-0.614,-2.288,-0.437,-1.087, PHS= 0.575,-1.157, 0.606, RAW= 150.9,  -0.3, CAL= 149.8,  -0.9, ROT=   0.2,   0.9

2025-08-11T14:45:52.839Z,1754923552.839 [DAT](INFO): DAT read: Bearing 326.0,  -3.0 (Local)

2025-08-11T14:45:52.840Z,1754923552.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.0,  -3.0 (Local)

2025-08-11T14:45:52.841Z,1754923552.841 [DAT](INFO): DAT read: Range 11 to 50 : 425.7 m  (Round-trip  567.7 ms) speed  0.5 m/s

2025-08-11T14:45:52.842Z,1754923552.842 [DAT](INFO): DAT read: user:85>

2025-08-11T14:45:52.843Z,1754923552.843 [DAT](INFO): DAT read: Tx time:14:45:54.2703

2025-08-11T14:45:52.843Z,1754923552.843 [DAT](INFO): Ping request sent.
2025-08-11T14:45:52.843Z,1754923552.843 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:52.843Z,1754923552.843 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:52.844Z,1754923552.844 [DAT](INFO): direction in FSK: [0.999871,0.003490,-0.015707]
2025-08-11T14:45:52.845Z,1754923552.845 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:52.845Z,1754923552.845 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:52.848Z,1754923552.848 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:52.848Z,1754923552.848 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:53.057Z,1754923553.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 425.700012 m,
      deltaT: 4.031958 s,
      deltaX: -2.099976 m,
      approachRate: -0.520833 m/s,
      rangeRepo size: 4

2025-08-11T14:45:53.065Z,1754923553.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 425.700012 m,
      bearing: 178.949666 deg,
      lat: 36.905673 deg,
      lon: -122.116276 deg,
      deltaT: 4.031958 s,
      deltaX: -2.099976 m,
      approachRate: -0.520833 m/s,
      posRepo size: 4

2025-08-11T14:45:53.065Z,1754923553.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:53.072Z,1754923553.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 425.535370 m,
      bearing: 178.949666 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014345 deg/s,
      cmd heading: 176.007418 deg,
      new cmd heading: 175.990105 deg.

2025-08-11T14:45:53.404Z,1754923553.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:53.423Z,1754923553.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 425.307983 m,
      bearing: 178.943939 deg,
      approach rate: -0.643205 m/s,
      LOS rate: -0.016209 deg/s,
      cmd heading: 175.990110 deg,
      new cmd heading: 175.972920 deg.

2025-08-11T14:45:53.831Z,1754923553.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:53.833Z,1754923553.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 425.054413 m,
      bearing: 178.936514 deg,
      approach rate: -0.594897 m/s,
      LOS rate: -0.017429 deg/s,
      cmd heading: 175.972925 deg,
      new cmd heading: 175.950639 deg.

2025-08-11T14:45:54.216Z,1754923554.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:54.218Z,1754923554.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:54.221Z,1754923554.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 424.826355 m,
      bearing: 178.929877 deg,
      approach rate: -0.589140 m/s,
      LOS rate: -0.017154 deg/s,
      cmd heading: 175.950645 deg,
      new cmd heading: 175.930724 deg.

2025-08-11T14:45:54.340Z,1754923554.340 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:54.340Z,1754923554.340 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:54.340Z,1754923554.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:54.592Z,1754923554.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749016
2025-08-11T14:45:54.662Z,1754923554.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:54.669Z,1754923554.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 424.555511 m,
      bearing: 178.921590 deg,
      approach rate: -0.609303 m/s,
      LOS rate: -0.018655 deg/s,
      cmd heading: 175.930729 deg,
      new cmd heading: 175.905851 deg.

2025-08-11T14:45:54.845Z,1754923554.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001464
2025-08-11T14:45:55.047Z,1754923555.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:55.066Z,1754923555.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 424.328583 m,
      bearing: 178.914696 deg,
      approach rate: -0.590370 m/s,
      LOS rate: -0.017945 deg/s,
      cmd heading: 175.905853 deg,
      new cmd heading: 175.885160 deg.

2025-08-11T14:45:55.097Z,1754923555.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253517
2025-08-11T14:45:55.348Z,1754923555.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504995
2025-08-11T14:45:55.572Z,1754923555.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:55.574Z,1754923555.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 424.035187 m,
      bearing: 178.905836 deg,
      approach rate: -0.563579 m/s,
      LOS rate: -0.017031 deg/s,
      cmd heading: 175.885158 deg,
      new cmd heading: 175.858559 deg.

2025-08-11T14:45:55.600Z,1754923555.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757230
2025-08-11T14:45:55.853Z,1754923555.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009490
2025-08-11T14:45:55.992Z,1754923555.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:55.995Z,1754923555.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 423.736176 m,
      bearing: 178.897234 deg,
      approach rate: -0.703187 m/s,
      LOS rate: -0.020245 deg/s,
      cmd heading: 175.858561 deg,
      new cmd heading: 175.832735 deg.

2025-08-11T14:45:56.105Z,1754923556.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261554
2025-08-11T14:45:56.354Z,1754923556.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:56.356Z,1754923556.356 [DAT](INFO): DAT read: Rx Time:14:45:57.2390

2025-08-11T14:45:56.357Z,1754923556.357 [DAT](INFO): Rx dataTimestamp_ set to:1754923556.356449
2025-08-11T14:45:56.357Z,1754923556.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514242
2025-08-11T14:45:56.359Z,1754923556.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:56.362Z,1754923556.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 423.511292 m,
      bearing: 178.890763 deg,
      approach rate: -0.613636 m/s,
      LOS rate: -0.017665 deg/s,
      cmd heading: 175.832729 deg,
      new cmd heading: 175.813307 deg.

2025-08-11T14:45:56.609Z,1754923556.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765744
2025-08-11T14:45:56.782Z,1754923556.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.70 m.
2025-08-11T14:45:56.785Z,1754923556.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.700012 m,
      nav range: 423.247223 m,
      bearing: 178.883600 deg,
      approach rate: -0.624196 m/s,
      LOS rate: -0.016943 deg/s,
      cmd heading: 175.813304 deg,
      new cmd heading: 175.791801 deg.

2025-08-11T14:45:56.865Z,1754923556.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021623
2025-08-11T14:45:57.118Z,1754923557.118 [DAT](INFO): DAT read: 14:45:57.2390 LVL= 27440, 32097, 28722, 32755, AGC= 79, IDX= 283,-0.07,-0.629,-2.424,-0.351,-0.859, PHS= 0.331,-1.520, 0.464, RAW= 153.4,   7.6, CAL= 152.9,   8.0, ROT= 357.1,  -8.0

2025-08-11T14:45:57.119Z,1754923557.119 [DAT](INFO): got valid direction response:
 14:45:57.2390 LVL= 27440, 32097, 28722, 32755, AGC= 79, IDX= 283,-0.07,-0.629,-2.424,-0.351,-0.859, PHS= 0.331,-1.520, 0.464, RAW= 153.4,   7.6, CAL= 152.9,   8.0, ROT= 357.1,  -8.0

2025-08-11T14:45:57.120Z,1754923557.120 [DAT](INFO): DAT read: Bearing 333.8,  -6.4 (Local)

2025-08-11T14:45:57.120Z,1754923557.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.8,  -6.4 (Local)

2025-08-11T14:45:57.122Z,1754923557.122 [DAT](INFO): DAT read: Range 11 to 50 : 423.4 m  (Round-trip  564.6 ms) speed  0.8 m/s

2025-08-11T14:45:57.122Z,1754923557.122 [DAT](INFO): DAT read: user:86>

2025-08-11T14:45:57.123Z,1754923557.123 [DAT](INFO): DAT read: Tx time:14:45:58.3703

2025-08-11T14:45:57.124Z,1754923557.124 [DAT](INFO): Ping request sent.
2025-08-11T14:45:57.124Z,1754923557.124 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:45:57.124Z,1754923557.124 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:45:57.125Z,1754923557.125 [DAT](INFO): direction in FSK: [0.989000,-0.050101,0.139173]
2025-08-11T14:45:57.125Z,1754923557.125 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:57.125Z,1754923557.125 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:57.133Z,1754923557.133 [DAT](INFO): publishing transmit ping time
2025-08-11T14:45:57.133Z,1754923557.133 [DAT](INFO): publishing direction and range info
2025-08-11T14:45:57.365Z,1754923557.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 423.399994 m,
      deltaT: 4.284191 s,
      deltaX: -2.300018 m,
      approachRate: -0.536862 m/s,
      rangeRepo size: 4

2025-08-11T14:45:57.367Z,1754923557.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 423.399994 m,
      bearing: 178.651768 deg,
      lat: 36.905673 deg,
      lon: -122.116258 deg,
      deltaT: 4.284191 s,
      deltaX: -2.300018 m,
      approachRate: -0.536862 m/s,
      posRepo size: 4

2025-08-11T14:45:57.372Z,1754923557.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:45:57.374Z,1754923557.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 422.934570 m,
      bearing: 178.651768 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.016943 deg/s,
      cmd heading: 175.791803 deg,
      new cmd heading: 175.762481 deg.

2025-08-11T14:45:57.790Z,1754923557.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:45:57.793Z,1754923557.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 422.669922 m,
      bearing: 178.646163 deg,
      approach rate: -0.614267 m/s,
      LOS rate: -0.013018 deg/s,
      cmd heading: 175.762487 deg,
      new cmd heading: 175.745662 deg.

2025-08-11T14:45:58.159Z,1754923558.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:45:58.162Z,1754923558.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 422.441498 m,
      bearing: 178.641371 deg,
      approach rate: -0.618092 m/s,
      LOS rate: -0.012974 deg/s,
      cmd heading: 175.745658 deg,
      new cmd heading: 175.731274 deg.

2025-08-11T14:45:58.629Z,1754923558.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:45:58.635Z,1754923558.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:45:58.638Z,1754923558.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 422.183228 m,
      bearing: 178.635981 deg,
      approach rate: -0.547147 m/s,
      LOS rate: -0.011427 deg/s,
      cmd heading: 175.731273 deg,
      new cmd heading: 175.715092 deg.

2025-08-11T14:45:58.880Z,1754923558.880 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:45:58.880Z,1754923558.880 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:45:58.880Z,1754923558.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:45:59.016Z,1754923559.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:45:59.020Z,1754923559.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 421.925873 m,
      bearing: 178.631960 deg,
      approach rate: -0.670020 m/s,
      LOS rate: -0.010475 deg/s,
      cmd heading: 175.715086 deg,
      new cmd heading: 175.703015 deg.

2025-08-11T14:45:59.132Z,1754923559.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008501
2025-08-11T14:45:59.384Z,1754923559.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260564
2025-08-11T14:45:59.385Z,1754923559.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:45:59.404Z,1754923559.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 421.704346 m,
      bearing: 178.628503 deg,
      approach rate: -0.602017 m/s,
      LOS rate: -0.009398 deg/s,
      cmd heading: 175.703010 deg,
      new cmd heading: 175.692636 deg.

2025-08-11T14:45:59.638Z,1754923559.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514298
2025-08-11T14:45:59.840Z,1754923559.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:45:59.843Z,1754923559.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 421.438721 m,
      bearing: 178.625039 deg,
      approach rate: -0.581077 m/s,
      LOS rate: -0.007583 deg/s,
      cmd heading: 175.692642 deg,
      new cmd heading: 175.682242 deg.

2025-08-11T14:45:59.889Z,1754923559.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765077
2025-08-11T14:46:00.140Z,1754923560.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016719
2025-08-11T14:46:00.192Z,1754923560.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:46:00.195Z,1754923560.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 421.233337 m,
      bearing: 178.622382 deg,
      approach rate: -0.584257 m/s,
      LOS rate: -0.007561 deg/s,
      cmd heading: 175.682246 deg,
      new cmd heading: 175.674273 deg.

2025-08-11T14:46:00.396Z,1754923560.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271863
2025-08-11T14:46:00.647Z,1754923560.647 [DAT](INFO): DAT read: Rx Time:14:46:01.3241

2025-08-11T14:46:00.649Z,1754923560.649 [DAT](INFO): Rx dataTimestamp_ set to:1754923560.647715
2025-08-11T14:46:00.651Z,1754923560.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526438
2025-08-11T14:46:00.662Z,1754923560.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:00.669Z,1754923560.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:46:00.680Z,1754923560.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 420.985291 m,
      bearing: 178.619212 deg,
      approach rate: -0.520323 m/s,
      LOS rate: -0.006654 deg/s,
      cmd heading: 175.674269 deg,
      new cmd heading: 175.664753 deg.

2025-08-11T14:46:00.897Z,1754923560.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773120
2025-08-11T14:46:01.086Z,1754923561.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 423.40 m.
2025-08-11T14:46:01.089Z,1754923561.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 423.399994 m,
      nav range: 420.726044 m,
      bearing: 178.616373 deg,
      approach rate: -0.621419 m/s,
      LOS rate: -0.006809 deg/s,
      cmd heading: 175.664747 deg,
      new cmd heading: 175.656226 deg.

2025-08-11T14:46:01.157Z,1754923561.157 [DAT](INFO): DAT read: 14:46:01.3241 LVL= 17440, 22753, 19442, 23731, AGC= 71, IDX= 281, 0.19,-0.983,-2.585,-0.831,-1.448, PHS= 0.567,-1.092, 0.572, RAW= 150.2,  -0.6, CAL= 149.2,  -1.2, ROT=   0.8,   1.2

2025-08-11T14:46:01.159Z,1754923561.159 [DAT](INFO): got valid direction response:
 14:46:01.3241 LVL= 17440, 22753, 19442, 23731, AGC= 71, IDX= 281, 0.19,-0.983,-2.585,-0.831,-1.448, PHS= 0.567,-1.092, 0.572, RAW= 150.2,  -0.6, CAL= 149.2,  -1.2, ROT=   0.8,   1.2

2025-08-11T14:46:01.161Z,1754923561.161 [DAT](INFO): DAT read: Bearing 324.4,  -0.6 (Local)

2025-08-11T14:46:01.161Z,1754923561.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.4,  -0.6 (Local)

2025-08-11T14:46:01.163Z,1754923561.163 [DAT](INFO): DAT read: Range 11 to 50 : 412.2 m  (Round-trip  549.7 ms) speed  0.5 m/s

2025-08-11T14:46:01.164Z,1754923561.164 [DAT](INFO): DAT read: user:87>

2025-08-11T14:46:01.165Z,1754923561.165 [DAT](INFO): DAT read: Tx time:14:46:02.4203

2025-08-11T14:46:01.166Z,1754923561.166 [DAT](INFO): Ping request sent.
2025-08-11T14:46:01.166Z,1754923561.166 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:01.166Z,1754923561.166 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:01.173Z,1754923561.173 [DAT](INFO): direction in FSK: [0.999683,0.013959,-0.020942]
2025-08-11T14:46:01.173Z,1754923561.173 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:01.173Z,1754923561.173 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:01.176Z,1754923561.176 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:01.177Z,1754923561.177 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:01.442Z,1754923561.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 412.200012 m,
      deltaT: 4.036709 s,
      deltaX: -11.199982 m,
      approachRate: -2.774533 m/s,
      rangeRepo size: 4

2025-08-11T14:46:01.444Z,1754923561.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 412.200012 m,
      bearing: 178.168393 deg,
      lat: 36.905683 deg,
      lon: -122.116221 deg,
      deltaT: 4.036709 s,
      deltaX: -11.199982 m,
      approachRate: -2.774533 m/s,
      posRepo size: 4

2025-08-11T14:46:01.445Z,1754923561.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:01.454Z,1754923561.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 419.611389 m,
      bearing: 178.168393 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006809 deg/s,
      cmd heading: 175.656223 deg,
      new cmd heading: 175.648966 deg.

2025-08-11T14:46:01.915Z,1754923561.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:01.922Z,1754923561.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 419.364349 m,
      bearing: 178.165231 deg,
      approach rate: -0.521953 m/s,
      LOS rate: -0.006685 deg/s,
      cmd heading: 175.648970 deg,
      new cmd heading: 175.639478 deg.

2025-08-11T14:46:02.293Z,1754923562.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:02.296Z,1754923562.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 419.166016 m,
      bearing: 178.162696 deg,
      approach rate: -0.526196 m/s,
      LOS rate: -0.006730 deg/s,
      cmd heading: 175.639476 deg,
      new cmd heading: 175.631866 deg.

2025-08-11T14:46:02.761Z,1754923562.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:02.763Z,1754923562.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:02.770Z,1754923562.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 418.928864 m,
      bearing: 178.159506 deg,
      approach rate: -0.503043 m/s,
      LOS rate: -0.006770 deg/s,
      cmd heading: 175.631867 deg,
      new cmd heading: 175.622292 deg.

2025-08-11T14:46:02.912Z,1754923562.912 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:02.912Z,1754923562.912 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:02.913Z,1754923562.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:03.142Z,1754923563.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:03.149Z,1754923563.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 418.726776 m,
      bearing: 178.156778 deg,
      approach rate: -0.533422 m/s,
      LOS rate: -0.007205 deg/s,
      cmd heading: 175.622291 deg,
      new cmd heading: 175.614102 deg.

2025-08-11T14:46:03.164Z,1754923563.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998561
2025-08-11T14:46:03.416Z,1754923563.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250359
2025-08-11T14:46:03.562Z,1754923563.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:03.569Z,1754923563.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 418.501373 m,
      bearing: 178.153734 deg,
      approach rate: -0.536095 m/s,
      LOS rate: -0.007244 deg/s,
      cmd heading: 175.614108 deg,
      new cmd heading: 175.604972 deg.

2025-08-11T14:46:03.672Z,1754923563.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504931
2025-08-11T14:46:03.921Z,1754923563.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754713
2025-08-11T14:46:03.978Z,1754923563.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:03.981Z,1754923563.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 418.290649 m,
      bearing: 178.149863 deg,
      approach rate: -0.506740 m/s,
      LOS rate: -0.009313 deg/s,
      cmd heading: 175.604970 deg,
      new cmd heading: 175.593351 deg.

2025-08-11T14:46:04.172Z,1754923564.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006380
2025-08-11T14:46:04.347Z,1754923564.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:04.350Z,1754923564.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 418.103790 m,
      bearing: 178.146431 deg,
      approach rate: -0.506067 m/s,
      LOS rate: -0.009297 deg/s,
      cmd heading: 175.593345 deg,
      new cmd heading: 175.583046 deg.

2025-08-11T14:46:04.429Z,1754923564.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263122
2025-08-11T14:46:04.685Z,1754923564.685 [DAT](INFO): DAT read: Rx Time:14:46:05.3712

2025-08-11T14:46:04.686Z,1754923564.686 [DAT](INFO): Rx dataTimestamp_ set to:1754923564.685333
2025-08-11T14:46:04.689Z,1754923564.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522457
2025-08-11T14:46:04.790Z,1754923564.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:04.792Z,1754923564.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:04.795Z,1754923564.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 417.874176 m,
      bearing: 178.141466 deg,
      approach rate: -0.516028 m/s,
      LOS rate: -0.011165 deg/s,
      cmd heading: 175.583045 deg,
      new cmd heading: 175.568141 deg.

2025-08-11T14:46:04.933Z,1754923564.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766765
2025-08-11T14:46:05.141Z,1754923565.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 412.20 m.
2025-08-11T14:46:05.144Z,1754923565.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 412.200012 m,
      nav range: 417.693665 m,
      bearing: 178.137562 deg,
      approach rate: -0.517106 m/s,
      LOS rate: -0.011189 deg/s,
      cmd heading: 175.568141 deg,
      new cmd heading: 175.556424 deg.

2025-08-11T14:46:05.192Z,1754923565.192 [DAT](INFO): DAT read: 14:46:05.3712 LVL= 27824, 28897, 28226, 32755, AGC= 74, IDX= 412,-0.13,-0.296,-2.077,-0.123,-0.583, PHS= 0.389,-1.449, 0.416, RAW= 150.7,   7.0, CAL= 150.1,   7.5, ROT= 359.9,  -7.5

2025-08-11T14:46:05.194Z,1754923565.194 [DAT](INFO): got valid direction response:
 14:46:05.3712 LVL= 27824, 28897, 28226, 32755, AGC= 74, IDX= 412,-0.13,-0.296,-2.077,-0.123,-0.583, PHS= 0.389,-1.449, 0.416, RAW= 150.7,   7.0, CAL= 150.1,   7.5, ROT= 359.9,  -7.5

2025-08-11T14:46:05.195Z,1754923565.195 [DAT](INFO): DAT read: Bearing 332.5,  -1.3 (Local)

2025-08-11T14:46:05.196Z,1754923565.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.5,  -1.3 (Local)

2025-08-11T14:46:05.198Z,1754923565.198 [DAT](INFO): DAT read: Range 11 to 50 : 410.1 m  (Round-trip  546.8 ms) speed  0.4 m/s

2025-08-11T14:46:05.199Z,1754923565.199 [DAT](INFO): DAT read: user:88>

2025-08-11T14:46:05.200Z,1754923565.200 [DAT](INFO): DAT read: Tx time:14:46:06.4703

2025-08-11T14:46:05.200Z,1754923565.200 [DAT](INFO): Ping request sent.
2025-08-11T14:46:05.200Z,1754923565.200 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:05.201Z,1754923565.201 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:05.202Z,1754923565.202 [DAT](INFO): direction in FSK: [0.991443,-0.001731,0.130526]
2025-08-11T14:46:05.203Z,1754923565.203 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:05.203Z,1754923565.203 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:05.206Z,1754923565.206 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:05.206Z,1754923565.206 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:05.562Z,1754923565.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 410.100006 m,
      deltaT: 4.035275 s,
      deltaX: -2.100006 m,
      approachRate: -0.520412 m/s,
      rangeRepo size: 4

2025-08-11T14:46:05.564Z,1754923565.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 410.100006 m,
      bearing: 177.905107 deg,
      lat: 36.905697 deg,
      lon: -122.116203 deg,
      deltaT: 4.035275 s,
      deltaX: -2.100006 m,
      approachRate: -0.520412 m/s,
      posRepo size: 4

2025-08-11T14:46:05.565Z,1754923565.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:05.569Z,1754923565.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 415.939178 m,
      bearing: 177.905107 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011189 deg/s,
      cmd heading: 175.556421 deg,
      new cmd heading: 175.542317 deg.

2025-08-11T14:46:06.019Z,1754923566.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:06.030Z,1754923566.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 415.711761 m,
      bearing: 177.899857 deg,
      approach rate: -0.501887 m/s,
      LOS rate: -0.011592 deg/s,
      cmd heading: 175.542323 deg,
      new cmd heading: 175.526566 deg.

2025-08-11T14:46:06.365Z,1754923566.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:06.368Z,1754923566.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 415.506561 m,
      bearing: 177.895125 deg,
      approach rate: -0.584721 m/s,
      LOS rate: -0.013492 deg/s,
      cmd heading: 175.526559 deg,
      new cmd heading: 175.512354 deg.

2025-08-11T14:46:06.836Z,1754923566.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:06.841Z,1754923566.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:06.844Z,1754923566.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 415.257812 m,
      bearing: 177.889973 deg,
      approach rate: -0.522889 m/s,
      LOS rate: -0.010835 deg/s,
      cmd heading: 175.512352 deg,
      new cmd heading: 175.496889 deg.

2025-08-11T14:46:06.949Z,1754923566.949 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:06.949Z,1754923566.949 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:06.949Z,1754923566.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:07.171Z,1754923567.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:07.174Z,1754923567.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 415.059784 m,
      bearing: 177.885913 deg,
      approach rate: -0.600125 m/s,
      LOS rate: -0.012311 deg/s,
      cmd heading: 175.496889 deg,
      new cmd heading: 175.484702 deg.

2025-08-11T14:46:07.205Z,1754923567.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004514
2025-08-11T14:46:07.456Z,1754923567.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255930
2025-08-11T14:46:07.579Z,1754923567.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:07.582Z,1754923567.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 414.833740 m,
      bearing: 177.881268 deg,
      approach rate: -0.554654 m/s,
      LOS rate: -0.011404 deg/s,
      cmd heading: 175.484704 deg,
      new cmd heading: 175.470760 deg.

2025-08-11T14:46:07.712Z,1754923567.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510615
2025-08-11T14:46:07.960Z,1754923567.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759934
2025-08-11T14:46:08.047Z,1754923568.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:08.050Z,1754923568.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 414.587738 m,
      bearing: 177.875806 deg,
      approach rate: -0.529925 m/s,
      LOS rate: -0.011772 deg/s,
      cmd heading: 175.470756 deg,
      new cmd heading: 175.454362 deg.

2025-08-11T14:46:08.212Z,1754923568.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011756
2025-08-11T14:46:08.405Z,1754923568.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:08.408Z,1754923568.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 414.357758 m,
      bearing: 177.870718 deg,
      approach rate: -0.634716 m/s,
      LOS rate: -0.014052 deg/s,
      cmd heading: 175.454364 deg,
      new cmd heading: 175.439089 deg.

2025-08-11T14:46:08.464Z,1754923568.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263942
2025-08-11T14:46:08.719Z,1754923568.719 [DAT](INFO): DAT read: Rx Time:14:46:09.4184

2025-08-11T14:46:08.721Z,1754923568.721 [DAT](INFO): Rx dataTimestamp_ set to:1754923568.719830
2025-08-11T14:46:08.723Z,1754923568.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521855
2025-08-11T14:46:08.873Z,1754923568.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:08.876Z,1754923568.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:08.878Z,1754923568.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 414.072235 m,
      bearing: 177.864819 deg,
      approach rate: -0.607210 m/s,
      LOS rate: -0.012552 deg/s,
      cmd heading: 175.439092 deg,
      new cmd heading: 175.421385 deg.

2025-08-11T14:46:08.969Z,1754923568.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768307
2025-08-11T14:46:09.226Z,1754923569.226 [DAT](INFO): DAT read: 14:46:09.4184 LVL= 26512, 32753, 32754, 32755, AGC= 72, IDX= 415,-0.44,-1.872, 2.816,-1.773,-2.435, PHS= 0.666,-0.987, 0.619, RAW= 148.6,  -3.7, CAL= 148.2,  -4.6, ROT=   1.8,   4.6

2025-08-11T14:46:09.228Z,1754923569.228 [DAT](INFO): got valid direction response:
 14:46:09.4184 LVL= 26512, 32753, 32754, 32755, AGC= 72, IDX= 415,-0.44,-1.872, 2.816,-1.773,-2.435, PHS= 0.666,-0.987, 0.619, RAW= 148.6,  -3.7, CAL= 148.2,  -4.6, ROT=   1.8,   4.6

2025-08-11T14:46:09.231Z,1754923569.231 [DAT](INFO): DAT read: Bearing 320.5,   3.0 (Local)

2025-08-11T14:46:09.233Z,1754923569.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.5,   3.0 (Local)

2025-08-11T14:46:09.235Z,1754923569.235 [DAT](INFO): DAT read: Range 11 to 50 : 408.0 m  (Round-trip  544.0 ms) speed  0.4 m/s

2025-08-11T14:46:09.236Z,1754923569.236 [DAT](INFO): DAT read: user:89>

2025-08-11T14:46:09.236Z,1754923569.236 [DAT](INFO): DAT read: Tx time:14:46:10.5203

2025-08-11T14:46:09.237Z,1754923569.237 [DAT](INFO): Ping request sent.
2025-08-11T14:46:09.237Z,1754923569.237 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:09.237Z,1754923569.237 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:09.238Z,1754923569.238 [DAT](INFO): direction in FSK: [0.996287,0.031310,-0.080199]
2025-08-11T14:46:09.238Z,1754923569.238 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:09.238Z,1754923569.238 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:09.257Z,1754923569.257 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:09.257Z,1754923569.257 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:09.373Z,1754923569.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 408.000000 m,
      deltaT: 4.035880 s,
      deltaX: -2.100006 m,
      approachRate: -0.520334 m/s,
      rangeRepo size: 4

2025-08-11T14:46:09.380Z,1754923569.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 408.000000 m,
      bearing: 177.825242 deg,
      lat: 36.905754 deg,
      lon: -122.116203 deg,
      deltaT: 4.035880 s,
      deltaX: -2.100006 m,
      approachRate: -0.520334 m/s,
      posRepo size: 4

2025-08-11T14:46:09.381Z,1754923569.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:09.392Z,1754923569.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 407.391571 m,
      bearing: 177.825242 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012552 deg/s,
      cmd heading: 175.421388 deg,
      new cmd heading: 175.402668 deg.

2025-08-11T14:46:09.668Z,1754923569.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:09.671Z,1754923569.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 407.199463 m,
      bearing: 177.821204 deg,
      approach rate: -0.649420 m/s,
      LOS rate: -0.013657 deg/s,
      cmd heading: 175.402673 deg,
      new cmd heading: 175.390554 deg.

2025-08-11T14:46:10.106Z,1754923570.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:10.110Z,1754923570.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 406.924438 m,
      bearing: 177.815770 deg,
      approach rate: -0.628240 m/s,
      LOS rate: -0.012422 deg/s,
      cmd heading: 175.390556 deg,
      new cmd heading: 175.374242 deg.

2025-08-11T14:46:10.464Z,1754923570.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:10.487Z,1754923570.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 406.685089 m,
      bearing: 177.811041 deg,
      approach rate: -0.668275 m/s,
      LOS rate: -0.013212 deg/s,
      cmd heading: 175.374246 deg,
      new cmd heading: 175.360049 deg.

2025-08-11T14:46:10.894Z,1754923570.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:10.896Z,1754923570.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:10.899Z,1754923570.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 406.407684 m,
      bearing: 177.804936 deg,
      approach rate: -0.642382 m/s,
      LOS rate: -0.014146 deg/s,
      cmd heading: 175.360053 deg,
      new cmd heading: 175.341726 deg.

2025-08-11T14:46:10.984Z,1754923570.984 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:10.984Z,1754923570.984 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:10.985Z,1754923570.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:11.236Z,1754923571.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999760
2025-08-11T14:46:11.269Z,1754923571.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:11.272Z,1754923571.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 406.166992 m,
      bearing: 177.799647 deg,
      approach rate: -0.645189 m/s,
      LOS rate: -0.014184 deg/s,
      cmd heading: 175.341720 deg,
      new cmd heading: 175.325846 deg.

2025-08-11T14:46:11.488Z,1754923571.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251559
2025-08-11T14:46:11.681Z,1754923571.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:11.684Z,1754923571.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 405.908203 m,
      bearing: 177.793978 deg,
      approach rate: -0.627739 m/s,
      LOS rate: -0.013762 deg/s,
      cmd heading: 175.325847 deg,
      new cmd heading: 175.308827 deg.

2025-08-11T14:46:11.744Z,1754923571.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506738
2025-08-11T14:46:11.994Z,1754923571.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756691
2025-08-11T14:46:12.114Z,1754923572.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:12.117Z,1754923572.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 405.626312 m,
      bearing: 177.786452 deg,
      approach rate: -0.651564 m/s,
      LOS rate: -0.017407 deg/s,
      cmd heading: 175.308826 deg,
      new cmd heading: 175.286233 deg.

2025-08-11T14:46:12.244Z,1754923572.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007567
2025-08-11T14:46:12.482Z,1754923572.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:12.485Z,1754923572.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 405.392151 m,
      bearing: 177.780176 deg,
      approach rate: -0.636620 m/s,
      LOS rate: -0.017071 deg/s,
      cmd heading: 175.286232 deg,
      new cmd heading: 175.267395 deg.

2025-08-11T14:46:12.498Z,1754923572.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260549
2025-08-11T14:46:12.748Z,1754923572.748 [DAT](INFO): DAT read: Rx Time:14:46:13.4652

2025-08-11T14:46:12.749Z,1754923572.749 [DAT](INFO): Rx dataTimestamp_ set to:1754923572.748326
2025-08-11T14:46:12.749Z,1754923572.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512489
2025-08-11T14:46:12.922Z,1754923572.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:12.930Z,1754923572.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 408.00 m.
2025-08-11T14:46:12.935Z,1754923572.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 408.000000 m,
      nav range: 405.128174 m,
      bearing: 177.772768 deg,
      approach rate: -0.589787 m/s,
      LOS rate: -0.016562 deg/s,
      cmd heading: 175.267394 deg,
      new cmd heading: 175.245155 deg.

2025-08-11T14:46:13.002Z,1754923573.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765474
2025-08-11T14:46:13.258Z,1754923573.258 [DAT](INFO): DAT read: 14:46:13.4652 LVL= 27088, 31585, 29602, 32755, AGC= 76, IDX= 414,-0.19,-1.602, 2.985,-1.455,-1.834, PHS= 0.334,-1.419, 0.335, RAW= 150.0,   8.6, CAL= 149.6,   9.3, ROT=   0.4,  -9.3

2025-08-11T14:46:13.259Z,1754923573.259 [DAT](INFO): got valid direction response:
 14:46:13.4652 LVL= 27088, 31585, 29602, 32755, AGC= 76, IDX= 414,-0.19,-1.602, 2.985,-1.455,-1.834, PHS= 0.334,-1.419, 0.335, RAW= 150.0,   8.6, CAL= 149.6,   9.3, ROT=   0.4,  -9.3

2025-08-11T14:46:13.260Z,1754923573.260 [DAT](INFO): DAT read: Bearing 333.7,   0.3 (Local)

2025-08-11T14:46:13.260Z,1754923573.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.7,   0.3 (Local)

2025-08-11T14:46:13.262Z,1754923573.262 [DAT](INFO): DAT read: Range 11 to 50 : 405.6 m  (Round-trip  540.8 ms) speed  0.5 m/s

2025-08-11T14:46:13.262Z,1754923573.262 [DAT](INFO): DAT read: user:90>

2025-08-11T14:46:13.263Z,1754923573.263 [DAT](INFO): DAT read: Tx time:14:46:14.5703

2025-08-11T14:46:13.263Z,1754923573.263 [DAT](INFO): Ping request sent.
2025-08-11T14:46:13.263Z,1754923573.263 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:13.264Z,1754923573.264 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:13.265Z,1754923573.265 [DAT](INFO): direction in FSK: [0.986832,0.006889,0.161604]
2025-08-11T14:46:13.265Z,1754923573.265 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:13.265Z,1754923573.265 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:13.273Z,1754923573.273 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:13.273Z,1754923573.273 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:13.377Z,1754923573.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 405.600006 m,
      deltaT: 4.031876 s,
      deltaX: -2.399994 m,
      approachRate: -0.595255 m/s,
      rangeRepo size: 4

2025-08-11T14:46:13.388Z,1754923573.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 405.600006 m,
      bearing: 177.761327 deg,
      lat: 36.905761 deg,
      lon: -122.116203 deg,
      deltaT: 4.031876 s,
      deltaX: -2.399994 m,
      approachRate: -0.595255 m/s,
      posRepo size: 4

2025-08-11T14:46:13.388Z,1754923573.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:13.395Z,1754923573.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 404.160583 m,
      bearing: 177.761327 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016562 deg/s,
      cmd heading: 175.245155 deg,
      new cmd heading: 175.222933 deg.

2025-08-11T14:46:13.755Z,1754923573.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:13.762Z,1754923573.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 403.933960 m,
      bearing: 177.754959 deg,
      approach rate: -0.601111 m/s,
      LOS rate: -0.016900 deg/s,
      cmd heading: 175.222930 deg,
      new cmd heading: 175.203816 deg.

2025-08-11T14:46:14.164Z,1754923574.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:14.167Z,1754923574.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 403.675262 m,
      bearing: 177.747836 deg,
      approach rate: -0.630014 m/s,
      LOS rate: -0.017357 deg/s,
      cmd heading: 175.203819 deg,
      new cmd heading: 175.182438 deg.

2025-08-11T14:46:14.546Z,1754923574.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:14.549Z,1754923574.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 403.445679 m,
      bearing: 177.741543 deg,
      approach rate: -0.600907 m/s,
      LOS rate: -0.016482 deg/s,
      cmd heading: 175.182440 deg,
      new cmd heading: 175.163549 deg.

2025-08-11T14:46:15.017Z,1754923575.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:15.024Z,1754923575.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:15.026Z,1754923575.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 403.195160 m,
      bearing: 177.733632 deg,
      approach rate: -0.530137 m/s,
      LOS rate: -0.016751 deg/s,
      cmd heading: 175.163548 deg,
      new cmd heading: 175.139801 deg.

2025-08-11T14:46:15.272Z,1754923575.272 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:15.272Z,1754923575.272 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:15.272Z,1754923575.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:15.350Z,1754923575.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:15.353Z,1754923575.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 402.991364 m,
      bearing: 177.727242 deg,
      approach rate: -0.614878 m/s,
      LOS rate: -0.019289 deg/s,
      cmd heading: 175.139806 deg,
      new cmd heading: 175.120627 deg.

2025-08-11T14:46:15.521Z,1754923575.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257202
2025-08-11T14:46:15.772Z,1754923575.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508788
2025-08-11T14:46:15.780Z,1754923575.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:15.783Z,1754923575.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 402.749512 m,
      bearing: 177.719652 deg,
      approach rate: -0.562860 m/s,
      LOS rate: -0.017675 deg/s,
      cmd heading: 175.120627 deg,
      new cmd heading: 175.097843 deg.

2025-08-11T14:46:16.024Z,1754923576.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760611
2025-08-11T14:46:16.176Z,1754923576.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:16.179Z,1754923576.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 402.530212 m,
      bearing: 177.714002 deg,
      approach rate: -0.553919 m/s,
      LOS rate: -0.014278 deg/s,
      cmd heading: 175.097842 deg,
      new cmd heading: 175.080883 deg.

2025-08-11T14:46:16.276Z,1754923576.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012751
2025-08-11T14:46:16.528Z,1754923576.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264604
2025-08-11T14:46:16.636Z,1754923576.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:16.639Z,1754923576.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 402.276489 m,
      bearing: 177.707508 deg,
      approach rate: -0.551116 m/s,
      LOS rate: -0.014115 deg/s,
      cmd heading: 175.080889 deg,
      new cmd heading: 175.061394 deg.

2025-08-11T14:46:16.780Z,1754923576.780 [DAT](INFO): DAT read: Rx Time:14:46:17.5000

2025-08-11T14:46:16.781Z,1754923576.781 [DAT](INFO): Rx dataTimestamp_ set to:1754923576.780543
2025-08-11T14:46:16.781Z,1754923576.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517916
2025-08-11T14:46:17.032Z,1754923577.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768785
2025-08-11T14:46:17.034Z,1754923577.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:17.040Z,1754923577.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.60 m.
2025-08-11T14:46:17.043Z,1754923577.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.600006 m,
      nav range: 402.078766 m,
      bearing: 177.703078 deg,
      approach rate: -0.489767 m/s,
      LOS rate: -0.010978 deg/s,
      cmd heading: 175.061396 deg,
      new cmd heading: 175.048100 deg.

2025-08-11T14:46:17.293Z,1754923577.293 [DAT](INFO): DAT read: 14:46:17.5000 LVL= 25712, 32753, 29666, 32755, AGC= 73, IDX= 290,-0.21, 0.387,-1.336, 0.510, 0.121, PHS= 0.368,-1.412, 0.345, RAW= 149.4,   8.0, CAL= 148.9,   8.6, ROT=   1.1,  -8.6

2025-08-11T14:46:17.294Z,1754923577.294 [DAT](INFO): got valid direction response:
 14:46:17.5000 LVL= 25712, 32753, 29666, 32755, AGC= 73, IDX= 290,-0.21, 0.387,-1.336, 0.510, 0.121, PHS= 0.368,-1.412, 0.345, RAW= 149.4,   8.0, CAL= 148.9,   8.6, ROT=   1.1,  -8.6

2025-08-11T14:46:17.295Z,1754923577.295 [DAT](INFO): DAT read: Bearing 332.6,   1.1 (Local)

2025-08-11T14:46:17.295Z,1754923577.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.6,   1.1 (Local)

2025-08-11T14:46:17.297Z,1754923577.297 [DAT](INFO): DAT read: Range 11 to 50 : 394.1 m  (Round-trip  525.5 ms) speed  0.4 m/s

2025-08-11T14:46:17.297Z,1754923577.297 [DAT](INFO): DAT read: user:91>

2025-08-11T14:46:17.298Z,1754923577.298 [DAT](INFO): DAT read: Tx time:14:46:18.6203

2025-08-11T14:46:17.298Z,1754923577.298 [DAT](INFO): Ping request sent.
2025-08-11T14:46:17.298Z,1754923577.298 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:17.299Z,1754923577.299 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:17.324Z,1754923577.324 [DAT](INFO): direction in FSK: [0.988574,0.018982,0.149535]
2025-08-11T14:46:17.325Z,1754923577.325 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:17.325Z,1754923577.325 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:17.352Z,1754923577.352 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:17.353Z,1754923577.353 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:17.468Z,1754923577.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 394.100006 m,
      deltaT: 4.032426 s,
      deltaX: -11.500000 m,
      approachRate: -2.851881 m/s,
      rangeRepo size: 4

2025-08-11T14:46:17.470Z,1754923577.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 394.100006 m,
      bearing: 177.792747 deg,
      lat: 36.905778 deg,
      lon: -122.116212 deg,
      deltaT: 4.032426 s,
      deltaX: -11.500000 m,
      approachRate: -2.851881 m/s,
      posRepo size: 4

2025-08-11T14:46:17.471Z,1754923577.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:17.478Z,1754923577.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 399.884033 m,
      bearing: 177.792747 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010978 deg/s,
      cmd heading: 175.048104 deg,
      new cmd heading: 175.034179 deg.

2025-08-11T14:46:17.906Z,1754923577.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:17.914Z,1754923577.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 399.665314 m,
      bearing: 177.787884 deg,
      approach rate: -0.493676 m/s,
      LOS rate: -0.010983 deg/s,
      cmd heading: 175.034184 deg,
      new cmd heading: 175.019586 deg.

2025-08-11T14:46:18.283Z,1754923578.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:18.286Z,1754923578.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 399.454529 m,
      bearing: 177.783847 deg,
      approach rate: -0.559123 m/s,
      LOS rate: -0.010715 deg/s,
      cmd heading: 175.019581 deg,
      new cmd heading: 175.007463 deg.

2025-08-11T14:46:18.663Z,1754923578.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:18.666Z,1754923578.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 399.265198 m,
      bearing: 177.780202 deg,
      approach rate: -0.497772 m/s,
      LOS rate: -0.009587 deg/s,
      cmd heading: 175.007465 deg,
      new cmd heading: 174.996525 deg.

2025-08-11T14:46:19.112Z,1754923579.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:19.114Z,1754923579.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:19.117Z,1754923579.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 399.048248 m,
      bearing: 177.777510 deg,
      approach rate: -0.481133 m/s,
      LOS rate: -0.005972 deg/s,
      cmd heading: 174.996523 deg,
      new cmd heading: 174.988443 deg.

2025-08-11T14:46:19.300Z,1754923579.300 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:19.300Z,1754923579.300 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:19.300Z,1754923579.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:19.477Z,1754923579.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:19.483Z,1754923579.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 398.874634 m,
      bearing: 177.775297 deg,
      approach rate: -0.480735 m/s,
      LOS rate: -0.006133 deg/s,
      cmd heading: 174.988449 deg,
      new cmd heading: 174.981805 deg.

2025-08-11T14:46:19.553Z,1754923579.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254720
2025-08-11T14:46:19.804Z,1754923579.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505580
2025-08-11T14:46:19.950Z,1754923579.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:19.953Z,1754923579.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 398.651093 m,
      bearing: 177.772403 deg,
      approach rate: -0.471114 m/s,
      LOS rate: -0.006101 deg/s,
      cmd heading: 174.981810 deg,
      new cmd heading: 174.973125 deg.

2025-08-11T14:46:20.056Z,1754923580.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757716
2025-08-11T14:46:20.308Z,1754923580.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009826
2025-08-11T14:46:20.317Z,1754923580.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:20.324Z,1754923580.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 398.476868 m,
      bearing: 177.771164 deg,
      approach rate: -0.474666 m/s,
      LOS rate: -0.003377 deg/s,
      cmd heading: 174.973122 deg,
      new cmd heading: 174.969403 deg.

2025-08-11T14:46:20.560Z,1754923580.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261873
2025-08-11T14:46:20.693Z,1754923580.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:20.696Z,1754923580.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 398.290527 m,
      bearing: 177.769819 deg,
      approach rate: -0.495735 m/s,
      LOS rate: -0.003580 deg/s,
      cmd heading: 174.969407 deg,
      new cmd heading: 174.965370 deg.

2025-08-11T14:46:20.812Z,1754923580.812 [DAT](INFO): DAT read: Rx Time:14:46:21.5712

2025-08-11T14:46:20.813Z,1754923580.813 [DAT](INFO): Rx dataTimestamp_ set to:1754923580.812402
2025-08-11T14:46:20.813Z,1754923580.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514724
2025-08-11T14:46:21.064Z,1754923581.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765577
2025-08-11T14:46:21.134Z,1754923581.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:21.140Z,1754923581.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 394.10 m.
2025-08-11T14:46:21.147Z,1754923581.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 394.100006 m,
      nav range: 398.071228 m,
      bearing: 177.767791 deg,
      approach rate: -0.489934 m/s,
      LOS rate: -0.004534 deg/s,
      cmd heading: 174.965377 deg,
      new cmd heading: 174.959288 deg.

2025-08-11T14:46:21.322Z,1754923581.322 [DAT](INFO): DAT read: 14:46:21.5712 LVL= 22192, 22673, 24002, 30931, AGC= 75, IDX=  18,-0.42, 2.478, 0.785, 2.628, 2.196, PHS= 0.384,-1.365, 0.389, RAW= 150.1,   6.8, CAL= 149.5,   7.2, ROT=   0.5,  -7.2

2025-08-11T14:46:21.323Z,1754923581.323 [DAT](INFO): got valid direction response:
 14:46:21.5712 LVL= 22192, 22673, 24002, 30931, AGC= 75, IDX=  18,-0.42, 2.478, 0.785, 2.628, 2.196, PHS= 0.384,-1.365, 0.389, RAW= 150.1,   6.8, CAL= 149.5,   7.2, ROT=   0.5,  -7.2

2025-08-11T14:46:21.324Z,1754923581.324 [DAT](INFO): DAT read: Bearing 331.2,   1.1 (Local)

2025-08-11T14:46:21.324Z,1754923581.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.2,   1.1 (Local)

2025-08-11T14:46:21.326Z,1754923581.326 [DAT](INFO): DAT read: Range 11 to 50 : 410.1 m  (Round-trip  546.8 ms) speed  0.4 m/s

2025-08-11T14:46:21.326Z,1754923581.326 [DAT](INFO): DAT read: user:92>

2025-08-11T14:46:21.327Z,1754923581.327 [DAT](INFO): DAT read: Tx time:14:46:22.6703

2025-08-11T14:46:21.327Z,1754923581.327 [DAT](INFO): Ping request sent.
2025-08-11T14:46:21.327Z,1754923581.327 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:21.328Z,1754923581.328 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:21.329Z,1754923581.329 [DAT](INFO): direction in FSK: [0.992077,0.008658,0.125333]
2025-08-11T14:46:21.329Z,1754923581.329 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:21.329Z,1754923581.329 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:21.332Z,1754923581.332 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:21.333Z,1754923581.333 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:21.561Z,1754923581.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 410.100006 m,
      deltaT: 4.031560 s,
      deltaX: 16.000000 m,
      approachRate: 3.968687 m/s,
      rangeRepo size: 4

2025-08-11T14:46:21.566Z,1754923581.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 410.100006 m,
      bearing: 177.765873 deg,
      lat: 36.905778 deg,
      lon: -122.116212 deg,
      deltaT: 4.031560 s,
      deltaX: 16.000000 m,
      approachRate: 3.968687 m/s,
      posRepo size: 4

2025-08-11T14:46:21.575Z,1754923581.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:21.578Z,1754923581.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 397.865540 m,
      bearing: 177.765873 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004534 deg/s,
      cmd heading: 174.959284 deg,
      new cmd heading: 174.953566 deg.

2025-08-11T14:46:22.027Z,1754923582.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:22.030Z,1754923582.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 397.621735 m,
      bearing: 177.763750 deg,
      approach rate: -0.541677 m/s,
      LOS rate: -0.004718 deg/s,
      cmd heading: 174.953561 deg,
      new cmd heading: 174.947190 deg.

2025-08-11T14:46:22.386Z,1754923582.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:22.389Z,1754923582.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 397.424103 m,
      bearing: 177.762057 deg,
      approach rate: -0.526862 m/s,
      LOS rate: -0.004516 deg/s,
      cmd heading: 174.947195 deg,
      new cmd heading: 174.942113 deg.

2025-08-11T14:46:22.800Z,1754923582.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:22.807Z,1754923582.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 397.208221 m,
      bearing: 177.760241 deg,
      approach rate: -0.520874 m/s,
      LOS rate: -0.004383 deg/s,
      cmd heading: 174.942113 deg,
      new cmd heading: 174.936664 deg.

2025-08-11T14:46:23.214Z,1754923583.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:23.216Z,1754923583.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:23.219Z,1754923583.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 396.980225 m,
      bearing: 177.757284 deg,
      approach rate: -0.548014 m/s,
      LOS rate: -0.007112 deg/s,
      cmd heading: 174.936663 deg,
      new cmd heading: 174.927786 deg.

2025-08-11T14:46:23.332Z,1754923583.332 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:23.332Z,1754923583.332 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:23.333Z,1754923583.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:23.584Z,1754923583.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256778
2025-08-11T14:46:23.607Z,1754923583.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:23.610Z,1754923583.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 396.766876 m,
      bearing: 177.754575 deg,
      approach rate: -0.545947 m/s,
      LOS rate: -0.006935 deg/s,
      cmd heading: 174.927784 deg,
      new cmd heading: 174.919653 deg.

2025-08-11T14:46:23.837Z,1754923583.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509099
2025-08-11T14:46:24.074Z,1754923584.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:24.076Z,1754923584.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 396.499237 m,
      bearing: 177.749457 deg,
      approach rate: -0.574004 m/s,
      LOS rate: -0.010985 deg/s,
      cmd heading: 174.919656 deg,
      new cmd heading: 174.904290 deg.

2025-08-11T14:46:24.088Z,1754923584.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760742
2025-08-11T14:46:24.340Z,1754923584.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012759
2025-08-11T14:46:24.412Z,1754923584.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:24.414Z,1754923584.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 396.305328 m,
      bearing: 177.745847 deg,
      approach rate: -0.574517 m/s,
      LOS rate: -0.010702 deg/s,
      cmd heading: 174.904288 deg,
      new cmd heading: 174.893451 deg.

2025-08-11T14:46:24.592Z,1754923584.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264873
2025-08-11T14:46:24.820Z,1754923584.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:24.822Z,1754923584.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 396.077728 m,
      bearing: 177.741661 deg,
      approach rate: -0.574543 m/s,
      LOS rate: -0.010572 deg/s,
      cmd heading: 174.893455 deg,
      new cmd heading: 174.880891 deg.

2025-08-11T14:46:24.848Z,1754923584.848 [DAT](INFO): DAT read: Rx Time:14:46:25.5943

2025-08-11T14:46:24.850Z,1754923584.850 [DAT](INFO): Rx dataTimestamp_ set to:1754923584.848879
2025-08-11T14:46:24.850Z,1754923584.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522794
2025-08-11T14:46:25.100Z,1754923585.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772209
2025-08-11T14:46:25.285Z,1754923585.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:25.292Z,1754923585.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:25.294Z,1754923585.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 395.789581 m,
      bearing: 177.734227 deg,
      approach rate: -0.596610 m/s,
      LOS rate: -0.015405 deg/s,
      cmd heading: 174.880888 deg,
      new cmd heading: 174.858567 deg.

2025-08-11T14:46:25.358Z,1754923585.358 [DAT](INFO): DAT read: 14:46:25.5943 LVL= 31040, 32753, 32754, 32755, AGC= 77, IDX= 168, 0.25, 0.475,-1.302, 0.592, 0.166, PHS= 0.410,-1.423, 0.381, RAW= 149.2,   7.0, CAL= 148.6,   7.5, ROT=   1.4,  -7.5

2025-08-11T14:46:25.359Z,1754923585.359 [DAT](INFO): got valid direction response:
 14:46:25.5943 LVL= 31040, 32753, 32754, 32755, AGC= 77, IDX= 168, 0.25, 0.475,-1.302, 0.592, 0.166, PHS= 0.410,-1.423, 0.381, RAW= 149.2,   7.0, CAL= 148.6,   7.5, ROT=   1.4,  -7.5

2025-08-11T14:46:25.361Z,1754923585.361 [DAT](INFO): DAT read: Bearing 330.6,   2.5 (Local)

2025-08-11T14:46:25.361Z,1754923585.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.6,   2.5 (Local)

2025-08-11T14:46:25.376Z,1754923585.376 [DAT](INFO): DAT read: Range 11 to 50 : 389.9 m  (Round-trip  519.9 ms) speed  0.0 m/s

2025-08-11T14:46:25.377Z,1754923585.377 [DAT](INFO): DAT read: user:93>

2025-08-11T14:46:25.377Z,1754923585.377 [DAT](INFO): DAT read: Tx time:14:46:26.7203

2025-08-11T14:46:25.378Z,1754923585.378 [DAT](INFO): Ping request sent.
2025-08-11T14:46:25.378Z,1754923585.378 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:25.378Z,1754923585.378 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:25.382Z,1754923585.382 [DAT](INFO): direction in FSK: [0.991149,0.024223,0.130526]
2025-08-11T14:46:25.383Z,1754923585.383 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:25.387Z,1754923585.387 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:25.390Z,1754923585.390 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:25.391Z,1754923585.391 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:25.632Z,1754923585.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 389.899994 m,
 deltaT: 4.032624 s,
 deltaX: -20.200012 m,
 approachRate: -5.009149 m/s,
 rangeRepo size: 4
2025-08-11T14:46:25.633Z,1754923585.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:25.652Z,1754923585.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 395.585114 m,
      bearing: 177.728982 deg,
      approach rate: -0.599827 m/s,
      LOS rate: -0.015394 deg/s,
      cmd heading: 174.858566 deg,
      new cmd heading: 174.842824 deg.

2025-08-11T14:46:26.072Z,1754923586.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:26.076Z,1754923586.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 395.308197 m,
      bearing: 177.720510 deg,
      approach rate: -0.627367 m/s,
      LOS rate: -0.019207 deg/s,
      cmd heading: 174.842830 deg,
      new cmd heading: 174.817397 deg.

2025-08-11T14:46:26.440Z,1754923586.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:26.443Z,1754923586.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 395.079803 m,
      bearing: 177.713553 deg,
      approach rate: -0.620662 m/s,
      LOS rate: -0.018917 deg/s,
      cmd heading: 174.817394 deg,
      new cmd heading: 174.796511 deg.

2025-08-11T14:46:26.856Z,1754923586.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:26.859Z,1754923586.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 394.824646 m,
      bearing: 177.705825 deg,
      approach rate: -0.613927 m/s,
      LOS rate: -0.018607 deg/s,
      cmd heading: 174.796507 deg,
      new cmd heading: 174.773307 deg.

2025-08-11T14:46:27.291Z,1754923587.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:27.293Z,1754923587.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:27.296Z,1754923587.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 394.544250 m,
      bearing: 177.696589 deg,
      approach rate: -0.641899 m/s,
      LOS rate: -0.021157 deg/s,
      cmd heading: 174.773312 deg,
      new cmd heading: 174.745586 deg.

2025-08-11T14:46:27.364Z,1754923587.364 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:27.364Z,1754923587.364 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:27.365Z,1754923587.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:27.616Z,1754923587.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238567
2025-08-11T14:46:27.646Z,1754923587.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:27.654Z,1754923587.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 394.319733 m,
      bearing: 177.689263 deg,
      approach rate: -0.635405 m/s,
      LOS rate: -0.020747 deg/s,
      cmd heading: 174.745581 deg,
      new cmd heading: 174.723589 deg.

2025-08-11T14:46:27.868Z,1754923587.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490331
2025-08-11T14:46:28.114Z,1754923588.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:28.117Z,1754923588.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 394.020569 m,
      bearing: 177.678823 deg,
      approach rate: -0.640188 m/s,
      LOS rate: -0.022357 deg/s,
      cmd heading: 174.723588 deg,
      new cmd heading: 174.692246 deg.

2025-08-11T14:46:28.120Z,1754923588.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742556
2025-08-11T14:46:28.373Z,1754923588.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995090
2025-08-11T14:46:28.485Z,1754923588.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:28.489Z,1754923588.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 393.787048 m,
      bearing: 177.670662 deg,
      approach rate: -0.629396 m/s,
      LOS rate: -0.022009 deg/s,
      cmd heading: 174.692251 deg,
      new cmd heading: 174.667754 deg.

2025-08-11T14:46:28.625Z,1754923588.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247132
2025-08-11T14:46:28.876Z,1754923588.876 [DAT](INFO): DAT read: Rx Time:14:46:29.6666

2025-08-11T14:46:28.877Z,1754923588.877 [DAT](INFO): Rx dataTimestamp_ set to:1754923588.876461
2025-08-11T14:46:28.877Z,1754923588.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499601
2025-08-11T14:46:28.878Z,1754923588.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:28.881Z,1754923588.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 393.539703 m,
      bearing: 177.662061 deg,
      approach rate: -0.627875 m/s,
      LOS rate: -0.021847 deg/s,
      cmd heading: 174.667758 deg,
      new cmd heading: 174.641939 deg.

2025-08-11T14:46:29.129Z,1754923589.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751342
2025-08-11T14:46:29.357Z,1754923589.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:29.363Z,1754923589.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.10 m.
2025-08-11T14:46:29.366Z,1754923589.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.100006 m,
      nav range: 393.244476 m,
      bearing: 177.653207 deg,
      approach rate: -0.614531 m/s,
      LOS rate: -0.018445 deg/s,
      cmd heading: 174.641940 deg,
      new cmd heading: 174.615357 deg.

2025-08-11T14:46:29.386Z,1754923589.386 [DAT](INFO): DAT read: 14:46:29.6666 LVL= 23312, 24561, 23282, 30771, AGC= 72, IDX= 156,-0.23, 0.911,-0.677, 0.951, 0.373, PHS= 0.640,-1.005, 0.534, RAW= 146.7,  -2.1, CAL= 146.2,  -2.7, ROT=   3.8,   2.7

2025-08-11T14:46:29.387Z,1754923589.387 [DAT](INFO): got valid direction response:
 14:46:29.6666 LVL= 23312, 24561, 23282, 30771, AGC= 72, IDX= 156,-0.23, 0.911,-0.677, 0.951, 0.373, PHS= 0.640,-1.005, 0.534, RAW= 146.7,  -2.1, CAL= 146.2,  -2.7, ROT=   3.8,   2.7

2025-08-11T14:46:29.388Z,1754923589.388 [DAT](INFO): DAT read: Bearing 320.4,   6.7 (Local)

2025-08-11T14:46:29.388Z,1754923589.388 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.4,   6.7 (Local)

2025-08-11T14:46:29.390Z,1754923589.390 [DAT](INFO): DAT read: Range 11 to 50 : 406.5 m  (Round-trip  542.1 ms) speed  0.6 m/s

2025-08-11T14:46:29.391Z,1754923589.391 [DAT](INFO): DAT read: user:94>

2025-08-11T14:46:29.391Z,1754923589.391 [DAT](INFO): DAT read: Tx time:14:46:30.7703

2025-08-11T14:46:29.392Z,1754923589.392 [DAT](INFO): Ping request sent.
2025-08-11T14:46:29.392Z,1754923589.392 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:29.392Z,1754923589.392 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:29.393Z,1754923589.393 [DAT](INFO): direction in FSK: [0.996694,0.066200,-0.047106]
2025-08-11T14:46:29.393Z,1754923589.393 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:29.394Z,1754923589.394 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:29.402Z,1754923589.402 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:29.402Z,1754923589.402 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:29.794Z,1754923589.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 406.500000 m,
      deltaT: 8.064163 s,
      deltaX: -3.600006 m,
      approachRate: -0.446420 m/s,
      rangeRepo size: 4

2025-08-11T14:46:29.796Z,1754923589.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 406.500000 m,
      bearing: 177.943311 deg,
      lat: 36.905806 deg,
      lon: -122.116236 deg,
      deltaT: 8.064163 s,
      deltaX: -3.600006 m,
      approachRate: -0.446420 m/s,
      posRepo size: 4

2025-08-11T14:46:29.797Z,1754923589.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:29.800Z,1754923589.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 389.743622 m,
      bearing: 177.943311 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018445 deg/s,
      cmd heading: 174.615357 deg,
      new cmd heading: 174.591332 deg.

2025-08-11T14:46:30.212Z,1754923590.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:30.215Z,1754923590.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 389.498230 m,
      bearing: 177.938098 deg,
      approach rate: -0.585446 m/s,
      LOS rate: -0.012445 deg/s,
      cmd heading: 174.591328 deg,
      new cmd heading: 174.575680 deg.

2025-08-11T14:46:30.572Z,1754923590.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:30.574Z,1754923590.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 389.262634 m,
      bearing: 177.933122 deg,
      approach rate: -0.655368 m/s,
      LOS rate: -0.013848 deg/s,
      cmd heading: 174.575674 deg,
      new cmd heading: 174.560739 deg.

2025-08-11T14:46:31.110Z,1754923591.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:31.114Z,1754923591.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 388.959076 m,
      bearing: 177.926713 deg,
      approach rate: -0.563774 m/s,
      LOS rate: -0.011912 deg/s,
      cmd heading: 174.560743 deg,
      new cmd heading: 174.541500 deg.

2025-08-11T14:46:31.593Z,1754923591.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:31.611Z,1754923591.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:31.614Z,1754923591.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 388.657715 m,
      bearing: 177.922185 deg,
      approach rate: -0.621544 m/s,
      LOS rate: -0.009346 deg/s,
      cmd heading: 174.541495 deg,
      new cmd heading: 174.527901 deg.

2025-08-11T14:46:31.648Z,1754923591.648 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:31.648Z,1754923591.648 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:31.648Z,1754923591.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:31.900Z,1754923591.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508217
2025-08-11T14:46:32.152Z,1754923592.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760447
2025-08-11T14:46:32.163Z,1754923592.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:32.166Z,1754923592.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 388.353546 m,
      bearing: 177.918657 deg,
      approach rate: -0.535554 m/s,
      LOS rate: -0.006218 deg/s,
      cmd heading: 174.527903 deg,
      new cmd heading: 174.517309 deg.

2025-08-11T14:46:32.404Z,1754923592.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012246
2025-08-11T14:46:32.496Z,1754923592.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:32.499Z,1754923592.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 388.174744 m,
      bearing: 177.916592 deg,
      approach rate: -0.536865 m/s,
      LOS rate: -0.006203 deg/s,
      cmd heading: 174.517303 deg,
      new cmd heading: 174.511105 deg.

2025-08-11T14:46:32.657Z,1754923592.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264665
2025-08-11T14:46:32.883Z,1754923592.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:32.886Z,1754923592.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 387.967621 m,
      bearing: 177.914187 deg,
      approach rate: -0.535702 m/s,
      LOS rate: -0.006223 deg/s,
      cmd heading: 174.511101 deg,
      new cmd heading: 174.503883 deg.

2025-08-11T14:46:32.908Z,1754923592.908 [DAT](INFO): DAT read: Rx Time:14:46:33.7004

2025-08-11T14:46:32.909Z,1754923592.909 [DAT](INFO): Rx dataTimestamp_ set to:1754923592.908722
2025-08-11T14:46:32.910Z,1754923592.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517783
2025-08-11T14:46:33.160Z,1754923593.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768258
2025-08-11T14:46:33.372Z,1754923593.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:33.381Z,1754923593.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 387.745178 m,
      bearing: 177.913361 deg,
      approach rate: -0.461065 m/s,
      LOS rate: -0.001712 deg/s,
      cmd heading: 174.503888 deg,
      new cmd heading: 174.501411 deg.

2025-08-11T14:46:33.418Z,1754923593.418 [DAT](INFO): DAT read: 14:46:33.7004 LVL= 27328, 32753, 31890, 32755, AGC= 69, IDX= 152,-0.10,-1.554, 3.019,-1.424,-1.806, PHS= 0.354,-1.413, 0.338, RAW= 149.5,   8.3, CAL= 149.1,   8.9, ROT=   0.9,  -8.9

2025-08-11T14:46:33.419Z,1754923593.419 [DAT](INFO): got valid direction response:
 14:46:33.7004 LVL= 27328, 32753, 31890, 32755, AGC= 69, IDX= 152,-0.10,-1.554, 3.019,-1.424,-1.806, PHS= 0.354,-1.413, 0.338, RAW= 149.5,   8.3, CAL= 149.1,   8.9, ROT=   0.9,  -8.9

2025-08-11T14:46:33.420Z,1754923593.420 [DAT](INFO): DAT read: $Error in header

2025-08-11T14:46:33.420Z,1754923593.420 [DAT](INFO): Received a bad header
2025-08-11T14:46:33.431Z,1754923593.431 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:46:33.432Z,1754923593.432 [DAT](INFO): direction in FSK: [0.987838,0.015518,0.154710]
2025-08-11T14:46:33.435Z,1754923593.435 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:33.435Z,1754923593.435 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:33.436Z,1754923593.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:33.664Z,1754923593.664 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:33.664Z,1754923593.664 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:33.664Z,1754923593.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:33.732Z,1754923593.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:33.734Z,1754923593.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:33.757Z,1754923593.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 387.527252 m,
      bearing: 177.912551 deg,
      approach rate: -0.590806 m/s,
      LOS rate: -0.002198 deg/s,
      cmd heading: 174.501416 deg,
      new cmd heading: 174.498984 deg.

2025-08-11T14:46:33.916Z,1754923593.916 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:33.916Z,1754923593.916 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:33.917Z,1754923593.917 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:34.168Z,1754923594.168 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:34.168Z,1754923594.168 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:34.168Z,1754923594.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:34.203Z,1754923594.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:34.209Z,1754923594.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 387.304962 m,
      bearing: 177.912313 deg,
      approach rate: -0.474438 m/s,
      LOS rate: -0.000507 deg/s,
      cmd heading: 174.498984 deg,
      new cmd heading: 174.498271 deg.

2025-08-11T14:46:34.420Z,1754923594.420 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:34.421Z,1754923594.421 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:34.421Z,1754923594.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:34.533Z,1754923594.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:34.536Z,1754923594.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 387.131287 m,
      bearing: 177.912143 deg,
      approach rate: -0.525590 m/s,
      LOS rate: -0.000515 deg/s,
      cmd heading: 174.498274 deg,
      new cmd heading: 174.497763 deg.

2025-08-11T14:46:34.672Z,1754923594.672 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:34.672Z,1754923594.672 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:34.672Z,1754923594.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:34.925Z,1754923594.925 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:34.925Z,1754923594.925 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:34.925Z,1754923594.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:34.994Z,1754923594.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:35.001Z,1754923595.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 386.906586 m,
      bearing: 177.911942 deg,
      approach rate: -0.487154 m/s,
      LOS rate: -0.000436 deg/s,
      cmd heading: 174.497769 deg,
      new cmd heading: 174.497166 deg.

2025-08-11T14:46:35.176Z,1754923595.176 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:35.176Z,1754923595.176 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:35.176Z,1754923595.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:35.363Z,1754923595.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:35.365Z,1754923595.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 386.726379 m,
      bearing: 177.910953 deg,
      approach rate: -0.489129 m/s,
      LOS rate: -0.002688 deg/s,
      cmd heading: 174.497167 deg,
      new cmd heading: 174.494197 deg.

2025-08-11T14:46:35.428Z,1754923595.428 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:35.428Z,1754923595.428 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:35.428Z,1754923595.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:35.680Z,1754923595.680 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:35.680Z,1754923595.680 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:35.680Z,1754923595.680 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:35.770Z,1754923595.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:35.777Z,1754923595.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:35.784Z,1754923595.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 386.531738 m,
      bearing: 177.909892 deg,
      approach rate: -0.470000 m/s,
      LOS rate: -0.002561 deg/s,
      cmd heading: 174.494203 deg,
      new cmd heading: 174.491021 deg.

2025-08-11T14:46:35.933Z,1754923595.933 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:35.933Z,1754923595.933 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:35.933Z,1754923595.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:36.184Z,1754923596.184 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:36.184Z,1754923596.184 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:36.184Z,1754923596.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:36.235Z,1754923596.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:36.241Z,1754923596.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 386.306793 m,
      bearing: 177.908036 deg,
      approach rate: -0.491322 m/s,
      LOS rate: -0.004056 deg/s,
      cmd heading: 174.491020 deg,
      new cmd heading: 174.485449 deg.

2025-08-11T14:46:36.437Z,1754923596.437 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:36.438Z,1754923596.438 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:36.438Z,1754923596.438 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:36.571Z,1754923596.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:36.574Z,1754923596.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 386.144470 m,
      bearing: 177.906696 deg,
      approach rate: -0.482603 m/s,
      LOS rate: -0.003987 deg/s,
      cmd heading: 174.485447 deg,
      new cmd heading: 174.481423 deg.

2025-08-11T14:46:36.689Z,1754923596.689 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:36.689Z,1754923596.689 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:36.689Z,1754923596.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:36.941Z,1754923596.941 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:36.941Z,1754923596.941 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:36.942Z,1754923596.942 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:36.992Z,1754923596.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:36.995Z,1754923596.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 385.941467 m,
      bearing: 177.905112 deg,
      approach rate: -0.482308 m/s,
      LOS rate: -0.003766 deg/s,
      cmd heading: 174.481417 deg,
      new cmd heading: 174.476662 deg.

2025-08-11T14:46:37.196Z,1754923597.196 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:37.196Z,1754923597.196 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:37.196Z,1754923597.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:37.395Z,1754923597.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:37.402Z,1754923597.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 385.748169 m,
      bearing: 177.902994 deg,
      approach rate: -0.479685 m/s,
      LOS rate: -0.005258 deg/s,
      cmd heading: 174.476663 deg,
      new cmd heading: 174.470307 deg.

2025-08-11T14:46:37.445Z,1754923597.445 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:37.445Z,1754923597.445 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:37.445Z,1754923597.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:37.696Z,1754923597.696 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:37.696Z,1754923597.696 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:37.696Z,1754923597.696 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:37.794Z,1754923597.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:37.800Z,1754923597.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:37.802Z,1754923597.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 385.544098 m,
      bearing: 177.900801 deg,
      approach rate: -0.503824 m/s,
      LOS rate: -0.005417 deg/s,
      cmd heading: 174.470311 deg,
      new cmd heading: 174.463728 deg.

2025-08-11T14:46:37.949Z,1754923597.949 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:37.949Z,1754923597.949 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:37.950Z,1754923597.950 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:38.200Z,1754923598.200 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:38.200Z,1754923598.200 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:38.200Z,1754923598.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:38.259Z,1754923598.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:38.262Z,1754923598.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 385.298615 m,
      bearing: 177.896572 deg,
      approach rate: -0.535008 m/s,
      LOS rate: -0.009221 deg/s,
      cmd heading: 174.463727 deg,
      new cmd heading: 174.451033 deg.

2025-08-11T14:46:38.452Z,1754923598.452 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:38.452Z,1754923598.452 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:38.452Z,1754923598.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:38.601Z,1754923598.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:38.604Z,1754923598.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 385.116760 m,
      bearing: 177.893466 deg,
      approach rate: -0.531790 m/s,
      LOS rate: -0.009089 deg/s,
      cmd heading: 174.451036 deg,
      new cmd heading: 174.441712 deg.

2025-08-11T14:46:38.705Z,1754923598.705 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:38.705Z,1754923598.705 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:38.705Z,1754923598.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:38.957Z,1754923598.957 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:38.957Z,1754923598.957 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:38.957Z,1754923598.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:39.025Z,1754923599.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:39.032Z,1754923599.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 384.904846 m,
      bearing: 177.889883 deg,
      approach rate: -0.499397 m/s,
      LOS rate: -0.008448 deg/s,
      cmd heading: 174.441706 deg,
      new cmd heading: 174.430952 deg.

2025-08-11T14:46:39.211Z,1754923599.211 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:39.211Z,1754923599.211 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:39.211Z,1754923599.211 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:46:39.443Z,1754923599.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:39.449Z,1754923599.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 384.662415 m,
      bearing: 177.885495 deg,
      approach rate: -0.579646 m/s,
      LOS rate: -0.010498 deg/s,
      cmd heading: 174.430956 deg,
      new cmd heading: 174.417784 deg.

2025-08-11T14:46:39.460Z,1754923599.460 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:39.461Z,1754923599.461 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:39.461Z,1754923599.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:39.712Z,1754923599.712 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:39.712Z,1754923599.712 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:39.712Z,1754923599.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:39.817Z,1754923599.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:39.824Z,1754923599.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:39.826Z,1754923599.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 384.445679 m,
      bearing: 177.881593 deg,
      approach rate: -0.576263 m/s,
      LOS rate: -0.010382 deg/s,
      cmd heading: 174.417787 deg,
      new cmd heading: 174.406073 deg.

2025-08-11T14:46:39.964Z,1754923599.964 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:39.965Z,1754923599.965 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:39.965Z,1754923599.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:40.218Z,1754923600.218 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:40.219Z,1754923600.219 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:40.220Z,1754923600.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:40.309Z,1754923600.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:40.316Z,1754923600.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 384.171631 m,
      bearing: 177.877174 deg,
      approach rate: -0.559632 m/s,
      LOS rate: -0.009030 deg/s,
      cmd heading: 174.406066 deg,
      new cmd heading: 174.392801 deg.

2025-08-11T14:46:40.468Z,1754923600.468 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:40.468Z,1754923600.468 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:40.468Z,1754923600.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:40.645Z,1754923600.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:40.649Z,1754923600.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 383.963379 m,
      bearing: 177.873825 deg,
      approach rate: -0.619353 m/s,
      LOS rate: -0.009965 deg/s,
      cmd heading: 174.392802 deg,
      new cmd heading: 174.382750 deg.

2025-08-11T14:46:40.721Z,1754923600.721 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:40.721Z,1754923600.721 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:40.721Z,1754923600.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:40.972Z,1754923600.972 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:40.972Z,1754923600.972 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:40.973Z,1754923600.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:41.066Z,1754923601.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:41.068Z,1754923601.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 383.724426 m,
      bearing: 177.869978 deg,
      approach rate: -0.568590 m/s,
      LOS rate: -0.009159 deg/s,
      cmd heading: 174.382748 deg,
      new cmd heading: 174.371201 deg.

2025-08-11T14:46:41.226Z,1754923601.226 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:41.228Z,1754923601.228 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:41.229Z,1754923601.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:41.476Z,1754923601.476 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:41.476Z,1754923601.476 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:41.476Z,1754923601.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:41.577Z,1754923601.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:41.588Z,1754923601.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 383.416534 m,
      bearing: 177.864570 deg,
      approach rate: -0.601739 m/s,
      LOS rate: -0.010577 deg/s,
      cmd heading: 174.371205 deg,
      new cmd heading: 174.354969 deg.

2025-08-11T14:46:41.728Z,1754923601.728 [DAT](INFO): Reached modem response timeout
2025-08-11T14:46:41.728Z,1754923601.728 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:46:41.728Z,1754923601.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:41.935Z,1754923601.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:41.941Z,1754923601.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:41.961Z,1754923601.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 383.194183 m,
      bearing: 177.860619 deg,
      approach rate: -0.613007 m/s,
      LOS rate: -0.010901 deg/s,
      cmd heading: 174.354963 deg,
      new cmd heading: 174.343101 deg.

2025-08-11T14:46:41.980Z,1754923601.980 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:46:41.981Z,1754923601.981 [DAT](INFO): response not received
2025-08-11T14:46:41.981Z,1754923601.981 [DAT](INFO): DAT read: user:96>

2025-08-11T14:46:41.982Z,1754923601.982 [DAT](INFO): DAT read: Tx time:14:46:43.2203

2025-08-11T14:46:41.982Z,1754923601.982 [DAT](INFO): Ping request sent.
2025-08-11T14:46:41.982Z,1754923601.982 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:41.982Z,1754923601.982 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:41.983Z,1754923601.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-11T14:46:42.235Z,1754923602.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251997
2025-08-11T14:46:42.353Z,1754923602.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:42.372Z,1754923602.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 382.932220 m,
      bearing: 177.856714 deg,
      approach rate: -0.633601 m/s,
      LOS rate: -0.009450 deg/s,
      cmd heading: 174.343106 deg,
      new cmd heading: 174.331384 deg.

2025-08-11T14:46:42.484Z,1754923602.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502269
2025-08-11T14:46:42.736Z,1754923602.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754010
2025-08-11T14:46:42.800Z,1754923602.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:42.802Z,1754923602.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 382.657898 m,
      bearing: 177.852580 deg,
      approach rate: -0.614694 m/s,
      LOS rate: -0.009270 deg/s,
      cmd heading: 174.331385 deg,
      new cmd heading: 174.318975 deg.

2025-08-11T14:46:42.988Z,1754923602.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005887
2025-08-11T14:46:43.140Z,1754923603.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:43.143Z,1754923603.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 382.445923 m,
      bearing: 177.849342 deg,
      approach rate: -0.622692 m/s,
      LOS rate: -0.009519 deg/s,
      cmd heading: 174.318982 deg,
      new cmd heading: 174.309260 deg.

2025-08-11T14:46:43.243Z,1754923603.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260715
2025-08-11T14:46:43.492Z,1754923603.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509972
2025-08-11T14:46:43.582Z,1754923603.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:43.585Z,1754923603.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 382.173767 m,
      bearing: 177.845494 deg,
      approach rate: -0.615860 m/s,
      LOS rate: -0.008715 deg/s,
      cmd heading: 174.309255 deg,
      new cmd heading: 174.297702 deg.

2025-08-11T14:46:43.744Z,1754923603.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762009
2025-08-11T14:46:43.978Z,1754923603.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:43.981Z,1754923603.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:43.983Z,1754923603.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 381.928528 m,
      bearing: 177.841898 deg,
      approach rate: -0.615261 m/s,
      LOS rate: -0.009027 deg/s,
      cmd heading: 174.297699 deg,
      new cmd heading: 174.286905 deg.

2025-08-11T14:46:43.996Z,1754923603.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014030
2025-08-11T14:46:44.251Z,1754923604.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268043
2025-08-11T14:46:44.385Z,1754923604.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:44.388Z,1754923604.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 381.677246 m,
      bearing: 177.838178 deg,
      approach rate: -0.621475 m/s,
      LOS rate: -0.009207 deg/s,
      cmd heading: 174.286907 deg,
      new cmd heading: 174.275739 deg.

2025-08-11T14:46:44.500Z,1754923604.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517999
2025-08-11T14:46:44.752Z,1754923604.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770112
2025-08-11T14:46:44.766Z,1754923604.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:44.769Z,1754923604.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 381.440430 m,
      bearing: 177.834621 deg,
      approach rate: -0.621202 m/s,
      LOS rate: -0.009335 deg/s,
      cmd heading: 174.275733 deg,
      new cmd heading: 174.265056 deg.

2025-08-11T14:46:45.004Z,1754923605.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022001
2025-08-11T14:46:45.164Z,1754923605.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:45.167Z,1754923605.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 381.193665 m,
      bearing: 177.830862 deg,
      approach rate: -0.619846 m/s,
      LOS rate: -0.009448 deg/s,
      cmd heading: 174.265050 deg,
      new cmd heading: 174.253766 deg.

2025-08-11T14:46:45.260Z,1754923605.260 [DAT](INFO): DAT read: Rx Time:14:46:46.1289

2025-08-11T14:46:45.263Z,1754923605.263 [DAT](INFO): Rx dataTimestamp_ set to:1754923605.261303
2025-08-11T14:46:45.269Z,1754923605.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285864
2025-08-11T14:46:45.508Z,1754923605.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525927
2025-08-11T14:46:45.611Z,1754923605.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-08-11T14:46:45.614Z,1754923605.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.500000 m,
      nav range: 380.920502 m,
      bearing: 177.826576 deg,
      approach rate: -0.611391 m/s,
      LOS rate: -0.009601 deg/s,
      cmd heading: 174.253767 deg,
      new cmd heading: 174.240899 deg.

2025-08-11T14:46:45.763Z,1754923605.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780431
2025-08-11T14:46:46.018Z,1754923606.018 [DAT](INFO): DAT read: 14:46:46.1289 LVL= 28848, 32753, 29154, 32755, AGC= 75, IDX= 218, 0.43,-1.421, 3.122,-1.336,-1.740, PHS= 0.421,-1.376, 0.360, RAW= 148.3,   6.8, CAL= 147.7,   7.3, ROT=   2.3,  -7.3

2025-08-11T14:46:46.019Z,1754923606.019 [DAT](INFO): got valid direction response:
 14:46:46.1289 LVL= 28848, 32753, 29154, 32755, AGC= 75, IDX= 218, 0.43,-1.421, 3.122,-1.336,-1.740, PHS= 0.421,-1.376, 0.360, RAW= 148.3,   6.8, CAL= 147.7,   7.3, ROT=   2.3,  -7.3

2025-08-11T14:46:46.020Z,1754923606.020 [DAT](INFO): DAT read: Bearing 329.9,   3.9 (Local)

2025-08-11T14:46:46.020Z,1754923606.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.9,   3.9 (Local)

2025-08-11T14:46:46.022Z,1754923606.022 [DAT](INFO): DAT read: Range 11 to 50 : 378.3 m  (Round-trip  504.4 ms) speed  0.4 m/s

2025-08-11T14:46:46.023Z,1754923606.023 [DAT](INFO): DAT read: user:97>

2025-08-11T14:46:46.028Z,1754923606.028 [DAT](INFO): DAT read: Tx time:14:46:47.2203

2025-08-11T14:46:46.028Z,1754923606.028 [DAT](INFO): Ping request sent.
2025-08-11T14:46:46.028Z,1754923606.028 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:46.028Z,1754923606.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:46.029Z,1754923606.029 [DAT](INFO): direction in FSK: [0.991095,0.039807,0.127065]
2025-08-11T14:46:46.030Z,1754923606.030 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:46.030Z,1754923606.030 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:46.033Z,1754923606.033 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:46.033Z,1754923606.033 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:46.118Z,1754923606.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 378.299988 m,
      deltaT: 16.631909 s,
      deltaX: -28.200012 m,
      approachRate: -1.695537 m/s,
      rangeRepo size: 4

2025-08-11T14:46:46.125Z,1754923606.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 378.299988 m,
      bearing: 177.779529 deg,
      lat: 36.905872 deg,
      lon: -122.116236 deg,
      deltaT: 16.631909 s,
      deltaX: -28.200012 m,
      approachRate: -1.695537 m/s,
      posRepo size: 4

2025-08-11T14:46:46.125Z,1754923606.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.30 m.
2025-08-11T14:46:46.134Z,1754923606.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.299988 m,
      nav range: 373.364746 m,
      bearing: 177.779529 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009601 deg/s,
      cmd heading: 174.240899 deg,
      new cmd heading: 174.226310 deg.

2025-08-11T14:46:46.629Z,1754923606.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:46.632Z,1754923606.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.30 m.
2025-08-11T14:46:46.634Z,1754923606.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.299988 m,
      nav range: 373.040253 m,
      bearing: 177.773489 deg,
      approach rate: -0.631521 m/s,
      LOS rate: -0.011764 deg/s,
      cmd heading: 174.226309 deg,
      new cmd heading: 174.208175 deg.

2025-08-11T14:46:46.769Z,1754923606.769 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:46.769Z,1754923606.769 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:46.769Z,1754923606.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:47.020Z,1754923607.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992299
2025-08-11T14:46:47.089Z,1754923607.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.30 m.
2025-08-11T14:46:47.095Z,1754923607.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.299988 m,
      nav range: 372.778442 m,
      bearing: 177.768565 deg,
      approach rate: -0.572685 m/s,
      LOS rate: -0.010779 deg/s,
      cmd heading: 174.208169 deg,
      new cmd heading: 174.193385 deg.

2025-08-11T14:46:47.273Z,1754923607.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245306
2025-08-11T14:46:47.516Z,1754923607.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.30 m.
2025-08-11T14:46:47.519Z,1754923607.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.299988 m,
      nav range: 372.528076 m,
      bearing: 177.763567 deg,
      approach rate: -0.585800 m/s,
      LOS rate: -0.011700 deg/s,
      cmd heading: 174.193388 deg,
      new cmd heading: 174.178386 deg.

2025-08-11T14:46:47.524Z,1754923607.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496150
2025-08-11T14:46:47.777Z,1754923607.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748518
2025-08-11T14:46:47.884Z,1754923607.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.30 m.
2025-08-11T14:46:47.907Z,1754923607.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.299988 m,
      nav range: 372.302216 m,
      bearing: 177.759016 deg,
      approach rate: -0.613077 m/s,
      LOS rate: -0.012361 deg/s,
      cmd heading: 174.178389 deg,
      new cmd heading: 174.164727 deg.

2025-08-11T14:46:48.029Z,1754923608.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000830
2025-08-11T14:46:48.283Z,1754923608.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254288
2025-08-11T14:46:48.354Z,1754923608.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.30 m.
2025-08-11T14:46:48.358Z,1754923608.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.299988 m,
      nav range: 372.059753 m,
      bearing: 177.754091 deg,
      approach rate: -0.515934 m/s,
      LOS rate: -0.010486 deg/s,
      cmd heading: 174.164729 deg,
      new cmd heading: 174.149944 deg.

2025-08-11T14:46:48.532Z,1754923608.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504151
2025-08-11T14:46:48.707Z,1754923608.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:48.709Z,1754923608.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.30 m.
2025-08-11T14:46:48.712Z,1754923608.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.299988 m,
      nav range: 371.835754 m,
      bearing: 177.749257 deg,
      approach rate: -0.630559 m/s,
      LOS rate: -0.013618 deg/s,
      cmd heading: 174.149948 deg,
      new cmd heading: 174.135436 deg.

2025-08-11T14:46:48.789Z,1754923608.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760886
2025-08-11T14:46:49.040Z,1754923609.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012030
2025-08-11T14:46:49.100Z,1754923609.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.30 m.
2025-08-11T14:46:49.102Z,1754923609.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.299988 m,
      nav range: 371.623169 m,
      bearing: 177.744687 deg,
      approach rate: -0.545282 m/s,
      LOS rate: -0.011727 deg/s,
      cmd heading: 174.135441 deg,
      new cmd heading: 174.121725 deg.

2025-08-11T14:46:49.294Z,1754923609.294 [DAT](INFO): DAT read: Rx Time:14:46:50.1259

2025-08-11T14:46:49.296Z,1754923609.296 [DAT](INFO): Rx dataTimestamp_ set to:1754923609.294259
2025-08-11T14:46:49.298Z,1754923609.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269166
2025-08-11T14:46:49.522Z,1754923609.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 378.30 m.
2025-08-11T14:46:49.525Z,1754923609.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 378.299988 m,
      nav range: 371.397552 m,
      bearing: 177.739951 deg,
      approach rate: -0.533341 m/s,
      LOS rate: -0.011203 deg/s,
      cmd heading: 174.121726 deg,
      new cmd heading: 174.107509 deg.

2025-08-11T14:46:49.544Z,1754923609.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516184
2025-08-11T14:46:49.810Z,1754923609.810 [DAT](INFO): DAT read: 14:46:50.1259 LVL= 30272, 32753, 32754, 32755, AGC= 74, IDX= 412, 0.04, 2.640, 0.923, 2.742, 2.357, PHS= 0.384,-1.390, 0.341, RAW= 148.8,   7.6, CAL= 148.2,   8.2, ROT=   1.8,  -8.2

2025-08-11T14:46:49.811Z,1754923609.811 [DAT](INFO): got valid direction response:
 14:46:50.1259 LVL= 30272, 32753, 32754, 32755, AGC= 74, IDX= 412, 0.04, 2.640, 0.923, 2.742, 2.357, PHS= 0.384,-1.390, 0.341, RAW= 148.8,   7.6, CAL= 148.2,   8.2, ROT=   1.8,  -8.2

2025-08-11T14:46:49.833Z,1754923609.833 [DAT](INFO): DAT read: Bearing 331.3,   2.5 (Local)

2025-08-11T14:46:49.833Z,1754923609.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.3,   2.5 (Local)

2025-08-11T14:46:49.835Z,1754923609.835 [DAT](INFO): DAT read: Range 11 to 50 : 376.1 m  (Round-trip  501.5 ms) speed  0.4 m/s

2025-08-11T14:46:49.835Z,1754923609.835 [DAT](INFO): DAT read: user:98>

2025-08-11T14:46:49.836Z,1754923609.836 [DAT](INFO): DAT read: Tx time:14:46:51.2203

2025-08-11T14:46:49.836Z,1754923609.836 [DAT](INFO): Ping request sent.
2025-08-11T14:46:49.837Z,1754923609.837 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:49.837Z,1754923609.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:49.838Z,1754923609.838 [DAT](INFO): direction in FSK: [0.989288,0.031090,0.142629]
2025-08-11T14:46:49.838Z,1754923609.838 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:49.838Z,1754923609.838 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:49.841Z,1754923609.841 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:49.842Z,1754923609.842 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:49.971Z,1754923609.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 376.100006 m,
      deltaT: 3.785691 s,
      deltaX: -2.199982 m,
      approachRate: -0.581131 m/s,
      rangeRepo size: 4

2025-08-11T14:46:49.973Z,1754923609.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 376.100006 m,
      bearing: 177.570351 deg,
      lat: 36.905872 deg,
      lon: -122.116224 deg,
      deltaT: 3.785691 s,
      deltaX: -2.199982 m,
      approachRate: -0.581131 m/s,
      posRepo size: 4

2025-08-11T14:46:49.974Z,1754923609.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:49.981Z,1754923609.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 371.228210 m,
      bearing: 177.570351 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011203 deg/s,
      cmd heading: 174.107505 deg,
      new cmd heading: 174.092589 deg.

2025-08-11T14:46:50.383Z,1754923610.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:50.390Z,1754923610.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 371.020508 m,
      bearing: 177.566059 deg,
      approach rate: -0.498542 m/s,
      LOS rate: -0.010306 deg/s,
      cmd heading: 174.092588 deg,
      new cmd heading: 174.079707 deg.

2025-08-11T14:46:50.756Z,1754923610.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:50.758Z,1754923610.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:50.765Z,1754923610.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 370.805939 m,
      bearing: 177.561517 deg,
      approach rate: -0.572282 m/s,
      LOS rate: -0.012123 deg/s,
      cmd heading: 174.079706 deg,
      new cmd heading: 174.066071 deg.

2025-08-11T14:46:50.804Z,1754923610.804 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:50.804Z,1754923610.804 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:50.805Z,1754923610.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:51.057Z,1754923611.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220188
2025-08-11T14:46:51.129Z,1754923611.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:51.132Z,1754923611.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 370.607910 m,
      bearing: 177.557394 deg,
      approach rate: -0.533472 m/s,
      LOS rate: -0.011112 deg/s,
      cmd heading: 174.066073 deg,
      new cmd heading: 174.053699 deg.

2025-08-11T14:46:51.308Z,1754923611.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471425
2025-08-11T14:46:51.561Z,1754923611.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723936
2025-08-11T14:46:51.572Z,1754923611.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:51.575Z,1754923611.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 370.374268 m,
      bearing: 177.553230 deg,
      approach rate: -0.527225 m/s,
      LOS rate: -0.009402 deg/s,
      cmd heading: 174.053697 deg,
      new cmd heading: 174.041197 deg.

2025-08-11T14:46:51.812Z,1754923611.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975548
2025-08-11T14:46:51.958Z,1754923611.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:51.961Z,1754923611.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 370.170807 m,
      bearing: 177.549680 deg,
      approach rate: -0.527575 m/s,
      LOS rate: -0.009211 deg/s,
      cmd heading: 174.041198 deg,
      new cmd heading: 174.030541 deg.

2025-08-11T14:46:52.064Z,1754923612.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227481
2025-08-11T14:46:52.316Z,1754923612.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479568
2025-08-11T14:46:52.338Z,1754923612.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:52.350Z,1754923612.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 369.970154 m,
      bearing: 177.546235 deg,
      approach rate: -0.527238 m/s,
      LOS rate: -0.009057 deg/s,
      cmd heading: 174.030543 deg,
      new cmd heading: 174.020201 deg.

2025-08-11T14:46:52.568Z,1754923612.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731641
2025-08-11T14:46:52.784Z,1754923612.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:52.786Z,1754923612.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:52.789Z,1754923612.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 369.728027 m,
      bearing: 177.543064 deg,
      approach rate: -0.540712 m/s,
      LOS rate: -0.007086 deg/s,
      cmd heading: 174.020202 deg,
      new cmd heading: 174.010682 deg.

2025-08-11T14:46:52.830Z,1754923612.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992634
2025-08-11T14:46:53.080Z,1754923613.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243768
2025-08-11T14:46:53.162Z,1754923613.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:53.165Z,1754923613.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 369.524353 m,
      bearing: 177.540446 deg,
      approach rate: -0.541742 m/s,
      LOS rate: -0.006967 deg/s,
      cmd heading: 174.010680 deg,
      new cmd heading: 174.002823 deg.

2025-08-11T14:46:53.332Z,1754923613.332 [DAT](INFO): DAT read: Rx Time:14:46:54.1228

2025-08-11T14:46:53.333Z,1754923613.333 [DAT](INFO): Rx dataTimestamp_ set to:1754923613.332364
2025-08-11T14:46:53.333Z,1754923613.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496584
2025-08-11T14:46:53.584Z,1754923613.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747584
2025-08-11T14:46:53.587Z,1754923613.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.10 m.
2025-08-11T14:46:53.590Z,1754923613.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.100006 m,
      nav range: 369.295776 m,
      bearing: 177.538461 deg,
      approach rate: -0.538272 m/s,
      LOS rate: -0.004676 deg/s,
      cmd heading: 174.002826 deg,
      new cmd heading: 173.996868 deg.

2025-08-11T14:46:53.845Z,1754923613.845 [DAT](INFO): DAT read: 14:46:54.1228 LVL= 32416, 32753, 32754, 32755, AGC= 73, IDX= 412,-0.01, 0.627,-1.202, 0.759, 0.314, PHS= 0.414,-1.472, 0.401, RAW= 149.6,   7.0, CAL= 149.1,   7.5, ROT=   0.9,  -7.5

2025-08-11T14:46:53.848Z,1754923613.848 [DAT](INFO): got valid direction response:
 14:46:54.1228 LVL= 32416, 32753, 32754, 32755, AGC= 73, IDX= 412,-0.01, 0.627,-1.202, 0.759, 0.314, PHS= 0.414,-1.472, 0.401, RAW= 149.6,   7.0, CAL= 149.1,   7.5, ROT=   0.9,  -7.5

2025-08-11T14:46:53.849Z,1754923613.849 [DAT](INFO): DAT read: Bearing 329.3,   0.8 (Local)

2025-08-11T14:46:53.850Z,1754923613.850 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.3,   0.8 (Local)

2025-08-11T14:46:53.851Z,1754923613.851 [DAT](INFO): DAT read: Range 11 to 50 : 373.8 m  (Round-trip  498.4 ms) speed  0.4 m/s

2025-08-11T14:46:53.852Z,1754923613.852 [DAT](INFO): DAT read: user:99>

2025-08-11T14:46:53.853Z,1754923613.853 [DAT](INFO): DAT read: Tx time:14:46:55.2203

2025-08-11T14:46:53.853Z,1754923613.853 [DAT](INFO): Ping request sent.
2025-08-11T14:46:53.853Z,1754923613.853 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:53.853Z,1754923613.853 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:53.854Z,1754923613.854 [DAT](INFO): direction in FSK: [0.991323,0.015573,0.130526]
2025-08-11T14:46:53.855Z,1754923613.855 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:53.855Z,1754923613.855 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:53.858Z,1754923613.858 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:53.858Z,1754923613.858 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:54.016Z,1754923614.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 373.799988 m,
      deltaT: 4.039718 s,
      deltaX: -2.300018 m,
      approachRate: -0.569351 m/s,
      rangeRepo size: 4

2025-08-11T14:46:54.018Z,1754923614.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 373.799988 m,
      bearing: 177.536555 deg,
      lat: 36.905872 deg,
      lon: -122.116224 deg,
      deltaT: 4.039718 s,
      deltaX: -2.300018 m,
      approachRate: -0.569351 m/s,
      posRepo size: 4

2025-08-11T14:46:54.027Z,1754923614.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:54.030Z,1754923614.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 369.074646 m,
      bearing: 177.536555 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004676 deg/s,
      cmd heading: 173.996870 deg,
      new cmd heading: 173.990915 deg.

2025-08-11T14:46:54.443Z,1754923614.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:54.450Z,1754923614.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 368.861145 m,
      bearing: 177.534715 deg,
      approach rate: -0.494695 m/s,
      LOS rate: -0.004266 deg/s,
      cmd heading: 173.990914 deg,
      new cmd heading: 173.985391 deg.

2025-08-11T14:46:54.802Z,1754923614.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:54.804Z,1754923614.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:54.806Z,1754923614.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 368.637299 m,
      bearing: 177.532326 deg,
      approach rate: -0.620042 m/s,
      LOS rate: -0.006622 deg/s,
      cmd heading: 173.985395 deg,
      new cmd heading: 173.978223 deg.

2025-08-11T14:46:54.852Z,1754923614.852 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:54.852Z,1754923614.852 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:54.853Z,1754923614.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:55.104Z,1754923615.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250964
2025-08-11T14:46:55.199Z,1754923615.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:55.202Z,1754923615.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 368.422913 m,
      bearing: 177.530008 deg,
      approach rate: -0.542726 m/s,
      LOS rate: -0.005870 deg/s,
      cmd heading: 173.978223 deg,
      new cmd heading: 173.971268 deg.

2025-08-11T14:46:55.357Z,1754923615.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503985
2025-08-11T14:46:55.608Z,1754923615.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755032
2025-08-11T14:46:55.674Z,1754923615.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:55.682Z,1754923615.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 368.152710 m,
      bearing: 177.528108 deg,
      approach rate: -0.568235 m/s,
      LOS rate: -0.003999 deg/s,
      cmd heading: 173.971270 deg,
      new cmd heading: 173.965565 deg.

2025-08-11T14:46:55.860Z,1754923615.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006956
2025-08-11T14:46:56.007Z,1754923616.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:56.010Z,1754923616.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 367.963379 m,
      bearing: 177.526794 deg,
      approach rate: -0.568902 m/s,
      LOS rate: -0.003952 deg/s,
      cmd heading: 173.965560 deg,
      new cmd heading: 173.961614 deg.

2025-08-11T14:46:56.113Z,1754923616.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259732
2025-08-11T14:46:56.364Z,1754923616.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511083
2025-08-11T14:46:56.523Z,1754923616.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:56.526Z,1754923616.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 367.692261 m,
      bearing: 177.524906 deg,
      approach rate: -0.529678 m/s,
      LOS rate: -0.003690 deg/s,
      cmd heading: 173.961612 deg,
      new cmd heading: 173.955947 deg.

2025-08-11T14:46:56.617Z,1754923616.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763852
2025-08-11T14:46:56.868Z,1754923616.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014945
2025-08-11T14:46:56.884Z,1754923616.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:56.887Z,1754923616.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:56.926Z,1754923616.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 367.469238 m,
      bearing: 177.523636 deg,
      approach rate: -0.606796 m/s,
      LOS rate: -0.003459 deg/s,
      cmd heading: 173.955943 deg,
      new cmd heading: 173.952129 deg.

2025-08-11T14:46:57.120Z,1754923617.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267006
2025-08-11T14:46:57.255Z,1754923617.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:57.258Z,1754923617.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 367.268402 m,
      bearing: 177.522493 deg,
      approach rate: -0.545013 m/s,
      LOS rate: -0.003103 deg/s,
      cmd heading: 173.952132 deg,
      new cmd heading: 173.948702 deg.

2025-08-11T14:46:57.372Z,1754923617.372 [DAT](INFO): DAT read: Rx Time:14:46:58.1200

2025-08-11T14:46:57.373Z,1754923617.373 [DAT](INFO): Rx dataTimestamp_ set to:1754923617.372429
2025-08-11T14:46:57.373Z,1754923617.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520119
2025-08-11T14:46:57.624Z,1754923617.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771032
2025-08-11T14:46:57.688Z,1754923617.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 373.80 m.
2025-08-11T14:46:57.690Z,1754923617.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 373.799988 m,
      nav range: 367.012512 m,
      bearing: 177.520630 deg,
      approach rate: -0.591801 m/s,
      LOS rate: -0.004312 deg/s,
      cmd heading: 173.948703 deg,
      new cmd heading: 173.943110 deg.

2025-08-11T14:46:57.882Z,1754923617.882 [DAT](INFO): DAT read: 14:46:58.1200 LVL= 29168, 32753, 32754, 32755, AGC= 74, IDX= 416,-0.17, 1.492,-0.243, 1.550, 1.198, PHS= 0.396,-1.396, 0.308, RAW= 147.5,   8.0, CAL= 147.0,   8.6, ROT=   3.0,  -8.6

2025-08-11T14:46:57.883Z,1754923617.883 [DAT](INFO): got valid direction response:
 14:46:58.1200 LVL= 29168, 32753, 32754, 32755, AGC= 74, IDX= 416,-0.17, 1.492,-0.243, 1.550, 1.198, PHS= 0.396,-1.396, 0.308, RAW= 147.5,   8.0, CAL= 147.0,   8.6, ROT=   3.0,  -8.6

2025-08-11T14:46:57.884Z,1754923617.884 [DAT](INFO): DAT read: Bearing 330.4,   2.8 (Local)

2025-08-11T14:46:57.884Z,1754923617.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.4,   2.8 (Local)

2025-08-11T14:46:57.886Z,1754923617.886 [DAT](INFO): DAT read: Range 11 to 50 : 371.7 m  (Round-trip  495.7 ms) speed  0.4 m/s

2025-08-11T14:46:57.886Z,1754923617.886 [DAT](INFO): DAT read: user:100>

2025-08-11T14:46:57.887Z,1754923617.887 [DAT](INFO): DAT read: Tx time:14:46:59.2202

2025-08-11T14:46:57.887Z,1754923617.887 [DAT](INFO): Ping request sent.
2025-08-11T14:46:57.887Z,1754923617.887 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:46:57.888Z,1754923617.888 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:46:57.889Z,1754923617.889 [DAT](INFO): direction in FSK: [0.987401,0.051748,0.149535]
2025-08-11T14:46:57.889Z,1754923617.889 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:57.889Z,1754923617.889 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:57.906Z,1754923617.906 [DAT](INFO): publishing transmit ping time
2025-08-11T14:46:57.906Z,1754923617.906 [DAT](INFO): publishing direction and range info
2025-08-11T14:46:58.089Z,1754923618.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 371.700012 m,
      deltaT: 4.038539 s,
      deltaX: -2.099976 m,
      approachRate: -0.519984 m/s,
      rangeRepo size: 4

2025-08-11T14:46:58.095Z,1754923618.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 371.700012 m,
      bearing: 177.729551 deg,
      lat: 36.905868 deg,
      lon: -122.116239 deg,
      deltaT: 4.038539 s,
      deltaX: -2.099976 m,
      approachRate: -0.519984 m/s,
      posRepo size: 4

2025-08-11T14:46:58.096Z,1754923618.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:46:58.099Z,1754923618.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 367.140442 m,
      bearing: 177.729551 deg,
      approach rate: -60138966176278666655163717915 m/s,
      LOS rate: -0.004312 deg/s,
      cmd heading: 173.943116 deg,
      new cmd heading: 173.937931 deg.

2025-08-11T14:46:58.548Z,1754923618.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:46:58.551Z,1754923618.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 366.855835 m,
      bearing: 177.727236 deg,
      approach rate: -0.618848 m/s,
      LOS rate: -0.005038 deg/s,
      cmd heading: 173.937925 deg,
      new cmd heading: 173.930974 deg.

2025-08-11T14:46:58.950Z,1754923618.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:46:58.953Z,1754923618.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:46:58.960Z,1754923618.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 366.620239 m,
      bearing: 177.725316 deg,
      approach rate: -0.582446 m/s,
      LOS rate: -0.004748 deg/s,
      cmd heading: 173.930972 deg,
      new cmd heading: 173.925210 deg.

2025-08-11T14:46:59.136Z,1754923619.136 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:46:59.136Z,1754923619.136 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:46:59.136Z,1754923619.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:46:59.318Z,1754923619.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:46:59.321Z,1754923619.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 366.414551 m,
      bearing: 177.723540 deg,
      approach rate: -0.562416 m/s,
      LOS rate: -0.004859 deg/s,
      cmd heading: 173.925207 deg,
      new cmd heading: 173.919877 deg.

2025-08-11T14:46:59.395Z,1754923619.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506804
2025-08-11T14:46:59.644Z,1754923619.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756565
2025-08-11T14:46:59.792Z,1754923619.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:46:59.795Z,1754923619.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 366.125793 m,
      bearing: 177.719487 deg,
      approach rate: -0.609136 m/s,
      LOS rate: -0.008558 deg/s,
      cmd heading: 173.919880 deg,
      new cmd heading: 173.907709 deg.

2025-08-11T14:46:59.897Z,1754923619.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009377
2025-08-11T14:47:00.115Z,1754923620.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:47:00.118Z,1754923620.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 365.936310 m,
      bearing: 177.716760 deg,
      approach rate: -0.587015 m/s,
      LOS rate: -0.008452 deg/s,
      cmd heading: 173.907708 deg,
      new cmd heading: 173.899524 deg.

2025-08-11T14:47:00.148Z,1754923620.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260548
2025-08-11T14:47:00.401Z,1754923620.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513515
2025-08-11T14:47:00.584Z,1754923620.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:47:00.586Z,1754923620.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 365.660400 m,
      bearing: 177.711801 deg,
      approach rate: -0.589444 m/s,
      LOS rate: -0.010601 deg/s,
      cmd heading: 173.899526 deg,
      new cmd heading: 173.884640 deg.

2025-08-11T14:47:00.652Z,1754923620.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764827
2025-08-11T14:47:00.906Z,1754923620.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017755
2025-08-11T14:47:00.961Z,1754923620.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:00.964Z,1754923620.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:47:00.966Z,1754923620.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 365.436584 m,
      bearing: 177.707684 deg,
      approach rate: -0.588333 m/s,
      LOS rate: -0.010831 deg/s,
      cmd heading: 173.884636 deg,
      new cmd heading: 173.872275 deg.

2025-08-11T14:47:01.156Z,1754923621.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268522
2025-08-11T14:47:01.339Z,1754923621.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:47:01.342Z,1754923621.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 365.226593 m,
      bearing: 177.703740 deg,
      approach rate: -0.565171 m/s,
      LOS rate: -0.010619 deg/s,
      cmd heading: 173.872273 deg,
      new cmd heading: 173.860437 deg.

2025-08-11T14:47:01.410Z,1754923621.410 [DAT](INFO): DAT read: Rx Time:14:47:02.1169

2025-08-11T14:47:01.412Z,1754923621.412 [DAT](INFO): Rx dataTimestamp_ set to:1754923621.410517
2025-08-11T14:47:01.412Z,1754923621.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524712
2025-08-11T14:47:01.660Z,1754923621.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772639
2025-08-11T14:47:01.759Z,1754923621.759 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00,  84.85,  72.29, 

2025-08-11T14:47:01.828Z,1754923621.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.70 m.
2025-08-11T14:47:01.830Z,1754923621.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.700012 m,
      nav range: 364.946106 m,
      bearing: 177.698466 deg,
      approach rate: -0.574657 m/s,
      LOS rate: -0.010814 deg/s,
      cmd heading: 173.860430 deg,
      new cmd heading: 173.844595 deg.

2025-08-11T14:47:01.926Z,1754923621.926 [DAT](INFO): DAT read: 14:47:02.1169 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 417,-0.01, 2.535, 0.854, 2.655, 2.302, PHS= 0.335,-1.403, 0.309, RAW= 149.2,   8.8, CAL= 148.8,   9.6, ROT=   1.2,  -9.6

2025-08-11T14:47:01.929Z,1754923621.929 [DAT](INFO): got valid direction response:
 14:47:02.1169 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 417,-0.01, 2.535, 0.854, 2.655, 2.302, PHS= 0.335,-1.403, 0.309, RAW= 149.2,   8.8, CAL= 148.8,   9.6, ROT=   1.2,  -9.6

2025-08-11T14:47:01.930Z,1754923621.930 [DAT](INFO): DAT read: Bearing 332.1,   1.5 (Local)

2025-08-11T14:47:01.930Z,1754923621.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.1,   1.5 (Local)

2025-08-11T14:47:01.932Z,1754923621.932 [DAT](INFO): DAT read: Range 11 to 50 : 369.4 m  (Round-trip  492.6 ms) speed  0.2 m/s

2025-08-11T14:47:01.933Z,1754923621.933 [DAT](INFO): DAT read: user:101>

2025-08-11T14:47:01.934Z,1754923621.934 [DAT](INFO): DAT read: Tx time:14:47:03.2202

2025-08-11T14:47:01.958Z,1754923621.958 [DAT](INFO): Ping request sent.
2025-08-11T14:47:01.958Z,1754923621.958 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:01.958Z,1754923621.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:01.968Z,1754923621.968 [DAT](INFO): direction in FSK: [0.985780,0.020649,0.166769]
2025-08-11T14:47:01.968Z,1754923621.968 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:01.968Z,1754923621.968 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:01.983Z,1754923621.983 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:01.984Z,1754923621.984 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:02.208Z,1754923622.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 369.399994 m,
      deltaT: 4.036769 s,
      deltaX: -2.300018 m,
      approachRate: -0.569767 m/s,
      rangeRepo size: 4

2025-08-11T14:47:02.210Z,1754923622.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 369.399994 m,
      bearing: 177.393852 deg,
      lat: 36.905872 deg,
      lon: -122.116218 deg,
      deltaT: 4.036769 s,
      deltaX: -2.300018 m,
      approachRate: -0.569767 m/s,
      posRepo size: 4

2025-08-11T14:47:02.210Z,1754923622.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:02.217Z,1754923622.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 364.396484 m,
      bearing: 177.393852 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010814 deg/s,
      cmd heading: 173.844598 deg,
      new cmd heading: 173.832176 deg.

2025-08-11T14:47:02.610Z,1754923622.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:02.613Z,1754923622.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 364.146912 m,
      bearing: 177.387717 deg,
      approach rate: -0.617699 m/s,
      LOS rate: -0.015195 deg/s,
      cmd heading: 173.832180 deg,
      new cmd heading: 173.813763 deg.

2025-08-11T14:47:02.989Z,1754923622.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:03.008Z,1754923623.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:03.010Z,1754923623.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 363.924683 m,
      bearing: 177.382224 deg,
      approach rate: -0.583076 m/s,
      LOS rate: -0.014421 deg/s,
      cmd heading: 173.813766 deg,
      new cmd heading: 173.797277 deg.

2025-08-11T14:47:03.172Z,1754923623.172 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:03.172Z,1754923623.172 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:03.172Z,1754923623.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:03.406Z,1754923623.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:03.424Z,1754923623.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466423
2025-08-11T14:47:03.427Z,1754923623.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 363.686890 m,
      bearing: 177.376332 deg,
      approach rate: -0.574732 m/s,
      LOS rate: -0.014252 deg/s,
      cmd heading: 173.797278 deg,
      new cmd heading: 173.779588 deg.

2025-08-11T14:47:03.676Z,1754923623.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718467
2025-08-11T14:47:03.822Z,1754923623.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:03.825Z,1754923623.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 363.450897 m,
      bearing: 177.370266 deg,
      approach rate: -0.566660 m/s,
      LOS rate: -0.014574 deg/s,
      cmd heading: 173.779588 deg,
      new cmd heading: 173.761379 deg.

2025-08-11T14:47:03.929Z,1754923623.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971410
2025-08-11T14:47:04.180Z,1754923624.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222324
2025-08-11T14:47:04.201Z,1754923624.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:04.216Z,1754923624.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 363.239197 m,
      bearing: 177.364793 deg,
      approach rate: -0.557999 m/s,
      LOS rate: -0.014434 deg/s,
      cmd heading: 173.761379 deg,
      new cmd heading: 173.744950 deg.

2025-08-11T14:47:04.433Z,1754923624.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475168
2025-08-11T14:47:04.634Z,1754923624.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:04.637Z,1754923624.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 362.988159 m,
      bearing: 177.359466 deg,
      approach rate: -0.579458 m/s,
      LOS rate: -0.012304 deg/s,
      cmd heading: 173.744945 deg,
      new cmd heading: 173.728953 deg.

2025-08-11T14:47:04.684Z,1754923624.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726668
2025-08-11T14:47:04.937Z,1754923624.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978860
2025-08-11T14:47:05.010Z,1754923625.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:05.012Z,1754923625.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:05.031Z,1754923625.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 362.769226 m,
      bearing: 177.354831 deg,
      approach rate: -0.579026 m/s,
      LOS rate: -0.012265 deg/s,
      cmd heading: 173.728949 deg,
      new cmd heading: 173.715036 deg.

2025-08-11T14:47:05.188Z,1754923625.188 [DAT](INFO): DAT read: Rx Time:14:47:06.1137

2025-08-11T14:47:05.189Z,1754923625.189 [DAT](INFO): Rx dataTimestamp_ set to:1754923625.188303
2025-08-11T14:47:05.189Z,1754923625.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231494
2025-08-11T14:47:05.425Z,1754923625.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:05.440Z,1754923625.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482600
2025-08-11T14:47:05.448Z,1754923625.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 362.529968 m,
      bearing: 177.349760 deg,
      approach rate: -0.580103 m/s,
      LOS rate: -0.012304 deg/s,
      cmd heading: 173.715043 deg,
      new cmd heading: 173.699819 deg.

2025-08-11T14:47:05.693Z,1754923625.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735085
2025-08-11T14:47:05.850Z,1754923625.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.40 m.
2025-08-11T14:47:05.853Z,1754923625.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 369.399994 m,
      nav range: 362.281372 m,
      bearing: 177.346091 deg,
      approach rate: -0.584502 m/s,
      LOS rate: -0.008634 deg/s,
      cmd heading: 173.699825 deg,
      new cmd heading: 173.688809 deg.

2025-08-11T14:47:05.954Z,1754923625.954 [DAT](INFO): DAT read: 14:47:06.1137 LVL= 29168, 32753, 30546, 32755, AGC= 71, IDX= 416,-0.29,-0.113,-1.811, 0.022,-0.372, PHS= 0.361,-1.394, 0.350, RAW= 149.7,   7.9, CAL= 149.2,   8.5, ROT=   0.8,  -8.5

2025-08-11T14:47:05.957Z,1754923625.957 [DAT](INFO): got valid direction response:
 14:47:06.1137 LVL= 29168, 32753, 30546, 32755, AGC= 71, IDX= 416,-0.29,-0.113,-1.811, 0.022,-0.372, PHS= 0.361,-1.394, 0.350, RAW= 149.7,   7.9, CAL= 149.2,   8.5, ROT=   0.8,  -8.5

2025-08-11T14:47:05.960Z,1754923625.960 [DAT](INFO): DAT read: Bearing 331.8,   2.1 (Local)

2025-08-11T14:47:05.961Z,1754923625.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.8,   2.1 (Local)

2025-08-11T14:47:05.963Z,1754923625.963 [DAT](INFO): DAT read: Range 11 to 50 : 367.0 m  (Round-trip  489.4 ms) speed  0.4 m/s

2025-08-11T14:47:05.980Z,1754923625.980 [DAT](INFO): DAT read: user:102>

2025-08-11T14:47:05.981Z,1754923625.981 [DAT](INFO): DAT read: Tx time:14:47:07.2202

2025-08-11T14:47:05.981Z,1754923625.981 [DAT](INFO): Ping request sent.
2025-08-11T14:47:05.981Z,1754923625.981 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:05.981Z,1754923625.981 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:05.982Z,1754923625.982 [DAT](INFO): direction in FSK: [0.988919,0.013809,0.147809]
2025-08-11T14:47:05.983Z,1754923625.983 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:05.991Z,1754923625.991 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:06.002Z,1754923626.002 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:06.002Z,1754923626.002 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:06.242Z,1754923626.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 367.000000 m,
      deltaT: 4.032258 s,
      deltaX: -2.399994 m,
      approachRate: -0.595199 m/s,
      rangeRepo size: 4

2025-08-11T14:47:06.248Z,1754923626.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 367.000000 m,
      bearing: 176.946619 deg,
      lat: 36.905872 deg,
      lon: -122.116189 deg,
      deltaT: 4.032258 s,
      deltaX: -2.399994 m,
      approachRate: -0.595199 m/s,
      posRepo size: 4

2025-08-11T14:47:06.249Z,1754923626.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.00 m.
2025-08-11T14:47:06.259Z,1754923626.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.000000 m,
      nav range: 362.184692 m,
      bearing: 176.946619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008634 deg/s,
      cmd heading: 173.688815 deg,
      new cmd heading: 173.678692 deg.

2025-08-11T14:47:06.674Z,1754923626.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.00 m.
2025-08-11T14:47:06.677Z,1754923626.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.000000 m,
      nav range: 361.929810 m,
      bearing: 176.943172 deg,
      approach rate: -0.587903 m/s,
      LOS rate: -0.007957 deg/s,
      cmd heading: 173.678692 deg,
      new cmd heading: 173.668344 deg.

2025-08-11T14:47:07.030Z,1754923627.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:07.048Z,1754923627.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.00 m.
2025-08-11T14:47:07.050Z,1754923627.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.000000 m,
      nav range: 361.725494 m,
      bearing: 176.940399 deg,
      approach rate: -0.547279 m/s,
      LOS rate: -0.007433 deg/s,
      cmd heading: 173.668338 deg,
      new cmd heading: 173.660013 deg.

2025-08-11T14:47:07.204Z,1754923627.204 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:07.204Z,1754923627.204 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:07.204Z,1754923627.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:07.435Z,1754923627.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.00 m.
2025-08-11T14:47:07.438Z,1754923627.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.000000 m,
      nav range: 361.494476 m,
      bearing: 176.937308 deg,
      approach rate: -0.596442 m/s,
      LOS rate: -0.007983 deg/s,
      cmd heading: 173.660019 deg,
      new cmd heading: 173.650742 deg.

2025-08-11T14:47:07.456Z,1754923627.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475146
2025-08-11T14:47:07.709Z,1754923627.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727372
2025-08-11T14:47:07.857Z,1754923627.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.00 m.
2025-08-11T14:47:07.860Z,1754923627.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.000000 m,
      nav range: 361.259735 m,
      bearing: 176.934674 deg,
      approach rate: -0.556549 m/s,
      LOS rate: -0.006250 deg/s,
      cmd heading: 173.650743 deg,
      new cmd heading: 173.642834 deg.

2025-08-11T14:47:07.960Z,1754923627.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978991
2025-08-11T14:47:08.212Z,1754923628.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230970
2025-08-11T14:47:08.272Z,1754923628.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.00 m.
2025-08-11T14:47:08.274Z,1754923628.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.000000 m,
      nav range: 361.033356 m,
      bearing: 176.932184 deg,
      approach rate: -0.545765 m/s,
      LOS rate: -0.006006 deg/s,
      cmd heading: 173.642834 deg,
      new cmd heading: 173.635360 deg.

2025-08-11T14:47:08.464Z,1754923628.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482938
2025-08-11T14:47:08.716Z,1754923628.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734989
2025-08-11T14:47:08.776Z,1754923628.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.00 m.
2025-08-11T14:47:08.778Z,1754923628.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.000000 m,
      nav range: 360.759491 m,
      bearing: 176.929477 deg,
      approach rate: -0.570905 m/s,
      LOS rate: -0.005648 deg/s,
      cmd heading: 173.635362 deg,
      new cmd heading: 173.627233 deg.

2025-08-11T14:47:08.968Z,1754923628.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986855
2025-08-11T14:47:09.126Z,1754923629.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:09.129Z,1754923629.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.00 m.
2025-08-11T14:47:09.148Z,1754923629.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.000000 m,
      nav range: 360.547333 m,
      bearing: 176.927376 deg,
      approach rate: -0.562400 m/s,
      LOS rate: -0.005571 deg/s,
      cmd heading: 173.627234 deg,
      new cmd heading: 173.620929 deg.

2025-08-11T14:47:09.220Z,1754923629.220 [DAT](INFO): DAT read: Rx Time:14:47:10.1108

2025-08-11T14:47:09.221Z,1754923629.221 [DAT](INFO): Rx dataTimestamp_ set to:1754923629.220587
2025-08-11T14:47:09.221Z,1754923629.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240218
2025-08-11T14:47:09.472Z,1754923629.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490870
2025-08-11T14:47:09.528Z,1754923629.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.00 m.
2025-08-11T14:47:09.531Z,1754923629.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 367.000000 m,
      nav range: 360.322632 m,
      bearing: 176.925273 deg,
      approach rate: -0.562665 m/s,
      LOS rate: -0.005270 deg/s,
      cmd heading: 173.620923 deg,
      new cmd heading: 173.614609 deg.

2025-08-11T14:47:09.724Z,1754923629.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742898
2025-08-11T14:47:09.982Z,1754923629.982 [DAT](INFO): DAT read: 14:47:10.1108 LVL= 29664, 32753, 32754, 32755, AGC= 69, IDX= 418, 0.26, 0.758,-0.965, 0.842, 0.449, PHS= 0.411,-1.368, 0.349, RAW= 148.2,   7.0, CAL= 147.7,   7.5, ROT=   2.3,  -7.5

2025-08-11T14:47:09.983Z,1754923629.983 [DAT](INFO): got valid direction response:
 14:47:10.1108 LVL= 29664, 32753, 32754, 32755, AGC= 69, IDX= 418, 0.26, 0.758,-0.965, 0.842, 0.449, PHS= 0.411,-1.368, 0.349, RAW= 148.2,   7.0, CAL= 147.7,   7.5, ROT=   2.3,  -7.5

2025-08-11T14:47:09.984Z,1754923629.984 [DAT](INFO): DAT read: Bearing 330.7,   2.5 (Local)

2025-08-11T14:47:09.985Z,1754923629.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.7,   2.5 (Local)

2025-08-11T14:47:09.986Z,1754923629.986 [DAT](INFO): DAT read: Range 11 to 50 : 364.8 m  (Round-trip  486.5 ms) speed  0.5 m/s

2025-08-11T14:47:09.987Z,1754923629.987 [DAT](INFO): DAT read: user:103>

2025-08-11T14:47:09.987Z,1754923629.987 [DAT](INFO): DAT read: Tx time:14:47:11.2202

2025-08-11T14:47:09.988Z,1754923629.988 [DAT](INFO): Ping request sent.
2025-08-11T14:47:09.988Z,1754923629.988 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:09.988Z,1754923629.988 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:09.989Z,1754923629.989 [DAT](INFO): direction in FSK: [0.990646,0.039788,0.130526]
2025-08-11T14:47:09.989Z,1754923629.989 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:09.990Z,1754923629.990 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:09.997Z,1754923629.997 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:09.997Z,1754923629.997 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:10.018Z,1754923630.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 364.799988 m,
      deltaT: 4.031116 s,
      deltaX: -2.200012 m,
      approachRate: -0.545758 m/s,
      rangeRepo size: 4

2025-08-11T14:47:10.025Z,1754923630.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 364.799988 m,
      bearing: 176.926216 deg,
      lat: 36.905868 deg,
      lon: -122.116189 deg,
      deltaT: 4.031116 s,
      deltaX: -2.200012 m,
      approachRate: -0.545758 m/s,
      posRepo size: 4

2025-08-11T14:47:10.025Z,1754923630.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:10.032Z,1754923630.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 360.487244 m,
      bearing: 176.926216 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005270 deg/s,
      cmd heading: 173.614611 deg,
      new cmd heading: 173.606870 deg.

2025-08-11T14:47:10.343Z,1754923630.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:10.346Z,1754923630.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 360.303467 m,
      bearing: 176.924343 deg,
      approach rate: -0.564642 m/s,
      LOS rate: -0.005757 deg/s,
      cmd heading: 173.606866 deg,
      new cmd heading: 173.601245 deg.

2025-08-11T14:47:10.746Z,1754923630.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:10.749Z,1754923630.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 360.076813 m,
      bearing: 176.921726 deg,
      approach rate: -0.563195 m/s,
      LOS rate: -0.006509 deg/s,
      cmd heading: 173.601238 deg,
      new cmd heading: 173.593379 deg.

2025-08-11T14:47:11.124Z,1754923631.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:11.127Z,1754923631.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 359.871704 m,
      bearing: 176.919379 deg,
      approach rate: -0.541826 m/s,
      LOS rate: -0.006201 deg/s,
      cmd heading: 173.593383 deg,
      new cmd heading: 173.586341 deg.

2025-08-11T14:47:11.575Z,1754923631.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:11.577Z,1754923631.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:11.580Z,1754923631.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 359.625641 m,
      bearing: 176.916594 deg,
      approach rate: -0.543134 m/s,
      LOS rate: -0.006153 deg/s,
      cmd heading: 173.586334 deg,
      new cmd heading: 173.577972 deg.

2025-08-11T14:47:11.740Z,1754923631.740 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:11.740Z,1754923631.740 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:11.740Z,1754923631.740 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:11.990Z,1754923631.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:11.992Z,1754923631.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004358
2025-08-11T14:47:11.997Z,1754923631.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 359.411133 m,
      bearing: 176.913812 deg,
      approach rate: -0.519091 m/s,
      LOS rate: -0.006735 deg/s,
      cmd heading: 173.577974 deg,
      new cmd heading: 173.569625 deg.

2025-08-11T14:47:12.244Z,1754923632.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256286
2025-08-11T14:47:12.351Z,1754923632.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:12.354Z,1754923632.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 359.212250 m,
      bearing: 176.911256 deg,
      approach rate: -0.557512 m/s,
      LOS rate: -0.007170 deg/s,
      cmd heading: 173.569628 deg,
      new cmd heading: 173.561955 deg.

2025-08-11T14:47:12.499Z,1754923632.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511082
2025-08-11T14:47:12.749Z,1754923632.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760598
2025-08-11T14:47:12.767Z,1754923632.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:12.770Z,1754923632.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 358.972473 m,
      bearing: 176.907080 deg,
      approach rate: -0.571569 m/s,
      LOS rate: -0.009962 deg/s,
      cmd heading: 173.561951 deg,
      new cmd heading: 173.549414 deg.

2025-08-11T14:47:13.000Z,1754923633.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012553
2025-08-11T14:47:13.163Z,1754923633.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:13.166Z,1754923633.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 358.752197 m,
      bearing: 176.903239 deg,
      approach rate: -0.556178 m/s,
      LOS rate: -0.009704 deg/s,
      cmd heading: 173.549410 deg,
      new cmd heading: 173.537880 deg.

2025-08-11T14:47:13.254Z,1754923633.254 [DAT](INFO): DAT read: Rx Time:14:47:14.1079

2025-08-11T14:47:13.254Z,1754923633.254 [DAT](INFO): Rx dataTimestamp_ set to:1754923633.253822
2025-08-11T14:47:13.255Z,1754923633.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266768
2025-08-11T14:47:13.504Z,1754923633.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516229
2025-08-11T14:47:13.568Z,1754923633.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:13.571Z,1754923633.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 358.537689 m,
      bearing: 176.899475 deg,
      approach rate: -0.529066 m/s,
      LOS rate: -0.009290 deg/s,
      cmd heading: 173.537881 deg,
      new cmd heading: 173.526582 deg.

2025-08-11T14:47:13.760Z,1754923633.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771899
2025-08-11T14:47:13.999Z,1754923633.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:14.014Z,1754923634.014 [DAT](INFO): DAT read: 14:47:14.1079 LVL= 26352, 30705, 27890, 32755, AGC= 68, IDX= 404, 0.47, 1.556,-0.160, 1.667, 1.299, PHS= 0.359,-1.414, 0.324, RAW= 149.0,   8.4, CAL= 148.5,   9.0, ROT=   1.5,  -9.0

2025-08-11T14:47:14.015Z,1754923634.015 [DAT](INFO): got valid direction response:
 14:47:14.1079 LVL= 26352, 30705, 27890, 32755, AGC= 68, IDX= 404, 0.47, 1.556,-0.160, 1.667, 1.299, PHS= 0.359,-1.414, 0.324, RAW= 149.0,   8.4, CAL= 148.5,   9.0, ROT=   1.5,  -9.0

2025-08-11T14:47:14.016Z,1754923634.016 [DAT](INFO): DAT read: Bearing 331.7,   0.8 (Local)

2025-08-11T14:47:14.016Z,1754923634.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.7,   0.8 (Local)

2025-08-11T14:47:14.018Z,1754923634.018 [DAT](INFO): DAT read: Range 11 to 50 : 362.6 m  (Round-trip  483.5 ms) speed  0.4 m/s

2025-08-11T14:47:14.018Z,1754923634.018 [DAT](INFO): DAT read: user:104>

2025-08-11T14:47:14.019Z,1754923634.019 [DAT](INFO): DAT read: Tx time:14:47:15.2217

2025-08-11T14:47:14.019Z,1754923634.019 [DAT](INFO): Ping request sent.
2025-08-11T14:47:14.020Z,1754923634.020 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:14.020Z,1754923634.020 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:14.021Z,1754923634.021 [DAT](INFO): direction in FSK: [0.987350,0.025855,0.156434]
2025-08-11T14:47:14.021Z,1754923634.021 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:14.021Z,1754923634.021 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:14.025Z,1754923634.025 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:14.025Z,1754923634.025 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:14.038Z,1754923634.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 362.600006 m,
      deltaT: 4.031847 s,
      deltaX: -2.199982 m,
      approachRate: -0.545651 m/s,
      rangeRepo size: 4

2025-08-11T14:47:14.039Z,1754923634.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:14.046Z,1754923634.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 358.282867 m,
      bearing: 176.894724 deg,
      approach rate: -0.543059 m/s,
      LOS rate: -0.010131 deg/s,
      cmd heading: 173.526584 deg,
      new cmd heading: 173.512323 deg.

2025-08-11T14:47:14.416Z,1754923634.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:14.418Z,1754923634.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 358.050537 m,
      bearing: 176.890387 deg,
      approach rate: -0.613845 m/s,
      LOS rate: -0.011467 deg/s,
      cmd heading: 173.512323 deg,
      new cmd heading: 173.499303 deg.

2025-08-11T14:47:14.810Z,1754923634.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:14.813Z,1754923634.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 357.817047 m,
      bearing: 176.886741 deg,
      approach rate: -0.592273 m/s,
      LOS rate: -0.009256 deg/s,
      cmd heading: 173.499304 deg,
      new cmd heading: 173.488357 deg.

2025-08-11T14:47:15.195Z,1754923635.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:15.198Z,1754923635.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 357.591156 m,
      bearing: 176.883222 deg,
      approach rate: -0.587259 m/s,
      LOS rate: -0.009154 deg/s,
      cmd heading: 173.488362 deg,
      new cmd heading: 173.477799 deg.

2025-08-11T14:47:15.594Z,1754923635.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:15.598Z,1754923635.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 357.356567 m,
      bearing: 176.879576 deg,
      approach rate: -0.586991 m/s,
      LOS rate: -0.009128 deg/s,
      cmd heading: 173.477803 deg,
      new cmd heading: 173.466859 deg.

2025-08-11T14:47:16.051Z,1754923636.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:16.053Z,1754923636.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:16.056Z,1754923636.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 357.093506 m,
      bearing: 176.874499 deg,
      approach rate: -0.572990 m/s,
      LOS rate: -0.011068 deg/s,
      cmd heading: 173.466861 deg,
      new cmd heading: 173.451617 deg.

2025-08-11T14:47:16.280Z,1754923636.280 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:16.280Z,1754923636.280 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:16.281Z,1754923636.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:16.414Z,1754923636.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:16.417Z,1754923636.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 356.886230 m,
      bearing: 176.870481 deg,
      approach rate: -0.574312 m/s,
      LOS rate: -0.011139 deg/s,
      cmd heading: 173.451616 deg,
      new cmd heading: 173.439555 deg.

2025-08-11T14:47:16.532Z,1754923636.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512849
2025-08-11T14:47:16.784Z,1754923636.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764595
2025-08-11T14:47:16.835Z,1754923636.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:16.838Z,1754923636.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 356.630737 m,
      bearing: 176.866408 deg,
      approach rate: -0.607171 m/s,
      LOS rate: -0.009686 deg/s,
      cmd heading: 173.439554 deg,
      new cmd heading: 173.427327 deg.

2025-08-11T14:47:17.036Z,1754923637.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016460
2025-08-11T14:47:17.222Z,1754923637.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:17.229Z,1754923637.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 356.402832 m,
      bearing: 176.862758 deg,
      approach rate: -0.588469 m/s,
      LOS rate: -0.009431 deg/s,
      cmd heading: 173.427328 deg,
      new cmd heading: 173.416370 deg.

2025-08-11T14:47:17.288Z,1754923637.288 [DAT](INFO): DAT read: Rx Time:14:47:18.1065

2025-08-11T14:47:17.289Z,1754923637.289 [DAT](INFO): Rx dataTimestamp_ set to:1754923637.288311
2025-08-11T14:47:17.289Z,1754923637.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269527
2025-08-11T14:47:17.540Z,1754923637.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520484
2025-08-11T14:47:17.643Z,1754923637.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.80 m.
2025-08-11T14:47:17.646Z,1754923637.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 364.799988 m,
      nav range: 356.147583 m,
      bearing: 176.858665 deg,
      approach rate: -0.606755 m/s,
      LOS rate: -0.009736 deg/s,
      cmd heading: 173.416372 deg,
      new cmd heading: 173.404085 deg.

2025-08-11T14:47:17.801Z,1754923637.801 [DAT](INFO): DAT read: 14:47:18.1065 LVL= 27248, 32753, 30434, 32755, AGC= 69, IDX= 406,-0.04,-0.455,-2.192,-0.372,-0.737, PHS= 0.385,-1.410, 0.322, RAW= 148.2,   8.0, CAL= 147.7,   8.7, ROT=   2.3,  -8.7

2025-08-11T14:47:17.802Z,1754923637.802 [DAT](INFO): got valid direction response:
 14:47:18.1065 LVL= 27248, 32753, 30434, 32755, AGC= 69, IDX= 406,-0.04,-0.455,-2.192,-0.372,-0.737, PHS= 0.385,-1.410, 0.322, RAW= 148.2,   8.0, CAL= 147.7,   8.7, ROT=   2.3,  -8.7

2025-08-11T14:47:17.803Z,1754923637.803 [DAT](INFO): DAT read: Bearing 331.4,   2.2 (Local)

2025-08-11T14:47:17.803Z,1754923637.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.4,   2.2 (Local)

2025-08-11T14:47:17.805Z,1754923637.805 [DAT](INFO): DAT read: Range 11 to 50 : 360.4 m  (Round-trip  480.6 ms) speed  0.3 m/s

2025-08-11T14:47:17.805Z,1754923637.805 [DAT](INFO): DAT read: user:105>

2025-08-11T14:47:17.806Z,1754923637.806 [DAT](INFO): DAT read: Tx time:14:47:19.2202

2025-08-11T14:47:17.806Z,1754923637.806 [DAT](INFO): Ping request sent.
2025-08-11T14:47:17.806Z,1754923637.806 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:17.807Z,1754923637.807 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:17.808Z,1754923637.808 [DAT](INFO): direction in FSK: [0.987698,0.039670,0.151261]
2025-08-11T14:47:17.809Z,1754923637.809 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:17.809Z,1754923637.809 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:17.812Z,1754923637.812 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:17.812Z,1754923637.812 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:18.059Z,1754923638.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 360.399994 m,
      deltaT: 3.785902 s,
      deltaX: -2.200012 m,
      approachRate: -0.581106 m/s,
      rangeRepo size: 4

2025-08-11T14:47:18.061Z,1754923638.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 360.399994 m,
      bearing: 177.413464 deg,
      lat: 36.905868 deg,
      lon: -122.116228 deg,
      deltaT: 7.817749 s,
      deltaX: -4.399994 m,
      approachRate: -0.562821 m/s,
      posRepo size: 4

2025-08-11T14:47:18.062Z,1754923638.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:18.077Z,1754923638.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 355.740417 m,
      bearing: 177.413464 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009736 deg/s,
      cmd heading: 173.404091 deg,
      new cmd heading: 173.391960 deg.

2025-08-11T14:47:18.438Z,1754923638.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:18.441Z,1754923638.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:18.444Z,1754923638.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 355.530487 m,
      bearing: 177.410799 deg,
      approach rate: -0.549247 m/s,
      LOS rate: -0.006978 deg/s,
      cmd heading: 173.391961 deg,
      new cmd heading: 173.383959 deg.

2025-08-11T14:47:18.548Z,1754923638.548 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:18.548Z,1754923638.548 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:18.548Z,1754923638.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:18.800Z,1754923638.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993934
2025-08-11T14:47:18.890Z,1754923638.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:18.895Z,1754923638.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 355.270325 m,
      bearing: 177.406918 deg,
      approach rate: -0.578876 m/s,
      LOS rate: -0.008640 deg/s,
      cmd heading: 173.383956 deg,
      new cmd heading: 173.372306 deg.

2025-08-11T14:47:19.052Z,1754923639.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245780
2025-08-11T14:47:19.257Z,1754923639.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:19.260Z,1754923639.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 355.058868 m,
      bearing: 177.403706 deg,
      approach rate: -0.576032 m/s,
      LOS rate: -0.008756 deg/s,
      cmd heading: 173.372304 deg,
      new cmd heading: 173.362661 deg.

2025-08-11T14:47:19.307Z,1754923639.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500333
2025-08-11T14:47:19.556Z,1754923639.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749917
2025-08-11T14:47:19.684Z,1754923639.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:19.687Z,1754923639.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 354.827759 m,
      bearing: 177.400143 deg,
      approach rate: -0.541467 m/s,
      LOS rate: -0.008354 deg/s,
      cmd heading: 173.362659 deg,
      new cmd heading: 173.351963 deg.

2025-08-11T14:47:19.810Z,1754923639.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003723
2025-08-11T14:47:20.060Z,1754923640.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253732
2025-08-11T14:47:20.113Z,1754923640.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:20.120Z,1754923640.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 354.595306 m,
      bearing: 177.396583 deg,
      approach rate: -0.541388 m/s,
      LOS rate: -0.008298 deg/s,
      cmd heading: 173.351963 deg,
      new cmd heading: 173.341275 deg.

2025-08-11T14:47:20.312Z,1754923640.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505703
2025-08-11T14:47:20.470Z,1754923640.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:20.472Z,1754923640.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:20.475Z,1754923640.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 354.379944 m,
      bearing: 177.393261 deg,
      approach rate: -0.600555 m/s,
      LOS rate: -0.009269 deg/s,
      cmd heading: 173.341281 deg,
      new cmd heading: 173.331309 deg.

2025-08-11T14:47:20.565Z,1754923640.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758574
2025-08-11T14:47:20.819Z,1754923640.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012297
2025-08-11T14:47:20.922Z,1754923640.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:20.946Z,1754923640.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 354.135895 m,
      bearing: 177.389661 deg,
      approach rate: -0.542504 m/s,
      LOS rate: -0.008007 deg/s,
      cmd heading: 173.331309 deg,
      new cmd heading: 173.320502 deg.

2025-08-11T14:47:21.069Z,1754923641.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262329
2025-08-11T14:47:21.285Z,1754923641.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:21.287Z,1754923641.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 353.934753 m,
      bearing: 177.386690 deg,
      approach rate: -0.554648 m/s,
      LOS rate: -0.008196 deg/s,
      cmd heading: 173.320503 deg,
      new cmd heading: 173.311587 deg.

2025-08-11T14:47:21.321Z,1754923641.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514125
2025-08-11T14:47:21.572Z,1754923641.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765701
2025-08-11T14:47:21.741Z,1754923641.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:21.761Z,1754923641.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 353.684784 m,
      bearing: 177.382990 deg,
      approach rate: -0.547299 m/s,
      LOS rate: -0.008107 deg/s,
      cmd heading: 173.311583 deg,
      new cmd heading: 173.300474 deg.

2025-08-11T14:47:21.828Z,1754923641.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020974
2025-08-11T14:47:22.076Z,1754923642.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269847
2025-08-11T14:47:22.193Z,1754923642.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:22.196Z,1754923642.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 353.443817 m,
      bearing: 177.378856 deg,
      approach rate: -0.533373 m/s,
      LOS rate: -0.009158 deg/s,
      cmd heading: 173.300477 deg,
      new cmd heading: 173.288066 deg.

2025-08-11T14:47:22.328Z,1754923642.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521641
2025-08-11T14:47:22.533Z,1754923642.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:22.535Z,1754923642.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:22.538Z,1754923642.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 353.261261 m,
      bearing: 177.375772 deg,
      approach rate: -0.533416 m/s,
      LOS rate: -0.009014 deg/s,
      cmd heading: 173.288060 deg,
      new cmd heading: 173.278806 deg.

2025-08-11T14:47:22.580Z,1754923642.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.773778
2025-08-11T14:47:22.838Z,1754923642.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030304
2025-08-11T14:47:22.969Z,1754923642.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:22.988Z,1754923642.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 353.026093 m,
      bearing: 177.371538 deg,
      approach rate: -0.542353 m/s,
      LOS rate: -0.009773 deg/s,
      cmd heading: 173.278812 deg,
      new cmd heading: 173.266100 deg.

2025-08-11T14:47:23.085Z,1754923643.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278069
2025-08-11T14:47:23.333Z,1754923643.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:23.338Z,1754923643.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531391
2025-08-11T14:47:23.342Z,1754923643.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 352.828705 m,
      bearing: 177.368019 deg,
      approach rate: -0.542018 m/s,
      LOS rate: -0.009668 deg/s,
      cmd heading: 173.266094 deg,
      new cmd heading: 173.255532 deg.

2025-08-11T14:47:23.589Z,1754923643.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782752
2025-08-11T14:47:23.730Z,1754923643.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:23.733Z,1754923643.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 352.613617 m,
      bearing: 177.364231 deg,
      approach rate: -0.541694 m/s,
      LOS rate: -0.009545 deg/s,
      cmd heading: 173.255535 deg,
      new cmd heading: 173.244164 deg.

2025-08-11T14:47:23.844Z,1754923643.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037054
2025-08-11T14:47:24.092Z,1754923644.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.285679
2025-08-11T14:47:24.162Z,1754923644.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:24.181Z,1754923644.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 352.382416 m,
      bearing: 177.360097 deg,
      approach rate: -0.535226 m/s,
      LOS rate: -0.009578 deg/s,
      cmd heading: 173.244169 deg,
      new cmd heading: 173.231758 deg.

2025-08-11T14:47:24.345Z,1754923644.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538728
2025-08-11T14:47:24.545Z,1754923644.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:24.547Z,1754923644.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:24.550Z,1754923644.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 352.176086 m,
      bearing: 177.356451 deg,
      approach rate: -0.536430 m/s,
      LOS rate: -0.009483 deg/s,
      cmd heading: 173.231752 deg,
      new cmd heading: 173.220809 deg.

2025-08-11T14:47:24.597Z,1754923644.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790821
2025-08-11T14:47:24.853Z,1754923644.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046179
2025-08-11T14:47:24.977Z,1754923644.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:24.980Z,1754923644.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 351.939148 m,
      bearing: 177.352943 deg,
      approach rate: -0.550989 m/s,
      LOS rate: -0.008165 deg/s,
      cmd heading: 173.220810 deg,
      new cmd heading: 173.210277 deg.

2025-08-11T14:47:25.100Z,1754923645.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.293723
2025-08-11T14:47:25.353Z,1754923645.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546686
2025-08-11T14:47:25.369Z,1754923645.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:25.373Z,1754923645.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 351.724091 m,
      bearing: 177.349800 deg,
      approach rate: -0.547585 m/s,
      LOS rate: -0.008008 deg/s,
      cmd heading: 173.210278 deg,
      new cmd heading: 173.200842 deg.

2025-08-11T14:47:25.604Z,1754923645.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.797986
2025-08-11T14:47:25.748Z,1754923645.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:25.751Z,1754923645.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 351.514618 m,
      bearing: 177.346784 deg,
      approach rate: -0.554626 m/s,
      LOS rate: -0.007990 deg/s,
      cmd heading: 173.200839 deg,
      new cmd heading: 173.191785 deg.

2025-08-11T14:47:25.860Z,1754923645.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052400
2025-08-11T14:47:26.112Z,1754923646.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305256
2025-08-11T14:47:26.194Z,1754923646.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:26.201Z,1754923646.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 351.274323 m,
      bearing: 177.343542 deg,
      approach rate: -0.537606 m/s,
      LOS rate: -0.007258 deg/s,
      cmd heading: 173.191782 deg,
      new cmd heading: 173.182049 deg.

2025-08-11T14:47:26.361Z,1754923646.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554829
2025-08-11T14:47:26.573Z,1754923646.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:26.575Z,1754923646.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:26.578Z,1754923646.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 351.063293 m,
      bearing: 177.340761 deg,
      approach rate: -0.554351 m/s,
      LOS rate: -0.007309 deg/s,
      cmd heading: 173.182056 deg,
      new cmd heading: 173.173709 deg.

2025-08-11T14:47:26.612Z,1754923646.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.805972
2025-08-11T14:47:26.867Z,1754923646.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060165
2025-08-11T14:47:27.003Z,1754923647.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:27.006Z,1754923647.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 350.829224 m,
      bearing: 177.337825 deg,
      approach rate: -0.546957 m/s,
      LOS rate: -0.006866 deg/s,
      cmd heading: 173.173709 deg,
      new cmd heading: 173.164894 deg.

2025-08-11T14:47:27.116Z,1754923647.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.309980
2025-08-11T14:47:27.368Z,1754923647.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.561839
2025-08-11T14:47:27.377Z,1754923647.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:27.381Z,1754923647.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 350.624756 m,
      bearing: 177.335424 deg,
      approach rate: -0.546089 m/s,
      LOS rate: -0.006415 deg/s,
      cmd heading: 173.164898 deg,
      new cmd heading: 173.157693 deg.

2025-08-11T14:47:27.620Z,1754923647.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.813654
2025-08-11T14:47:27.765Z,1754923647.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:27.768Z,1754923647.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 350.413147 m,
      bearing: 177.333023 deg,
      approach rate: -0.546092 m/s,
      LOS rate: -0.006201 deg/s,
      cmd heading: 173.157699 deg,
      new cmd heading: 173.150491 deg.

2025-08-11T14:47:27.873Z,1754923647.873 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:27.873Z,1754923647.873 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:27.873Z,1754923647.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:28.124Z,1754923648.124 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:28.124Z,1754923648.124 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:28.124Z,1754923648.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:28.231Z,1754923648.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:28.237Z,1754923648.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 350.166168 m,
      bearing: 177.330988 deg,
      approach rate: -0.530150 m/s,
      LOS rate: -0.004372 deg/s,
      cmd heading: 173.150486 deg,
      new cmd heading: 173.144377 deg.

2025-08-11T14:47:28.376Z,1754923648.376 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:28.376Z,1754923648.376 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:28.376Z,1754923648.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:28.574Z,1754923648.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:28.577Z,1754923648.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 349.976196 m,
      bearing: 177.329501 deg,
      approach rate: -0.552295 m/s,
      LOS rate: -0.004325 deg/s,
      cmd heading: 173.144380 deg,
      new cmd heading: 173.139917 deg.

2025-08-11T14:47:28.629Z,1754923648.629 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:28.629Z,1754923648.629 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:28.629Z,1754923648.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:28.882Z,1754923648.882 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:28.882Z,1754923648.882 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:28.884Z,1754923648.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:29.036Z,1754923649.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:29.038Z,1754923649.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:29.046Z,1754923649.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 349.728241 m,
      bearing: 177.328689 deg,
      approach rate: -0.534720 m/s,
      LOS rate: -0.001752 deg/s,
      cmd heading: 173.139913 deg,
      new cmd heading: 173.137475 deg.

2025-08-11T14:47:29.132Z,1754923649.132 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:29.132Z,1754923649.132 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:29.132Z,1754923649.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:29.384Z,1754923649.384 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:29.384Z,1754923649.384 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:29.384Z,1754923649.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:29.403Z,1754923649.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:29.406Z,1754923649.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 349.523712 m,
      bearing: 177.328165 deg,
      approach rate: -0.560390 m/s,
      LOS rate: -0.001437 deg/s,
      cmd heading: 173.137482 deg,
      new cmd heading: 173.135908 deg.

2025-08-11T14:47:29.636Z,1754923649.636 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:29.636Z,1754923649.636 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:29.637Z,1754923649.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:29.785Z,1754923649.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:29.788Z,1754923649.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 349.299011 m,
      bearing: 177.327676 deg,
      approach rate: -0.588885 m/s,
      LOS rate: -0.001281 deg/s,
      cmd heading: 173.135911 deg,
      new cmd heading: 173.134445 deg.

2025-08-11T14:47:29.889Z,1754923649.889 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:29.889Z,1754923649.889 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:29.890Z,1754923649.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:30.140Z,1754923650.140 [DAT](INFO): Reached modem response timeout
2025-08-11T14:47:30.140Z,1754923650.140 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:47:30.140Z,1754923650.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:30.246Z,1754923650.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:30.250Z,1754923650.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 349.041748 m,
      bearing: 177.327971 deg,
      approach rate: -0.557548 m/s,
      LOS rate: 0.000639 deg/s,
      cmd heading: 173.134449 deg,
      new cmd heading: 173.135334 deg.

2025-08-11T14:47:30.392Z,1754923650.392 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:47:30.393Z,1754923650.393 [DAT](INFO): response not received
2025-08-11T14:47:30.393Z,1754923650.393 [DAT](INFO): DAT read: user:106>

2025-08-11T14:47:30.394Z,1754923650.394 [DAT](INFO): DAT read: Tx time:14:47:31.6717

2025-08-11T14:47:30.394Z,1754923650.394 [DAT](INFO): Ping request sent.
2025-08-11T14:47:30.394Z,1754923650.394 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:30.394Z,1754923650.394 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:30.398Z,1754923650.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-11T14:47:30.592Z,1754923650.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:30.595Z,1754923650.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 348.844666 m,
      bearing: 177.328171 deg,
      approach rate: -0.569323 m/s,
      LOS rate: 0.000579 deg/s,
      cmd heading: 173.135337 deg,
      new cmd heading: 173.135938 deg.

2025-08-11T14:47:30.645Z,1754923650.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864
2025-08-11T14:47:30.898Z,1754923650.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503783
2025-08-11T14:47:31.042Z,1754923651.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:31.044Z,1754923651.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:31.047Z,1754923651.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 348.591339 m,
      bearing: 177.327295 deg,
      approach rate: -0.560887 m/s,
      LOS rate: -0.001941 deg/s,
      cmd heading: 173.135938 deg,
      new cmd heading: 173.133308 deg.

2025-08-11T14:47:31.149Z,1754923651.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754558
2025-08-11T14:47:31.400Z,1754923651.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005982
2025-08-11T14:47:31.420Z,1754923651.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:31.422Z,1754923651.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 348.391144 m,
      bearing: 177.326517 deg,
      approach rate: -0.539058 m/s,
      LOS rate: -0.002097 deg/s,
      cmd heading: 173.133315 deg,
      new cmd heading: 173.130978 deg.

2025-08-11T14:47:31.652Z,1754923651.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258071
2025-08-11T14:47:31.808Z,1754923651.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:31.811Z,1754923651.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 348.161591 m,
      bearing: 177.325552 deg,
      approach rate: -0.584130 m/s,
      LOS rate: -0.002458 deg/s,
      cmd heading: 173.130979 deg,
      new cmd heading: 173.128082 deg.

2025-08-11T14:47:31.905Z,1754923651.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510664
2025-08-11T14:47:32.156Z,1754923652.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761960
2025-08-11T14:47:32.243Z,1754923652.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:32.246Z,1754923652.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 347.924652 m,
      bearing: 177.322945 deg,
      approach rate: -0.545283 m/s,
      LOS rate: -0.006004 deg/s,
      cmd heading: 173.128083 deg,
      new cmd heading: 173.120257 deg.

2025-08-11T14:47:32.408Z,1754923652.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014140
2025-08-11T14:47:32.623Z,1754923652.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:32.626Z,1754923652.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 347.717377 m,
      bearing: 177.320569 deg,
      approach rate: -0.545364 m/s,
      LOS rate: -0.006255 deg/s,
      cmd heading: 173.120256 deg,
      new cmd heading: 173.113124 deg.

2025-08-11T14:47:32.661Z,1754923652.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266821
2025-08-11T14:47:32.913Z,1754923652.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518713
2025-08-11T14:47:33.060Z,1754923653.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:33.062Z,1754923653.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:33.065Z,1754923653.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 347.474487 m,
      bearing: 177.317655 deg,
      approach rate: -0.553383 m/s,
      LOS rate: -0.006644 deg/s,
      cmd heading: 173.113125 deg,
      new cmd heading: 173.104377 deg.

2025-08-11T14:47:33.165Z,1754923653.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770418
2025-08-11T14:47:33.416Z,1754923653.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022175
2025-08-11T14:47:33.422Z,1754923653.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:33.441Z,1754923653.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 347.275421 m,
      bearing: 177.315175 deg,
      approach rate: -0.552478 m/s,
      LOS rate: -0.006886 deg/s,
      cmd heading: 173.104383 deg,
      new cmd heading: 173.096939 deg.

2025-08-11T14:47:33.669Z,1754923653.669 [DAT](INFO): DAT read: Rx Time:14:47:34.5443

2025-08-11T14:47:33.669Z,1754923653.669 [DAT](INFO): Rx dataTimestamp_ set to:1754923653.668750
2025-08-11T14:47:33.670Z,1754923653.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275479
2025-08-11T14:47:33.848Z,1754923653.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:33.850Z,1754923653.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 347.041992 m,
      bearing: 177.312156 deg,
      approach rate: -0.548397 m/s,
      LOS rate: -0.007098 deg/s,
      cmd heading: 173.096938 deg,
      new cmd heading: 173.087874 deg.

2025-08-11T14:47:33.922Z,1754923653.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527419
2025-08-11T14:47:34.175Z,1754923654.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780588
2025-08-11T14:47:34.308Z,1754923654.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.40 m.
2025-08-11T14:47:34.316Z,1754923654.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.399994 m,
      nav range: 346.804169 m,
      bearing: 177.308055 deg,
      approach rate: -0.516838 m/s,
      LOS rate: -0.008917 deg/s,
      cmd heading: 173.087867 deg,
      new cmd heading: 173.075557 deg.

2025-08-11T14:47:34.431Z,1754923654.431 [DAT](INFO): DAT read: 14:47:34.5443 LVL= 25072, 32753, 31538, 32755, AGC= 70, IDX= 281, 0.31,-2.210, 2.292,-2.050,-2.498, PHS= 0.390,-1.448, 0.405, RAW= 150.4,   7.1, CAL= 149.8,   7.6, ROT=   0.2,  -7.6

2025-08-11T14:47:34.432Z,1754923654.432 [DAT](INFO): got valid direction response:
 14:47:34.5443 LVL= 25072, 32753, 31538, 32755, AGC= 70, IDX= 281, 0.31,-2.210, 2.292,-2.050,-2.498, PHS= 0.390,-1.448, 0.405, RAW= 150.4,   7.1, CAL= 149.8,   7.6, ROT=   0.2,  -7.6

2025-08-11T14:47:34.433Z,1754923654.433 [DAT](INFO): DAT read: Bearing 330.2,  -0.9 (Local)

2025-08-11T14:47:34.433Z,1754923654.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.2,  -0.9 (Local)

2025-08-11T14:47:34.435Z,1754923654.435 [DAT](INFO): DAT read: Range 11 to 50 : 351.3 m  (Round-trip  468.4 ms) speed  0.4 m/s

2025-08-11T14:47:34.444Z,1754923654.444 [DAT](INFO): DAT read: user:107>

2025-08-11T14:47:34.445Z,1754923654.445 [DAT](INFO): DAT read: Tx time:14:47:35.6702

2025-08-11T14:47:34.445Z,1754923654.445 [DAT](INFO): Ping request sent.
2025-08-11T14:47:34.445Z,1754923654.445 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:34.446Z,1754923654.446 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:34.446Z,1754923654.446 [DAT](INFO): direction in FSK: [0.991210,0.003460,0.132256]
2025-08-11T14:47:34.447Z,1754923654.447 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:34.454Z,1754923654.454 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:34.471Z,1754923654.471 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:34.472Z,1754923654.472 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:34.775Z,1754923654.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 351.299988 m,
      deltaT: 16.631307 s,
      deltaX: -9.100006 m,
      approachRate: -0.547161 m/s,
      rangeRepo size: 4

2025-08-11T14:47:34.777Z,1754923654.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 351.299988 m,
      bearing: 177.311047 deg,
      lat: 36.905859 deg,
      lon: -122.116228 deg,
      deltaT: 16.631307 s,
      deltaX: -9.100006 m,
      approachRate: -0.547161 m/s,
      posRepo size: 4

2025-08-11T14:47:34.778Z,1754923654.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m.
2025-08-11T14:47:34.780Z,1754923654.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.299988 m,
      nav range: 347.499878 m,
      bearing: 177.311047 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008917 deg/s,
      cmd heading: 173.075559 deg,
      new cmd heading: 173.063092 deg.

2025-08-11T14:47:35.152Z,1754923655.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:35.154Z,1754923655.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m.
2025-08-11T14:47:35.161Z,1754923655.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.299988 m,
      nav range: 347.270813 m,
      bearing: 177.307275 deg,
      approach rate: -0.602617 m/s,
      LOS rate: -0.009931 deg/s,
      cmd heading: 173.063087 deg,
      new cmd heading: 173.051763 deg.

2025-08-11T14:47:35.180Z,1754923655.180 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:35.180Z,1754923655.180 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:35.180Z,1754923655.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:35.432Z,1754923655.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987242
2025-08-11T14:47:35.524Z,1754923655.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m.
2025-08-11T14:47:35.527Z,1754923655.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.299988 m,
      nav range: 347.050079 m,
      bearing: 177.303676 deg,
      approach rate: -0.596030 m/s,
      LOS rate: -0.009723 deg/s,
      cmd heading: 173.051763 deg,
      new cmd heading: 173.040960 deg.

2025-08-11T14:47:35.684Z,1754923655.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238926
2025-08-11T14:47:35.937Z,1754923655.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491544
2025-08-11T14:47:35.952Z,1754923655.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m.
2025-08-11T14:47:35.955Z,1754923655.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.299988 m,
      nav range: 346.818665 m,
      bearing: 177.299949 deg,
      approach rate: -0.541108 m/s,
      LOS rate: -0.008719 deg/s,
      cmd heading: 173.040957 deg,
      new cmd heading: 173.029770 deg.

2025-08-11T14:47:36.188Z,1754923656.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742818
2025-08-11T14:47:36.372Z,1754923656.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m.
2025-08-11T14:47:36.374Z,1754923656.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.299988 m,
      nav range: 346.572479 m,
      bearing: 177.295502 deg,
      approach rate: -0.587246 m/s,
      LOS rate: -0.010617 deg/s,
      cmd heading: 173.029770 deg,
      new cmd heading: 173.016417 deg.

2025-08-11T14:47:36.440Z,1754923656.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995112
2025-08-11T14:47:36.692Z,1754923656.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246815
2025-08-11T14:47:36.737Z,1754923656.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m.
2025-08-11T14:47:36.744Z,1754923656.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.299988 m,
      nav range: 346.378296 m,
      bearing: 177.292036 deg,
      approach rate: -0.530708 m/s,
      LOS rate: -0.009478 deg/s,
      cmd heading: 173.016410 deg,
      new cmd heading: 173.006006 deg.

2025-08-11T14:47:36.945Z,1754923656.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499909
2025-08-11T14:47:37.161Z,1754923657.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:37.163Z,1754923657.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m.
2025-08-11T14:47:37.170Z,1754923657.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.299988 m,
      nav range: 346.135590 m,
      bearing: 177.288306 deg,
      approach rate: -0.570294 m/s,
      LOS rate: -0.008769 deg/s,
      cmd heading: 173.006001 deg,
      new cmd heading: 172.994805 deg.

2025-08-11T14:47:37.196Z,1754923657.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751089
2025-08-11T14:47:37.448Z,1754923657.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003009
2025-08-11T14:47:37.533Z,1754923657.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m.
2025-08-11T14:47:37.536Z,1754923657.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.299988 m,
      nav range: 345.912354 m,
      bearing: 177.284938 deg,
      approach rate: -0.602789 m/s,
      LOS rate: -0.009102 deg/s,
      cmd heading: 172.994799 deg,
      new cmd heading: 172.984687 deg.

2025-08-11T14:47:37.700Z,1754923657.700 [DAT](INFO): DAT read: Rx Time:14:47:38.5398

2025-08-11T14:47:37.701Z,1754923657.701 [DAT](INFO): Rx dataTimestamp_ set to:1754923657.700610
2025-08-11T14:47:37.701Z,1754923657.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256229
2025-08-11T14:47:37.952Z,1754923657.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507051
2025-08-11T14:47:37.960Z,1754923657.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 351.30 m.
2025-08-11T14:47:37.963Z,1754923657.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 351.299988 m,
      nav range: 345.667175 m,
      bearing: 177.281336 deg,
      approach rate: -0.574429 m/s,
      LOS rate: -0.008446 deg/s,
      cmd heading: 172.984690 deg,
      new cmd heading: 172.973876 deg.

2025-08-11T14:47:38.216Z,1754923658.216 [DAT](INFO): DAT read: 14:47:38.5398 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411,-0.26, 2.497, 0.664, 2.587, 2.237, PHS= 0.363,-1.527, 0.306, RAW= 148.5,   9.3, CAL= 148.1,  10.1, ROT=   1.9, -10.1

2025-08-11T14:47:38.217Z,1754923658.217 [DAT](INFO): got valid direction response:
 14:47:38.5398 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411,-0.26, 2.497, 0.664, 2.587, 2.237, PHS= 0.363,-1.527, 0.306, RAW= 148.5,   9.3, CAL= 148.1,  10.1, ROT=   1.9, -10.1

2025-08-11T14:47:38.218Z,1754923658.218 [DAT](INFO): DAT read: Bearing 332.7,  -0.0 (Local)

2025-08-11T14:47:38.218Z,1754923658.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,  -0.0 (Local)

2025-08-11T14:47:38.220Z,1754923658.220 [DAT](INFO): DAT read: Range 11 to 50 : 349.1 m  (Round-trip  465.5 ms) speed  0.7 m/s

2025-08-11T14:47:38.220Z,1754923658.220 [DAT](INFO): DAT read: user:108>

2025-08-11T14:47:38.221Z,1754923658.221 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:38.222Z,1754923658.222 [DAT](INFO): direction in FSK: [0.983962,0.032641,0.175367]
2025-08-11T14:47:38.222Z,1754923658.222 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:38.225Z,1754923658.225 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:38.225Z,1754923658.225 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:38.226Z,1754923658.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:38.430Z,1754923658.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 349.100006 m,
      deltaT: 3.780183 s,
      deltaX: -2.199982 m,
      approachRate: -0.581978 m/s,
      rangeRepo size: 4

2025-08-11T14:47:38.436Z,1754923658.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 349.100006 m,
      bearing: 176.460075 deg,
      lat: 36.905866 deg,
      lon: -122.116173 deg,
      deltaT: 3.780183 s,
      deltaX: -2.199982 m,
      approachRate: -0.581978 m/s,
      posRepo size: 4

2025-08-11T14:47:38.437Z,1754923658.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.10 m.
2025-08-11T14:47:38.444Z,1754923658.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.100006 m,
      nav range: 344.978577 m,
      bearing: 176.460075 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008446 deg/s,
      cmd heading: 172.973871 deg,
      new cmd heading: 172.961983 deg.

2025-08-11T14:47:38.456Z,1754923658.456 [DAT](INFO): DAT read: Tx time:14:47:39.6702

2025-08-11T14:47:38.457Z,1754923658.457 [DAT](INFO): Ping request sent.
2025-08-11T14:47:38.457Z,1754923658.457 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:38.457Z,1754923658.457 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:38.457Z,1754923658.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-08-11T14:47:38.709Z,1754923658.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252455
2025-08-11T14:47:38.793Z,1754923658.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.10 m.
2025-08-11T14:47:38.796Z,1754923658.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.100006 m,
      nav range: 344.755554 m,
      bearing: 176.456214 deg,
      approach rate: -0.613635 m/s,
      LOS rate: -0.010628 deg/s,
      cmd heading: 172.961987 deg,
      new cmd heading: 172.950399 deg.

2025-08-11T14:47:38.960Z,1754923658.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503360
2025-08-11T14:47:39.190Z,1754923659.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:39.193Z,1754923659.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.10 m.
2025-08-11T14:47:39.212Z,1754923659.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755380
2025-08-11T14:47:39.213Z,1754923659.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.100006 m,
      nav range: 344.522919 m,
      bearing: 176.452390 deg,
      approach rate: -0.581484 m/s,
      LOS rate: -0.009566 deg/s,
      cmd heading: 172.950403 deg,
      new cmd heading: 172.938922 deg.

2025-08-11T14:47:39.464Z,1754923659.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007530
2025-08-11T14:47:39.592Z,1754923659.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.10 m.
2025-08-11T14:47:39.596Z,1754923659.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.100006 m,
      nav range: 344.299438 m,
      bearing: 176.448702 deg,
      approach rate: -0.559109 m/s,
      LOS rate: -0.009232 deg/s,
      cmd heading: 172.938928 deg,
      new cmd heading: 172.927858 deg.

2025-08-11T14:47:39.716Z,1754923659.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259335
2025-08-11T14:47:39.968Z,1754923659.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511418
2025-08-11T14:47:39.999Z,1754923659.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.10 m.
2025-08-11T14:47:40.017Z,1754923660.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.100006 m,
      nav range: 344.053436 m,
      bearing: 176.444638 deg,
      approach rate: -0.605592 m/s,
      LOS rate: -0.010014 deg/s,
      cmd heading: 172.927863 deg,
      new cmd heading: 172.915660 deg.

2025-08-11T14:47:40.220Z,1754923660.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763447
2025-08-11T14:47:40.420Z,1754923660.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.10 m.
2025-08-11T14:47:40.423Z,1754923660.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.100006 m,
      nav range: 343.815857 m,
      bearing: 176.441058 deg,
      approach rate: -0.563553 m/s,
      LOS rate: -0.008497 deg/s,
      cmd heading: 172.915664 deg,
      new cmd heading: 172.904919 deg.

2025-08-11T14:47:40.472Z,1754923660.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015664
2025-08-11T14:47:40.724Z,1754923660.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267639
2025-08-11T14:47:40.873Z,1754923660.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.10 m.
2025-08-11T14:47:40.876Z,1754923660.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.100006 m,
      nav range: 343.566742 m,
      bearing: 176.437247 deg,
      approach rate: -0.550415 m/s,
      LOS rate: -0.008427 deg/s,
      cmd heading: 172.904914 deg,
      new cmd heading: 172.893471 deg.

2025-08-11T14:47:40.981Z,1754923660.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524372
2025-08-11T14:47:41.232Z,1754923661.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775379
2025-08-11T14:47:41.332Z,1754923661.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:41.334Z,1754923661.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.10 m.
2025-08-11T14:47:41.341Z,1754923661.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.100006 m,
      nav range: 343.324219 m,
      bearing: 176.434795 deg,
      approach rate: -0.526308 m/s,
      LOS rate: -0.005324 deg/s,
      cmd heading: 172.893466 deg,
      new cmd heading: 172.886106 deg.

2025-08-11T14:47:41.484Z,1754923661.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027319
2025-08-11T14:47:41.736Z,1754923661.736 [DAT](INFO): DAT read: Rx Time:14:47:42.5367

2025-08-11T14:47:41.737Z,1754923661.737 [DAT](INFO): Rx dataTimestamp_ set to:1754923661.736424
2025-08-11T14:47:41.737Z,1754923661.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280542
2025-08-11T14:47:41.861Z,1754923661.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 349.10 m.
2025-08-11T14:47:41.868Z,1754923661.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 349.100006 m,
      nav range: 342.999268 m,
      bearing: 176.431541 deg,
      approach rate: -0.616222 m/s,
      LOS rate: -0.006177 deg/s,
      cmd heading: 172.886103 deg,
      new cmd heading: 172.876331 deg.

2025-08-11T14:47:41.988Z,1754923661.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531391
2025-08-11T14:47:42.249Z,1754923662.249 [DAT](INFO): DAT read: 14:47:42.5367 LVL= 30016, 32753, 32754, 32755, AGC= 69, IDX= 411, 0.20, 1.244,-0.538, 1.322, 0.927, PHS= 0.419,-1.420, 0.352, RAW= 148.1,   7.2, CAL= 147.6,   7.8, ROT=   2.4,  -7.8

2025-08-11T14:47:42.250Z,1754923662.250 [DAT](INFO): got valid direction response:
 14:47:42.5367 LVL= 30016, 32753, 32754, 32755, AGC= 69, IDX= 411, 0.20, 1.244,-0.538, 1.322, 0.927, PHS= 0.419,-1.420, 0.352, RAW= 148.1,   7.2, CAL= 147.6,   7.8, ROT=   2.4,  -7.8

2025-08-11T14:47:42.251Z,1754923662.251 [DAT](INFO): DAT read: Bearing 330.6,   0.3 (Local)

2025-08-11T14:47:42.251Z,1754923662.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.6,   0.3 (Local)

2025-08-11T14:47:42.253Z,1754923662.253 [DAT](INFO): DAT read: Range 11 to 50 : 346.8 m  (Round-trip  462.4 ms) speed  0.5 m/s

2025-08-11T14:47:42.254Z,1754923662.254 [DAT](INFO): DAT read: user:109>

2025-08-11T14:47:42.254Z,1754923662.254 [DAT](INFO): DAT read: Tx time:14:47:43.6202

2025-08-11T14:47:42.255Z,1754923662.255 [DAT](INFO): Ping request sent.
2025-08-11T14:47:42.255Z,1754923662.255 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:42.263Z,1754923662.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:42.264Z,1754923662.264 [DAT](INFO): direction in FSK: [0.989879,0.041488,0.135716]
2025-08-11T14:47:42.264Z,1754923662.264 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:42.265Z,1754923662.265 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:42.272Z,1754923662.272 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:42.273Z,1754923662.273 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:42.369Z,1754923662.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 346.799988 m,
      deltaT: 4.037683 s,
      deltaX: -2.300018 m,
      approachRate: -0.569638 m/s,
      rangeRepo size: 4

2025-08-11T14:47:42.371Z,1754923662.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 346.799988 m,
      bearing: 176.146347 deg,
      lat: 36.905866 deg,
      lon: -122.116154 deg,
      deltaT: 4.037683 s,
      deltaX: -2.300018 m,
      approachRate: -0.569638 m/s,
      posRepo size: 4

2025-08-11T14:47:42.380Z,1754923662.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:42.382Z,1754923662.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 342.837433 m,
      bearing: 176.146347 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006177 deg/s,
      cmd heading: 172.876336 deg,
      new cmd heading: 172.866941 deg.

2025-08-11T14:47:42.659Z,1754923662.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:42.662Z,1754923662.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 342.662018 m,
      bearing: 176.144741 deg,
      approach rate: -0.602401 m/s,
      LOS rate: -0.005519 deg/s,
      cmd heading: 172.866938 deg,
      new cmd heading: 172.862117 deg.

2025-08-11T14:47:43.065Z,1754923663.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:43.068Z,1754923663.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 342.437012 m,
      bearing: 176.142652 deg,
      approach rate: -0.554470 m/s,
      LOS rate: -0.005151 deg/s,
      cmd heading: 172.862116 deg,
      new cmd heading: 172.855845 deg.

2025-08-11T14:47:43.494Z,1754923663.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:43.496Z,1754923663.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:43.499Z,1754923663.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 342.195709 m,
      bearing: 176.141306 deg,
      approach rate: -0.559630 m/s,
      LOS rate: -0.003125 deg/s,
      cmd heading: 172.855846 deg,
      new cmd heading: 172.851803 deg.

2025-08-11T14:47:43.504Z,1754923663.504 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:43.504Z,1754923663.504 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:43.504Z,1754923663.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:43.760Z,1754923663.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504986
2025-08-11T14:47:43.896Z,1754923663.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:43.898Z,1754923663.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 341.975861 m,
      bearing: 176.140030 deg,
      approach rate: -0.556168 m/s,
      LOS rate: -0.003228 deg/s,
      cmd heading: 172.851802 deg,
      new cmd heading: 172.847974 deg.

2025-08-11T14:47:44.009Z,1754923664.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754570
2025-08-11T14:47:44.260Z,1754923664.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005428
2025-08-11T14:47:44.359Z,1754923664.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:44.366Z,1754923664.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 341.735840 m,
      bearing: 176.138594 deg,
      approach rate: -0.513568 m/s,
      LOS rate: -0.003076 deg/s,
      cmd heading: 172.847977 deg,
      new cmd heading: 172.843665 deg.

2025-08-11T14:47:44.512Z,1754923664.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257620
2025-08-11T14:47:44.764Z,1754923664.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509440
2025-08-11T14:47:44.784Z,1754923664.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:44.814Z,1754923664.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 341.536713 m,
      bearing: 176.137301 deg,
      approach rate: -0.523417 m/s,
      LOS rate: -0.003401 deg/s,
      cmd heading: 172.843661 deg,
      new cmd heading: 172.839779 deg.

2025-08-11T14:47:45.016Z,1754923665.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761314
2025-08-11T14:47:45.233Z,1754923665.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:45.236Z,1754923665.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 341.251801 m,
      bearing: 176.135842 deg,
      approach rate: -0.576379 m/s,
      LOS rate: -0.002954 deg/s,
      cmd heading: 172.839781 deg,
      new cmd heading: 172.835401 deg.

2025-08-11T14:47:45.268Z,1754923665.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013541
2025-08-11T14:47:45.520Z,1754923665.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265760
2025-08-11T14:47:45.593Z,1754923665.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:45.595Z,1754923665.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:45.598Z,1754923665.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 341.057068 m,
      bearing: 176.134735 deg,
      approach rate: -0.538702 m/s,
      LOS rate: -0.003064 deg/s,
      cmd heading: 172.835396 deg,
      new cmd heading: 172.832074 deg.

2025-08-11T14:47:45.772Z,1754923665.772 [DAT](INFO): DAT read: Rx Time:14:47:46.4838

2025-08-11T14:47:45.773Z,1754923665.773 [DAT](INFO): Rx dataTimestamp_ set to:1754923665.772287
2025-08-11T14:47:45.773Z,1754923665.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518416
2025-08-11T14:47:46.008Z,1754923666.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 346.80 m.
2025-08-11T14:47:46.011Z,1754923666.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 346.799988 m,
      nav range: 340.842834 m,
      bearing: 176.133399 deg,
      approach rate: -0.518608 m/s,
      LOS rate: -0.003237 deg/s,
      cmd heading: 172.832077 deg,
      new cmd heading: 172.828065 deg.

2025-08-11T14:47:46.024Z,1754923666.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769560
2025-08-11T14:47:46.289Z,1754923666.289 [DAT](INFO): DAT read: 14:47:46.4838 LVL= 28976, 32753, 31346, 32755, AGC= 74, IDX= 414, 0.11,-1.697, 2.726,-1.529,-2.005, PHS= 0.410,-1.507, 0.433, RAW= 150.6,   6.9, CAL= 150.0,   7.4, ROT=   0.0,  -7.4

2025-08-11T14:47:46.294Z,1754923666.294 [DAT](INFO): got valid direction response:
 14:47:46.4838 LVL= 28976, 32753, 31346, 32755, AGC= 74, IDX= 414, 0.11,-1.697, 2.726,-1.529,-2.005, PHS= 0.410,-1.507, 0.433, RAW= 150.6,   6.9, CAL= 150.0,   7.4, ROT=   0.0,  -7.4

2025-08-11T14:47:46.295Z,1754923666.295 [DAT](INFO): DAT read: Bearing 330.6,  -1.4 (Local)

2025-08-11T14:47:46.296Z,1754923666.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.6,  -1.4 (Local)

2025-08-11T14:47:46.298Z,1754923666.298 [DAT](INFO): DAT read: Range 11 to 50 : 344.6 m  (Round-trip  459.5 ms) speed  0.4 m/s

2025-08-11T14:47:46.299Z,1754923666.299 [DAT](INFO): DAT read: user:110>

2025-08-11T14:47:46.301Z,1754923666.301 [DAT](INFO): DAT read: Tx time:14:47:47.5702

2025-08-11T14:47:46.301Z,1754923666.301 [DAT](INFO): Ping request sent.
2025-08-11T14:47:46.301Z,1754923666.301 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:46.302Z,1754923666.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:46.316Z,1754923666.316 [DAT](INFO): direction in FSK: [0.991671,0.000000,0.128796]
2025-08-11T14:47:46.316Z,1754923666.316 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:46.317Z,1754923666.317 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:46.361Z,1754923666.361 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:46.362Z,1754923666.362 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:46.493Z,1754923666.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 344.600006 m,
      deltaT: 4.035121 s,
      deltaX: -2.199982 m,
      approachRate: -0.545208 m/s,
      rangeRepo size: 4

2025-08-11T14:47:46.495Z,1754923666.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 344.600006 m,
      bearing: 175.655140 deg,
      lat: 36.905859 deg,
      lon: -122.116122 deg,
      deltaT: 4.035121 s,
      deltaX: -2.199982 m,
      approachRate: -0.545208 m/s,
      posRepo size: 4

2025-08-11T14:47:46.499Z,1754923666.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:46.502Z,1754923666.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 341.479156 m,
      bearing: 175.655140 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003237 deg/s,
      cmd heading: 172.828060 deg,
      new cmd heading: 172.823363 deg.

2025-08-11T14:47:46.844Z,1754923666.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:46.847Z,1754923666.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 341.277802 m,
      bearing: 175.652197 deg,
      approach rate: -0.571796 m/s,
      LOS rate: -0.008363 deg/s,
      cmd heading: 172.823361 deg,
      new cmd heading: 172.814526 deg.

2025-08-11T14:47:47.267Z,1754923667.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:47.270Z,1754923667.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 341.048981 m,
      bearing: 175.648305 deg,
      approach rate: -0.541197 m/s,
      LOS rate: -0.009210 deg/s,
      cmd heading: 172.814523 deg,
      new cmd heading: 172.802840 deg.

2025-08-11T14:47:47.689Z,1754923667.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:47.691Z,1754923667.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:47.694Z,1754923667.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 340.819733 m,
      bearing: 175.644343 deg,
      approach rate: -0.540664 m/s,
      LOS rate: -0.009352 deg/s,
      cmd heading: 172.802843 deg,
      new cmd heading: 172.790947 deg.

2025-08-11T14:47:47.789Z,1754923667.789 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:47.790Z,1754923667.790 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:47.790Z,1754923667.790 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:48.040Z,1754923668.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738774
2025-08-11T14:47:48.074Z,1754923668.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:48.081Z,1754923668.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 340.616638 m,
      bearing: 175.640789 deg,
      approach rate: -0.530105 m/s,
      LOS rate: -0.009281 deg/s,
      cmd heading: 172.790945 deg,
      new cmd heading: 172.780279 deg.

2025-08-11T14:47:48.294Z,1754923668.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992234
2025-08-11T14:47:48.471Z,1754923668.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:48.474Z,1754923668.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 340.388275 m,
      bearing: 175.635329 deg,
      approach rate: -0.574925 m/s,
      LOS rate: -0.013756 deg/s,
      cmd heading: 172.780276 deg,
      new cmd heading: 172.763884 deg.

2025-08-11T14:47:48.545Z,1754923668.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243911
2025-08-11T14:47:48.797Z,1754923668.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495000
2025-08-11T14:47:48.884Z,1754923668.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:48.886Z,1754923668.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 340.155640 m,
      bearing: 175.629750 deg,
      approach rate: -0.563663 m/s,
      LOS rate: -0.013526 deg/s,
      cmd heading: 172.763884 deg,
      new cmd heading: 172.747137 deg.

2025-08-11T14:47:49.048Z,1754923669.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746860
2025-08-11T14:47:49.301Z,1754923669.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000055
2025-08-11T14:47:49.322Z,1754923669.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:49.329Z,1754923669.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 339.897217 m,
      bearing: 175.622762 deg,
      approach rate: -0.589795 m/s,
      LOS rate: -0.015962 deg/s,
      cmd heading: 172.747136 deg,
      new cmd heading: 172.726154 deg.

2025-08-11T14:47:49.552Z,1754923669.552 [DAT](INFO): DAT read: Rx Time:14:47:50.4307

2025-08-11T14:47:49.553Z,1754923669.553 [DAT](INFO): Rx dataTimestamp_ set to:1754923669.552326
2025-08-11T14:47:49.553Z,1754923669.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251973
2025-08-11T14:47:49.657Z,1754923669.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:49.680Z,1754923669.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 339.693787 m,
      bearing: 175.617253 deg,
      approach rate: -0.608027 m/s,
      LOS rate: -0.016474 deg/s,
      cmd heading: 172.726154 deg,
      new cmd heading: 172.709619 deg.

2025-08-11T14:47:49.805Z,1754923669.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503715
2025-08-11T14:47:50.059Z,1754923670.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757660
2025-08-11T14:47:50.130Z,1754923670.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:50.138Z,1754923670.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.60 m.
2025-08-11T14:47:50.145Z,1754923670.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.600006 m,
      nav range: 339.409668 m,
      bearing: 175.609567 deg,
      approach rate: -0.590264 m/s,
      LOS rate: -0.015983 deg/s,
      cmd heading: 172.709625 deg,
      new cmd heading: 172.686546 deg.

2025-08-11T14:47:50.316Z,1754923670.316 [DAT](INFO): DAT read: 14:47:50.4307 LVL= 29888, 32753, 31538, 32755, AGC= 71, IDX= 414, 0.07,-0.510,-2.268,-0.382,-0.834, PHS= 0.427,-1.389, 0.408, RAW= 149.5,   6.2, CAL= 148.9,   6.5, ROT=   1.1,  -6.5

2025-08-11T14:47:50.317Z,1754923670.317 [DAT](INFO): got valid direction response:
 14:47:50.4307 LVL= 29888, 32753, 31538, 32755, AGC= 71, IDX= 414, 0.07,-0.510,-2.268,-0.382,-0.834, PHS= 0.427,-1.389, 0.408, RAW= 149.5,   6.2, CAL= 148.9,   6.5, ROT=   1.1,  -6.5

2025-08-11T14:47:50.318Z,1754923670.318 [DAT](INFO): DAT read: Bearing 330.8,   1.2 (Local)

2025-08-11T14:47:50.318Z,1754923670.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.8,   1.2 (Local)

2025-08-11T14:47:50.319Z,1754923670.319 [DAT](INFO): DAT read: Range 11 to 50 : 342.3 m  (Round-trip  456.4 ms) speed  0.4 m/s

2025-08-11T14:47:50.320Z,1754923670.320 [DAT](INFO): DAT read: user:111>

2025-08-11T14:47:50.321Z,1754923670.321 [DAT](INFO): DAT read: Tx time:14:47:51.5202

2025-08-11T14:47:50.321Z,1754923670.321 [DAT](INFO): Ping request sent.
2025-08-11T14:47:50.321Z,1754923670.321 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:50.322Z,1754923670.322 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:50.322Z,1754923670.322 [DAT](INFO): direction in FSK: [0.993389,0.019074,0.113203]
2025-08-11T14:47:50.323Z,1754923670.323 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:50.323Z,1754923670.323 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:50.326Z,1754923670.326 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:50.326Z,1754923670.326 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:50.569Z,1754923670.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 342.299988 m,
      deltaT: 4.031406 s,
      deltaX: -2.300018 m,
      approachRate: -0.570525 m/s,
      rangeRepo size: 4

2025-08-11T14:47:50.572Z,1754923670.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 342.299988 m,
      bearing: 175.608206 deg,
      lat: 36.905855 deg,
      lon: -122.116122 deg,
      deltaT: 4.031406 s,
      deltaX: -2.300018 m,
      approachRate: -0.570525 m/s,
      posRepo size: 4

2025-08-11T14:47:50.573Z,1754923670.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.30 m.
2025-08-11T14:47:50.584Z,1754923670.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.299988 m,
      nav range: 339.643188 m,
      bearing: 175.608206 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015983 deg/s,
      cmd heading: 172.686553 deg,
      new cmd heading: 172.665919 deg.

2025-08-11T14:47:50.883Z,1754923670.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.30 m.
2025-08-11T14:47:50.886Z,1754923670.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.299988 m,
      nav range: 339.440704 m,
      bearing: 175.602141 deg,
      approach rate: -0.643093 m/s,
      LOS rate: -0.019272 deg/s,
      cmd heading: 172.665912 deg,
      new cmd heading: 172.647708 deg.

2025-08-11T14:47:51.349Z,1754923671.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.30 m.
2025-08-11T14:47:51.356Z,1754923671.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.299988 m,
      nav range: 339.148926 m,
      bearing: 175.593068 deg,
      approach rate: -0.625758 m/s,
      LOS rate: -0.019476 deg/s,
      cmd heading: 172.647703 deg,
      new cmd heading: 172.620459 deg.

2025-08-11T14:47:51.692Z,1754923671.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.30 m.
2025-08-11T14:47:51.695Z,1754923671.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.299988 m,
      nav range: 338.934174 m,
      bearing: 175.586431 deg,
      approach rate: -0.626120 m/s,
      LOS rate: -0.019362 deg/s,
      cmd heading: 172.620464 deg,
      new cmd heading: 172.600541 deg.

2025-08-11T14:47:52.097Z,1754923672.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.30 m.
2025-08-11T14:47:52.121Z,1754923672.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.299988 m,
      nav range: 338.680847 m,
      bearing: 175.578678 deg,
      approach rate: -0.626199 m/s,
      LOS rate: -0.019179 deg/s,
      cmd heading: 172.600547 deg,
      new cmd heading: 172.577270 deg.

2025-08-11T14:47:52.525Z,1754923672.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:52.528Z,1754923672.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.30 m.
2025-08-11T14:47:52.530Z,1754923672.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.299988 m,
      nav range: 338.408936 m,
      bearing: 175.571329 deg,
      approach rate: -0.632316 m/s,
      LOS rate: -0.017105 deg/s,
      cmd heading: 172.577270 deg,
      new cmd heading: 172.555202 deg.

2025-08-11T14:47:52.581Z,1754923672.581 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:52.582Z,1754923672.582 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:52.582Z,1754923672.582 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:52.832Z,1754923672.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510831
2025-08-11T14:47:52.926Z,1754923672.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.30 m.
2025-08-11T14:47:52.931Z,1754923672.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.299988 m,
      nav range: 338.158875 m,
      bearing: 175.564639 deg,
      approach rate: -0.626752 m/s,
      LOS rate: -0.016780 deg/s,
      cmd heading: 172.555208 deg,
      new cmd heading: 172.535124 deg.

2025-08-11T14:47:53.084Z,1754923673.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762910
2025-08-11T14:47:53.340Z,1754923673.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018294
2025-08-11T14:47:53.359Z,1754923673.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.30 m.
2025-08-11T14:47:53.361Z,1754923673.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.299988 m,
      nav range: 337.882385 m,
      bearing: 175.556953 deg,
      approach rate: -0.639206 m/s,
      LOS rate: -0.017784 deg/s,
      cmd heading: 172.535127 deg,
      new cmd heading: 172.512050 deg.

2025-08-11T14:47:53.589Z,1754923673.589 [DAT](INFO): DAT read: Rx Time:14:47:54.3777

2025-08-11T14:47:53.589Z,1754923673.589 [DAT](INFO): Rx dataTimestamp_ set to:1754923673.588904
2025-08-11T14:47:53.590Z,1754923673.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268611
2025-08-11T14:47:53.717Z,1754923673.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.30 m.
2025-08-11T14:47:53.720Z,1754923673.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.299988 m,
      nav range: 337.655548 m,
      bearing: 175.550745 deg,
      approach rate: -0.632996 m/s,
      LOS rate: -0.017333 deg/s,
      cmd heading: 172.512055 deg,
      new cmd heading: 172.493421 deg.

2025-08-11T14:47:53.841Z,1754923673.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519408
2025-08-11T14:47:54.098Z,1754923674.098 [DAT](INFO): DAT read: 14:47:54.3777 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 416,-0.33,-2.426, 2.076,-2.291,-2.716, PHS= 0.392,-1.446, 0.381, RAW= 149.7,   7.4, CAL= 149.2,   7.9, ROT=   0.8,  -7.9

2025-08-11T14:47:54.099Z,1754923674.099 [DAT](INFO): got valid direction response:
 14:47:54.3777 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 416,-0.33,-2.426, 2.076,-2.291,-2.716, PHS= 0.392,-1.446, 0.381, RAW= 149.7,   7.4, CAL= 149.2,   7.9, ROT=   0.8,  -7.9

2025-08-11T14:47:54.100Z,1754923674.100 [DAT](INFO): DAT read: Bearing 331.2,   1.0 (Local)

2025-08-11T14:47:54.100Z,1754923674.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.2,   1.0 (Local)

2025-08-11T14:47:54.102Z,1754923674.102 [DAT](INFO): DAT read: Range 11 to 50 : 340.1 m  (Round-trip  453.5 ms) speed  0.0 m/s

2025-08-11T14:47:54.103Z,1754923674.103 [DAT](INFO): DAT read: user:112>

2025-08-11T14:47:54.104Z,1754923674.104 [DAT](INFO): DAT read: Tx time:14:47:55.4701

2025-08-11T14:47:54.104Z,1754923674.104 [DAT](INFO): Ping request sent.
2025-08-11T14:47:54.104Z,1754923674.104 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:54.104Z,1754923674.104 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:54.105Z,1754923674.105 [DAT](INFO): direction in FSK: [0.990413,0.013830,0.137445]
2025-08-11T14:47:54.105Z,1754923674.105 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:54.106Z,1754923674.106 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:54.109Z,1754923674.109 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:54.109Z,1754923674.109 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:54.210Z,1754923674.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 340.100006 m,
      deltaT: 3.782482 s,
      deltaX: -2.199982 m,
      approachRate: -0.581624 m/s,
      rangeRepo size: 4

2025-08-11T14:47:54.217Z,1754923674.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 340.100006 m,
      bearing: 175.542628 deg,
      lat: 36.905855 deg,
      lon: -122.116122 deg,
      deltaT: 3.782482 s,
      deltaX: -2.199982 m,
      approachRate: -0.581624 m/s,
      posRepo size: 4

2025-08-11T14:47:54.217Z,1754923674.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:54.224Z,1754923674.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 337.354431 m,
      bearing: 175.542628 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017333 deg/s,
      cmd heading: 172.493422 deg,
      new cmd heading: 172.467833 deg.

2025-08-11T14:47:54.597Z,1754923674.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:54.599Z,1754923674.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:54.602Z,1754923674.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 337.101959 m,
      bearing: 175.536380 deg,
      approach rate: -0.646949 m/s,
      LOS rate: -0.016022 deg/s,
      cmd heading: 172.467836 deg,
      new cmd heading: 172.449078 deg.

2025-08-11T14:47:54.848Z,1754923674.848 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:54.848Z,1754923674.848 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:54.848Z,1754923674.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:54.976Z,1754923674.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:54.979Z,1754923674.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 336.866272 m,
      bearing: 175.530617 deg,
      approach rate: -0.625366 m/s,
      LOS rate: -0.015304 deg/s,
      cmd heading: 172.449081 deg,
      new cmd heading: 172.431778 deg.

2025-08-11T14:47:55.100Z,1754923675.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996108
2025-08-11T14:47:55.352Z,1754923675.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248280
2025-08-11T14:47:55.431Z,1754923675.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:55.437Z,1754923675.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 336.589355 m,
      bearing: 175.525444 deg,
      approach rate: -0.614079 m/s,
      LOS rate: -0.011481 deg/s,
      cmd heading: 172.431773 deg,
      new cmd heading: 172.416241 deg.

2025-08-11T14:47:55.604Z,1754923675.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500097
2025-08-11T14:47:55.805Z,1754923675.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:55.808Z,1754923675.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 336.348877 m,
      bearing: 175.520945 deg,
      approach rate: -0.636732 m/s,
      LOS rate: -0.011921 deg/s,
      cmd heading: 172.416241 deg,
      new cmd heading: 172.402734 deg.

2025-08-11T14:47:55.857Z,1754923675.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753146
2025-08-11T14:47:56.108Z,1754923676.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004154
2025-08-11T14:47:56.184Z,1754923676.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:56.186Z,1754923676.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 336.111603 m,
      bearing: 175.516539 deg,
      approach rate: -0.625949 m/s,
      LOS rate: -0.011631 deg/s,
      cmd heading: 172.402731 deg,
      new cmd heading: 172.389505 deg.

2025-08-11T14:47:56.363Z,1754923676.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258990
2025-08-11T14:47:56.612Z,1754923676.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508476
2025-08-11T14:47:56.640Z,1754923676.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:56.642Z,1754923676.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:56.645Z,1754923676.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 335.839722 m,
      bearing: 175.512230 deg,
      approach rate: -0.593683 m/s,
      LOS rate: -0.009417 deg/s,
      cmd heading: 172.389508 deg,
      new cmd heading: 172.376570 deg.

2025-08-11T14:47:56.864Z,1754923676.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760280
2025-08-11T14:47:56.992Z,1754923676.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:56.994Z,1754923676.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 335.630829 m,
      bearing: 175.508988 deg,
      approach rate: -0.596753 m/s,
      LOS rate: -0.009269 deg/s,
      cmd heading: 172.376571 deg,
      new cmd heading: 172.366838 deg.

2025-08-11T14:47:57.117Z,1754923677.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012784
2025-08-11T14:47:57.368Z,1754923677.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264248
2025-08-11T14:47:57.458Z,1754923677.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:57.465Z,1754923677.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 335.370483 m,
      bearing: 175.505659 deg,
      approach rate: -0.558118 m/s,
      LOS rate: -0.007142 deg/s,
      cmd heading: 172.366831 deg,
      new cmd heading: 172.356837 deg.

2025-08-11T14:47:57.620Z,1754923677.620 [DAT](INFO): DAT read: Rx Time:14:47:58.3246

2025-08-11T14:47:57.621Z,1754923677.621 [DAT](INFO): Rx dataTimestamp_ set to:1754923677.620394
2025-08-11T14:47:57.621Z,1754923677.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517251
2025-08-11T14:47:57.816Z,1754923677.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 340.10 m.
2025-08-11T14:47:57.819Z,1754923677.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 340.100006 m,
      nav range: 335.161896 m,
      bearing: 175.502988 deg,
      approach rate: -0.582455 m/s,
      LOS rate: -0.007463 deg/s,
      cmd heading: 172.356832 deg,
      new cmd heading: 172.348815 deg.

2025-08-11T14:47:57.873Z,1754923677.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768707
2025-08-11T14:47:58.130Z,1754923678.130 [DAT](INFO): DAT read: 14:47:58.3246 LVL= 31152, 32753, 32754, 32755, AGC= 77, IDX= 416, 0.16,-1.092,-2.826,-1.023,-1.425, PHS= 0.435,-1.355, 0.358, RAW= 147.8,   6.5, CAL= 147.3,   6.9, ROT=   2.7,  -6.9

2025-08-11T14:47:58.131Z,1754923678.131 [DAT](INFO): got valid direction response:
 14:47:58.3246 LVL= 31152, 32753, 32754, 32755, AGC= 77, IDX= 416, 0.16,-1.092,-2.826,-1.023,-1.425, PHS= 0.435,-1.355, 0.358, RAW= 147.8,   6.5, CAL= 147.3,   6.9, ROT=   2.7,  -6.9

2025-08-11T14:47:58.149Z,1754923678.149 [DAT](INFO): DAT read: Bearing 329.4,   2.5 (Local)

2025-08-11T14:47:58.149Z,1754923678.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.4,   2.5 (Local)

2025-08-11T14:47:58.151Z,1754923678.151 [DAT](INFO): DAT read: Range 11 to 50 : 337.7 m  (Round-trip  450.3 ms) speed  0.7 m/s

2025-08-11T14:47:58.152Z,1754923678.152 [DAT](INFO): DAT read: user:113>

2025-08-11T14:47:58.152Z,1754923678.152 [DAT](INFO): DAT read: Tx time:14:47:59.4201

2025-08-11T14:47:58.153Z,1754923678.153 [DAT](INFO): Ping request sent.
2025-08-11T14:47:58.153Z,1754923678.153 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:47:58.153Z,1754923678.153 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:47:58.154Z,1754923678.154 [DAT](INFO): direction in FSK: [0.991655,0.046765,0.120137]
2025-08-11T14:47:58.154Z,1754923678.154 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:58.154Z,1754923678.154 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:58.182Z,1754923678.182 [DAT](INFO): publishing transmit ping time
2025-08-11T14:47:58.182Z,1754923678.182 [DAT](INFO): publishing direction and range info
2025-08-11T14:47:58.233Z,1754923678.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 337.700012 m,
      deltaT: 4.031972 s,
      deltaX: -2.399994 m,
      approachRate: -0.595241 m/s,
      rangeRepo size: 4

2025-08-11T14:47:58.240Z,1754923678.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 337.700012 m,
      bearing: 175.999098 deg,
      lat: 36.905850 deg,
      lon: -122.116154 deg,
      deltaT: 4.031972 s,
      deltaX: -2.399994 m,
      approachRate: -0.595241 m/s,
      posRepo size: 4

2025-08-11T14:47:58.241Z,1754923678.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:47:58.256Z,1754923678.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 335.273193 m,
      bearing: 175.999098 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007463 deg/s,
      cmd heading: 172.348813 deg,
      new cmd heading: 172.339495 deg.

2025-08-11T14:47:58.632Z,1754923678.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:47:58.635Z,1754923678.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 335.044464 m,
      bearing: 175.997795 deg,
      approach rate: -0.573996 m/s,
      LOS rate: -0.003271 deg/s,
      cmd heading: 172.339497 deg,
      new cmd heading: 172.335587 deg.

2025-08-11T14:47:59.013Z,1754923679.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:47:59.016Z,1754923679.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:47:59.018Z,1754923679.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 334.827606 m,
      bearing: 175.996682 deg,
      approach rate: -0.564255 m/s,
      LOS rate: -0.002898 deg/s,
      cmd heading: 172.335590 deg,
      new cmd heading: 172.332249 deg.

2025-08-11T14:47:59.132Z,1754923679.132 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:47:59.132Z,1754923679.132 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:47:59.133Z,1754923679.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:47:59.387Z,1754923679.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233558
2025-08-11T14:47:59.477Z,1754923679.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:47:59.484Z,1754923679.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 334.579987 m,
      bearing: 175.996468 deg,
      approach rate: -0.536464 m/s,
      LOS rate: -0.000464 deg/s,
      cmd heading: 172.332243 deg,
      new cmd heading: 172.331601 deg.

2025-08-11T14:47:59.636Z,1754923679.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483414
2025-08-11T14:47:59.826Z,1754923679.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:47:59.830Z,1754923679.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 334.384033 m,
      bearing: 175.996413 deg,
      approach rate: -0.560700 m/s,
      LOS rate: -0.000157 deg/s,
      cmd heading: 172.331601 deg,
      new cmd heading: 172.331436 deg.

2025-08-11T14:47:59.888Z,1754923679.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735615
2025-08-11T14:48:00.145Z,1754923680.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991150
2025-08-11T14:48:00.252Z,1754923680.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:48:00.256Z,1754923680.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 334.151794 m,
      bearing: 175.996470 deg,
      approach rate: -0.546685 m/s,
      LOS rate: 0.000133 deg/s,
      cmd heading: 172.331437 deg,
      new cmd heading: 172.331606 deg.

2025-08-11T14:48:00.397Z,1754923680.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243480
2025-08-11T14:48:00.644Z,1754923680.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491503
2025-08-11T14:48:00.741Z,1754923680.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:48:00.744Z,1754923680.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 333.891907 m,
      bearing: 175.997255 deg,
      approach rate: -0.530578 m/s,
      LOS rate: 0.001605 deg/s,
      cmd heading: 172.331601 deg,
      new cmd heading: 172.333960 deg.

2025-08-11T14:48:00.897Z,1754923680.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743940
2025-08-11T14:48:01.130Z,1754923681.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:01.133Z,1754923681.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:48:01.148Z,1754923681.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995613
2025-08-11T14:48:01.156Z,1754923681.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 333.684296 m,
      bearing: 175.997936 deg,
      approach rate: -0.529800 m/s,
      LOS rate: 0.001737 deg/s,
      cmd heading: 172.333965 deg,
      new cmd heading: 172.336007 deg.

2025-08-11T14:48:01.404Z,1754923681.404 [DAT](INFO): DAT read: Rx Time:14:48:02.2713

2025-08-11T14:48:01.406Z,1754923681.406 [DAT](INFO): Rx dataTimestamp_ set to:1754923681.404898
2025-08-11T14:48:01.408Z,1754923681.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254838
2025-08-11T14:48:01.651Z,1754923681.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:48:01.652Z,1754923681.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499537
2025-08-11T14:48:01.656Z,1754923681.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 333.414581 m,
      bearing: 175.998161 deg,
      approach rate: -0.521003 m/s,
      LOS rate: 0.000435 deg/s,
      cmd heading: 172.336000 deg,
      new cmd heading: 172.336676 deg.

2025-08-11T14:48:01.907Z,1754923681.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753776
2025-08-11T14:48:02.016Z,1754923682.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 337.70 m.
2025-08-11T14:48:02.018Z,1754923682.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 337.700012 m,
      nav range: 333.217926 m,
      bearing: 175.998341 deg,
      approach rate: -0.538683 m/s,
      LOS rate: 0.000495 deg/s,
      cmd heading: 172.336669 deg,
      new cmd heading: 172.337211 deg.

2025-08-11T14:48:02.162Z,1754923682.162 [DAT](INFO): DAT read: 14:48:02.2713 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415,-0.35,-2.420, 2.056,-2.376,-2.750, PHS= 0.432,-1.432, 0.330, RAW= 147.2,   7.4, CAL= 146.7,   8.0, ROT=   3.3,  -8.0

2025-08-11T14:48:02.163Z,1754923682.163 [DAT](INFO): got valid direction response:
 14:48:02.2713 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415,-0.35,-2.420, 2.056,-2.376,-2.750, PHS= 0.432,-1.432, 0.330, RAW= 147.2,   7.4, CAL= 146.7,   8.0, ROT=   3.3,  -8.0

2025-08-11T14:48:02.164Z,1754923682.164 [DAT](INFO): DAT read: Bearing 329.3,   3.3 (Local)

2025-08-11T14:48:02.164Z,1754923682.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.3,   3.3 (Local)

2025-08-11T14:48:02.166Z,1754923682.166 [DAT](INFO): DAT read: Range 11 to 50 : 335.3 m  (Round-trip  447.1 ms) speed  0.5 m/s

2025-08-11T14:48:02.166Z,1754923682.166 [DAT](INFO): DAT read: user:114>

2025-08-11T14:48:02.167Z,1754923682.167 [DAT](INFO): DAT read: Tx time:14:48:03.3701

2025-08-11T14:48:02.168Z,1754923682.168 [DAT](INFO): Ping request sent.
2025-08-11T14:48:02.168Z,1754923682.168 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:02.168Z,1754923682.168 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:02.169Z,1754923682.169 [DAT](INFO): direction in FSK: [0.988626,0.057004,0.139173]
2025-08-11T14:48:02.169Z,1754923682.169 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:02.169Z,1754923682.169 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:02.173Z,1754923682.173 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:02.173Z,1754923682.173 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:02.492Z,1754923682.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 335.299988 m,
      deltaT: 4.032099 s,
      deltaX: -2.400024 m,
      approachRate: -0.595230 m/s,
      rangeRepo size: 4

2025-08-11T14:48:02.494Z,1754923682.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 335.299988 m,
      bearing: 176.100175 deg,
      lat: 36.905855 deg,
      lon: -122.116161 deg,
      deltaT: 4.032099 s,
      deltaX: -2.400024 m,
      approachRate: -0.595230 m/s,
      posRepo size: 4

2025-08-11T14:48:02.495Z,1754923682.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.30 m.
2025-08-11T14:48:02.501Z,1754923682.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.299988 m,
      nav range: 332.377533 m,
      bearing: 176.100175 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000495 deg/s,
      cmd heading: 172.337216 deg,
      new cmd heading: 172.337916 deg.

2025-08-11T14:48:02.859Z,1754923682.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.30 m.
2025-08-11T14:48:02.862Z,1754923682.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.299988 m,
      nav range: 332.171204 m,
      bearing: 176.100604 deg,
      approach rate: -0.554683 m/s,
      LOS rate: 0.001154 deg/s,
      cmd heading: 172.337912 deg,
      new cmd heading: 172.339201 deg.

2025-08-11T14:48:03.243Z,1754923683.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:03.245Z,1754923683.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.30 m.
2025-08-11T14:48:03.251Z,1754923683.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.299988 m,
      nav range: 331.965973 m,
      bearing: 176.100938 deg,
      approach rate: -0.531054 m/s,
      LOS rate: 0.000866 deg/s,
      cmd heading: 172.339197 deg,
      new cmd heading: 172.340200 deg.

2025-08-11T14:48:03.418Z,1754923683.418 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:03.419Z,1754923683.419 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:03.422Z,1754923683.422 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:03.666Z,1754923683.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.30 m.
2025-08-11T14:48:03.668Z,1754923683.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500749
2025-08-11T14:48:03.671Z,1754923683.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.299988 m,
      nav range: 331.743958 m,
      bearing: 176.101262 deg,
      approach rate: -0.527584 m/s,
      LOS rate: 0.000770 deg/s,
      cmd heading: 172.340194 deg,
      new cmd heading: 172.341165 deg.

2025-08-11T14:48:03.921Z,1754923683.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752691
2025-08-11T14:48:04.059Z,1754923684.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.30 m.
2025-08-11T14:48:04.062Z,1754923684.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.299988 m,
      nav range: 331.536682 m,
      bearing: 176.101459 deg,
      approach rate: -0.527703 m/s,
      LOS rate: 0.000503 deg/s,
      cmd heading: 172.341164 deg,
      new cmd heading: 172.341756 deg.

2025-08-11T14:48:04.172Z,1754923684.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004428
2025-08-11T14:48:04.427Z,1754923684.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258536
2025-08-11T14:48:04.538Z,1754923684.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.30 m.
2025-08-11T14:48:04.541Z,1754923684.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.299988 m,
      nav range: 331.276428 m,
      bearing: 176.099784 deg,
      approach rate: -0.543882 m/s,
      LOS rate: -0.003504 deg/s,
      cmd heading: 172.341751 deg,
      new cmd heading: 172.336722 deg.

2025-08-11T14:48:04.676Z,1754923684.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508398
2025-08-11T14:48:04.860Z,1754923684.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.30 m.
2025-08-11T14:48:04.862Z,1754923684.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.299988 m,
      nav range: 331.101044 m,
      bearing: 176.098574 deg,
      approach rate: -0.544186 m/s,
      LOS rate: -0.003758 deg/s,
      cmd heading: 172.336724 deg,
      new cmd heading: 172.333091 deg.

2025-08-11T14:48:04.930Z,1754923684.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762374
2025-08-11T14:48:05.184Z,1754923685.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016448
2025-08-11T14:48:05.266Z,1754923685.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:05.284Z,1754923685.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.30 m.
2025-08-11T14:48:05.291Z,1754923685.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.299988 m,
      nav range: 330.882690 m,
      bearing: 176.096982 deg,
      approach rate: -0.514380 m/s,
      LOS rate: -0.003752 deg/s,
      cmd heading: 172.333090 deg,
      new cmd heading: 172.328312 deg.

2025-08-11T14:48:05.439Z,1754923685.439 [DAT](INFO): DAT read: Rx Time:14:48:06.2183

2025-08-11T14:48:05.441Z,1754923685.441 [DAT](INFO): Rx dataTimestamp_ set to:1754923685.439595
2025-08-11T14:48:05.442Z,1754923685.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274222
2025-08-11T14:48:05.688Z,1754923685.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520801
2025-08-11T14:48:05.715Z,1754923685.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 335.30 m.
2025-08-11T14:48:05.718Z,1754923685.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 335.299988 m,
      nav range: 330.622131 m,
      bearing: 176.094837 deg,
      approach rate: -0.605124 m/s,
      LOS rate: -0.004985 deg/s,
      cmd heading: 172.328309 deg,
      new cmd heading: 172.321869 deg.

2025-08-11T14:48:05.948Z,1754923685.948 [DAT](INFO): DAT read: 14:48:06.2183 LVL= 31056, 32753, 32754, 32755, AGC= 76, IDX= 416, 0.08, 2.219, 0.351, 2.299, 1.872, PHS= 0.449,-1.476, 0.383, RAW= 148.3,   6.9, CAL= 147.7,   7.4, ROT=   2.3,  -7.4

2025-08-11T14:48:05.949Z,1754923685.949 [DAT](INFO): got valid direction response:
 14:48:06.2183 LVL= 31056, 32753, 32754, 32755, AGC= 76, IDX= 416, 0.08, 2.219, 0.351, 2.299, 1.872, PHS= 0.449,-1.476, 0.383, RAW= 148.3,   6.9, CAL= 147.7,   7.4, ROT=   2.3,  -7.4

2025-08-11T14:48:05.950Z,1754923685.950 [DAT](INFO): DAT read: Bearing 329.2,   2.7 (Local)

2025-08-11T14:48:05.950Z,1754923685.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.2,   2.7 (Local)

2025-08-11T14:48:05.952Z,1754923685.952 [DAT](INFO): DAT read: Range 11 to 50 : 333.0 m  (Round-trip  444.1 ms) speed  0.4 m/s

2025-08-11T14:48:05.952Z,1754923685.952 [DAT](INFO): DAT read: user:115>

2025-08-11T14:48:05.953Z,1754923685.953 [DAT](INFO): DAT read: Tx time:14:48:07.3201

2025-08-11T14:48:05.953Z,1754923685.953 [DAT](INFO): Ping request sent.
2025-08-11T14:48:05.953Z,1754923685.953 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:05.954Z,1754923685.954 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:05.955Z,1754923685.955 [DAT](INFO): direction in FSK: [0.990872,0.039798,0.128796]
2025-08-11T14:48:05.955Z,1754923685.955 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:05.955Z,1754923685.955 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:05.958Z,1754923685.958 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:05.958Z,1754923685.958 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:06.105Z,1754923686.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 333.000000 m,
      deltaT: 3.784244 s,
      deltaX: -2.299988 m,
      approachRate: -0.607780 m/s,
      rangeRepo size: 4

2025-08-11T14:48:06.107Z,1754923686.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 333.000000 m,
      bearing: 176.085986 deg,
      lat: 36.905860 deg,
      lon: -122.116161 deg,
      deltaT: 3.784244 s,
      deltaX: -2.299988 m,
      approachRate: -0.607780 m/s,
      posRepo size: 4

2025-08-11T14:48:06.112Z,1754923686.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:06.114Z,1754923686.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 329.821503 m,
      bearing: 176.085986 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004985 deg/s,
      cmd heading: 172.321875 deg,
      new cmd heading: 172.316058 deg.

2025-08-11T14:48:06.596Z,1754923686.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:06.599Z,1754923686.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 329.539307 m,
      bearing: 176.082405 deg,
      approach rate: -0.573500 m/s,
      LOS rate: -0.007285 deg/s,
      cmd heading: 172.316056 deg,
      new cmd heading: 172.305302 deg.

2025-08-11T14:48:06.938Z,1754923686.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:06.946Z,1754923686.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 329.322327 m,
      bearing: 176.079611 deg,
      approach rate: -0.635559 m/s,
      LOS rate: -0.008189 deg/s,
      cmd heading: 172.305305 deg,
      new cmd heading: 172.296918 deg.

2025-08-11T14:48:07.321Z,1754923687.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:07.323Z,1754923687.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:07.326Z,1754923687.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 329.080078 m,
      bearing: 176.076470 deg,
      approach rate: -0.628473 m/s,
      LOS rate: -0.008154 deg/s,
      cmd heading: 172.296918 deg,
      new cmd heading: 172.287489 deg.

2025-08-11T14:48:07.454Z,1754923687.454 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:07.454Z,1754923687.454 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:07.456Z,1754923687.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:07.704Z,1754923687.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750593
2025-08-11T14:48:07.787Z,1754923687.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:07.793Z,1754923687.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 328.803040 m,
      bearing: 176.071425 deg,
      approach rate: -0.597448 m/s,
      LOS rate: -0.010889 deg/s,
      cmd heading: 172.287492 deg,
      new cmd heading: 172.272344 deg.

2025-08-11T14:48:07.956Z,1754923687.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002639
2025-08-11T14:48:08.148Z,1754923688.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:08.156Z,1754923688.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 328.577637 m,
      bearing: 176.067314 deg,
      approach rate: -0.623430 m/s,
      LOS rate: -0.011378 deg/s,
      cmd heading: 172.272343 deg,
      new cmd heading: 172.260001 deg.

2025-08-11T14:48:08.208Z,1754923688.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254848
2025-08-11T14:48:08.461Z,1754923688.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507296
2025-08-11T14:48:08.610Z,1754923688.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:08.613Z,1754923688.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 328.290741 m,
      bearing: 176.061745 deg,
      approach rate: -0.620672 m/s,
      LOS rate: -0.012058 deg/s,
      cmd heading: 172.260007 deg,
      new cmd heading: 172.243286 deg.

2025-08-11T14:48:08.712Z,1754923688.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758789
2025-08-11T14:48:08.976Z,1754923688.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022238
2025-08-11T14:48:08.982Z,1754923688.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:08.985Z,1754923688.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 328.068024 m,
      bearing: 176.057415 deg,
      approach rate: -0.599337 m/s,
      LOS rate: -0.011660 deg/s,
      cmd heading: 172.243287 deg,
      new cmd heading: 172.230288 deg.

2025-08-11T14:48:09.233Z,1754923689.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279128
2025-08-11T14:48:09.348Z,1754923689.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:09.350Z,1754923689.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:09.358Z,1754923689.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 327.838287 m,
      bearing: 176.052959 deg,
      approach rate: -0.624570 m/s,
      LOS rate: -0.012123 deg/s,
      cmd heading: 172.230282 deg,
      new cmd heading: 172.216905 deg.

2025-08-11T14:48:09.483Z,1754923689.483 [DAT](INFO): DAT read: Rx Time:14:48:10.1655

2025-08-11T14:48:09.485Z,1754923689.485 [DAT](INFO): Rx dataTimestamp_ set to:1754923689.483708
2025-08-11T14:48:09.486Z,1754923689.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532478
2025-08-11T14:48:09.732Z,1754923689.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778811
2025-08-11T14:48:09.856Z,1754923689.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.00 m.
2025-08-11T14:48:09.859Z,1754923689.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.000000 m,
      nav range: 327.546112 m,
      bearing: 176.047024 deg,
      approach rate: -0.577278 m/s,
      LOS rate: -0.011737 deg/s,
      cmd heading: 172.216909 deg,
      new cmd heading: 172.199088 deg.

2025-08-11T14:48:09.990Z,1754923689.990 [DAT](INFO): DAT read: 14:48:10.1655 LVL= 27984, 32753, 32754, 32755, AGC= 75, IDX= 419,-0.02,-2.592, 1.864,-2.457,-2.919, PHS= 0.428,-1.456, 0.418, RAW= 149.7,   6.5, CAL= 149.1,   6.9, ROT=   0.9,  -6.9

2025-08-11T14:48:09.991Z,1754923689.991 [DAT](INFO): got valid direction response:
 14:48:10.1655 LVL= 27984, 32753, 32754, 32755, AGC= 75, IDX= 419,-0.02,-2.592, 1.864,-2.457,-2.919, PHS= 0.428,-1.456, 0.418, RAW= 149.7,   6.5, CAL= 149.1,   6.9, ROT=   0.9,  -6.9

2025-08-11T14:48:09.992Z,1754923689.992 [DAT](INFO): DAT read: Bearing 328.9,   1.4 (Local)

2025-08-11T14:48:09.992Z,1754923689.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.9,   1.4 (Local)

2025-08-11T14:48:09.994Z,1754923689.994 [DAT](INFO): DAT read: Range 11 to 50 : 330.9 m  (Round-trip  441.3 ms) speed  0.6 m/s

2025-08-11T14:48:09.994Z,1754923689.994 [DAT](INFO): DAT read: user:116>

2025-08-11T14:48:09.995Z,1754923689.995 [DAT](INFO): DAT read: Tx time:14:48:11.2701

2025-08-11T14:48:09.996Z,1754923689.996 [DAT](INFO): Ping request sent.
2025-08-11T14:48:09.996Z,1754923689.996 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:09.996Z,1754923689.996 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:09.997Z,1754923689.997 [DAT](INFO): direction in FSK: [0.992635,0.015594,0.120137]
2025-08-11T14:48:09.997Z,1754923689.997 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:09.998Z,1754923689.998 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:10.001Z,1754923690.001 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:10.001Z,1754923690.001 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:10.229Z,1754923690.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 330.899994 m,
      deltaT: 4.043625 s,
      deltaX: -2.100006 m,
      approachRate: -0.519337 m/s,
      rangeRepo size: 4

2025-08-11T14:48:10.239Z,1754923690.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 330.899994 m,
      bearing: 175.525293 deg,
      lat: 36.905860 deg,
      lon: -122.116128 deg,
      deltaT: 4.043625 s,
      deltaX: -2.100006 m,
      approachRate: -0.519337 m/s,
      posRepo size: 4

2025-08-11T14:48:10.245Z,1754923690.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-08-11T14:48:10.254Z,1754923690.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 327.498260 m,
      bearing: 175.525293 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011737 deg/s,
      cmd heading: 172.199082 deg,
      new cmd heading: 172.185960 deg.

2025-08-11T14:48:10.638Z,1754923690.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-08-11T14:48:10.640Z,1754923690.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 327.210022 m,
      bearing: 175.519631 deg,
      approach rate: -0.704881 m/s,
      LOS rate: -0.013857 deg/s,
      cmd heading: 172.185954 deg,
      new cmd heading: 172.168955 deg.

2025-08-11T14:48:11.011Z,1754923691.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-08-11T14:48:11.014Z,1754923691.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 326.958191 m,
      bearing: 175.514667 deg,
      approach rate: -0.674326 m/s,
      LOS rate: -0.013303 deg/s,
      cmd heading: 172.168961 deg,
      new cmd heading: 172.154056 deg.

2025-08-11T14:48:11.433Z,1754923691.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:11.436Z,1754923691.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-08-11T14:48:11.439Z,1754923691.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 326.683716 m,
      bearing: 175.509204 deg,
      approach rate: -0.646776 m/s,
      LOS rate: -0.012884 deg/s,
      cmd heading: 172.154057 deg,
      new cmd heading: 172.137654 deg.

2025-08-11T14:48:11.498Z,1754923691.498 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:11.498Z,1754923691.498 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:11.498Z,1754923691.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:11.749Z,1754923691.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752988
2025-08-11T14:48:11.841Z,1754923691.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-08-11T14:48:11.844Z,1754923691.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 326.418030 m,
      bearing: 175.504252 deg,
      approach rate: -0.655421 m/s,
      LOS rate: -0.012226 deg/s,
      cmd heading: 172.137651 deg,
      new cmd heading: 172.122784 deg.

2025-08-11T14:48:12.000Z,1754923692.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004274
2025-08-11T14:48:12.228Z,1754923692.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-08-11T14:48:12.234Z,1754923692.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 326.177734 m,
      bearing: 175.499704 deg,
      approach rate: -0.622000 m/s,
      LOS rate: -0.011780 deg/s,
      cmd heading: 172.122789 deg,
      new cmd heading: 172.109136 deg.

2025-08-11T14:48:12.253Z,1754923692.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256913
2025-08-11T14:48:12.504Z,1754923692.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508319
2025-08-11T14:48:12.657Z,1754923692.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-08-11T14:48:12.676Z,1754923692.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 325.909760 m,
      bearing: 175.495655 deg,
      approach rate: -0.623837 m/s,
      LOS rate: -0.009435 deg/s,
      cmd heading: 172.109142 deg,
      new cmd heading: 172.096984 deg.

2025-08-11T14:48:12.757Z,1754923692.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761060
2025-08-11T14:48:13.008Z,1754923693.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012329
2025-08-11T14:48:13.046Z,1754923693.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-08-11T14:48:13.049Z,1754923693.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 325.671661 m,
      bearing: 175.491951 deg,
      approach rate: -0.611293 m/s,
      LOS rate: -0.009518 deg/s,
      cmd heading: 172.096984 deg,
      new cmd heading: 172.085863 deg.

2025-08-11T14:48:13.260Z,1754923693.260 [DAT](INFO): DAT read: Rx Time:14:48:14.1124

2025-08-11T14:48:13.261Z,1754923693.261 [DAT](INFO): Rx dataTimestamp_ set to:1754923693.260520
2025-08-11T14:48:13.261Z,1754923693.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265485
2025-08-11T14:48:13.432Z,1754923693.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-08-11T14:48:13.434Z,1754923693.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 325.431702 m,
      bearing: 175.488081 deg,
      approach rate: -0.622824 m/s,
      LOS rate: -0.010050 deg/s,
      cmd heading: 172.085865 deg,
      new cmd heading: 172.074249 deg.

2025-08-11T14:48:13.513Z,1754923693.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517027
2025-08-11T14:48:13.782Z,1754923693.782 [DAT](INFO): DAT read: 14:48:14.1124 LVL= 21680, 26801, 25986, 32755, AGC= 75, IDX= 403,-0.01, 0.835,-0.986, 0.996, 0.496, PHS= 0.441,-1.437, 0.456, RAW= 150.4,   5.8, CAL= 149.7,   6.0, ROT=   0.3,  -6.0

2025-08-11T14:48:13.786Z,1754923693.786 [DAT](INFO): got valid direction response:
 14:48:14.1124 LVL= 21680, 26801, 25986, 32755, AGC= 75, IDX= 403,-0.01, 0.835,-0.986, 0.996, 0.496, PHS= 0.441,-1.437, 0.456, RAW= 150.4,   5.8, CAL= 149.7,   6.0, ROT=   0.3,  -6.0

2025-08-11T14:48:13.808Z,1754923693.808 [DAT](INFO): DAT read: Bearing 328.2,  -0.2 (Local)

2025-08-11T14:48:13.808Z,1754923693.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.2,  -0.2 (Local)

2025-08-11T14:48:13.810Z,1754923693.810 [DAT](INFO): DAT read: Range 11 to 50 : 328.5 m  (Round-trip  438.1 ms) speed  0.4 m/s

2025-08-11T14:48:13.810Z,1754923693.810 [DAT](INFO): DAT read: user:117>

2025-08-11T14:48:13.823Z,1754923693.823 [DAT](INFO): DAT read: Tx time:14:48:15.2201

2025-08-11T14:48:13.824Z,1754923693.824 [DAT](INFO): Ping request sent.
2025-08-11T14:48:13.824Z,1754923693.824 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:13.824Z,1754923693.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:13.825Z,1754923693.825 [DAT](INFO): direction in FSK: [0.994508,0.005207,0.104528]
2025-08-11T14:48:13.825Z,1754923693.825 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:13.826Z,1754923693.826 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:13.837Z,1754923693.837 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:13.837Z,1754923693.837 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:14.042Z,1754923694.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 328.500000 m,
      deltaT: 3.781284 s,
      deltaX: -2.399994 m,
      approachRate: -0.634703 m/s,
      rangeRepo size: 4

2025-08-11T14:48:14.053Z,1754923694.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 328.500000 m,
      bearing: 175.482562 deg,
      lat: 36.905860 deg,
      lon: -122.116128 deg,
      deltaT: 3.781284 s,
      deltaX: -2.399994 m,
      approachRate: -0.634703 m/s,
      posRepo size: 4

2025-08-11T14:48:14.053Z,1754923694.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.50 m.
2025-08-11T14:48:14.072Z,1754923694.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.500000 m,
      nav range: 325.076050 m,
      bearing: 175.482562 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010050 deg/s,
      cmd heading: 172.074253 deg,
      new cmd heading: 172.055866 deg.

2025-08-11T14:48:14.421Z,1754923694.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:14.424Z,1754923694.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.50 m.
2025-08-11T14:48:14.426Z,1754923694.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.500000 m,
      nav range: 324.845093 m,
      bearing: 175.478979 deg,
      approach rate: -0.603756 m/s,
      LOS rate: -0.009375 deg/s,
      cmd heading: 172.055867 deg,
      new cmd heading: 172.045108 deg.

2025-08-11T14:48:14.520Z,1754923694.520 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:14.520Z,1754923694.520 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:14.520Z,1754923694.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:14.772Z,1754923694.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.948267
2025-08-11T14:48:14.905Z,1754923694.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.50 m.
2025-08-11T14:48:14.917Z,1754923694.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.500000 m,
      nav range: 324.606750 m,
      bearing: 175.475607 deg,
      approach rate: -0.495249 m/s,
      LOS rate: -0.007010 deg/s,
      cmd heading: 172.045102 deg,
      new cmd heading: 172.034981 deg.

2025-08-11T14:48:15.025Z,1754923695.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200776
2025-08-11T14:48:15.276Z,1754923695.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452342
2025-08-11T14:48:15.324Z,1754923695.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.50 m.
2025-08-11T14:48:15.326Z,1754923695.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.500000 m,
      nav range: 324.350525 m,
      bearing: 175.471797 deg,
      approach rate: -0.612531 m/s,
      LOS rate: -0.009115 deg/s,
      cmd heading: 172.034980 deg,
      new cmd heading: 172.023541 deg.

2025-08-11T14:48:15.528Z,1754923695.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704280
2025-08-11T14:48:15.718Z,1754923695.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.50 m.
2025-08-11T14:48:15.722Z,1754923695.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.500000 m,
      nav range: 324.151337 m,
      bearing: 175.468827 deg,
      approach rate: -0.504845 m/s,
      LOS rate: -0.007533 deg/s,
      cmd heading: 172.023546 deg,
      new cmd heading: 172.014630 deg.

2025-08-11T14:48:15.780Z,1754923695.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956413
2025-08-11T14:48:16.032Z,1754923696.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208291
2025-08-11T14:48:16.118Z,1754923696.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.50 m.
2025-08-11T14:48:16.125Z,1754923696.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.500000 m,
      nav range: 323.953461 m,
      bearing: 175.465785 deg,
      approach rate: -0.494899 m/s,
      LOS rate: -0.007613 deg/s,
      cmd heading: 172.014626 deg,
      new cmd heading: 172.005494 deg.

2025-08-11T14:48:16.284Z,1754923696.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460253
2025-08-11T14:48:16.519Z,1754923696.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:16.521Z,1754923696.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.50 m.
2025-08-11T14:48:16.528Z,1754923696.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.500000 m,
      nav range: 323.753815 m,
      bearing: 175.462633 deg,
      approach rate: -0.494461 m/s,
      LOS rate: -0.007811 deg/s,
      cmd heading: 172.005501 deg,
      new cmd heading: 171.996040 deg.

2025-08-11T14:48:16.536Z,1754923696.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712489
2025-08-11T14:48:16.788Z,1754923696.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964343
2025-08-11T14:48:16.968Z,1754923696.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.50 m.
2025-08-11T14:48:16.987Z,1754923696.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.500000 m,
      nav range: 323.522522 m,
      bearing: 175.458977 deg,
      approach rate: -0.517417 m/s,
      LOS rate: -0.008186 deg/s,
      cmd heading: 171.996034 deg,
      new cmd heading: 171.985056 deg.

2025-08-11T14:48:17.041Z,1754923697.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216741
2025-08-11T14:48:17.292Z,1754923697.292 [DAT](INFO): DAT read: Rx Time:14:48:18.0594

2025-08-11T14:48:17.293Z,1754923697.293 [DAT](INFO): Rx dataTimestamp_ set to:1754923697.292375
2025-08-11T14:48:17.293Z,1754923697.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469385
2025-08-11T14:48:17.373Z,1754923697.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.50 m.
2025-08-11T14:48:17.376Z,1754923697.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.500000 m,
      nav range: 323.325470 m,
      bearing: 175.455755 deg,
      approach rate: -0.487058 m/s,
      LOS rate: -0.007967 deg/s,
      cmd heading: 171.985051 deg,
      new cmd heading: 171.975381 deg.

2025-08-11T14:48:17.544Z,1754923697.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.720205
2025-08-11T14:48:17.802Z,1754923697.802 [DAT](INFO): DAT read: 14:48:18.0594 LVL= 20144, 26161, 23442, 32563, AGC= 73, IDX= 405,-0.34, 2.931, 1.168,-3.130, 2.680, PHS= 0.353,-1.468, 0.429, RAW= 152.0,   7.4, CAL= 151.5,   7.9, ROT= 358.5,  -7.9

2025-08-11T14:48:17.803Z,1754923697.803 [DAT](INFO): got valid direction response:
 14:48:18.0594 LVL= 20144, 26161, 23442, 32563, AGC= 73, IDX= 405,-0.34, 2.931, 1.168,-3.130, 2.680, PHS= 0.353,-1.468, 0.429, RAW= 152.0,   7.4, CAL= 151.5,   7.9, ROT= 358.5,  -7.9

2025-08-11T14:48:17.804Z,1754923697.804 [DAT](INFO): DAT read: Bearing 331.3,  -2.3 (Local)

2025-08-11T14:48:17.804Z,1754923697.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.3,  -2.3 (Local)

2025-08-11T14:48:17.806Z,1754923697.806 [DAT](INFO): DAT read: Range 11 to 50 : 326.4 m  (Round-trip  435.2 ms) speed  0.4 m/s

2025-08-11T14:48:17.807Z,1754923697.807 [DAT](INFO): DAT read: user:118>

2025-08-11T14:48:17.808Z,1754923697.808 [DAT](INFO): DAT read: Tx time:14:48:19.1701

2025-08-11T14:48:17.808Z,1754923697.808 [DAT](INFO): Ping request sent.
2025-08-11T14:48:17.808Z,1754923697.808 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:17.808Z,1754923697.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:17.809Z,1754923697.809 [DAT](INFO): direction in FSK: [0.990170,-0.025929,0.137445]
2025-08-11T14:48:17.810Z,1754923697.810 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:17.810Z,1754923697.810 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:17.825Z,1754923697.825 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:17.825Z,1754923697.825 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:17.868Z,1754923697.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 326.399994 m,
      deltaT: 4.030859 s,
      deltaX: -2.100006 m,
      approachRate: -0.520982 m/s,
      rangeRepo size: 4

2025-08-11T14:48:17.870Z,1754923697.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 326.399994 m,
      bearing: 174.148179 deg,
      lat: 36.905860 deg,
      lon: -122.116045 deg,
      deltaT: 4.030859 s,
      deltaX: -2.100006 m,
      approachRate: -0.520982 m/s,
      posRepo size: 4

2025-08-11T14:48:17.871Z,1754923697.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:17.878Z,1754923697.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 323.777039 m,
      bearing: 174.148179 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007967 deg/s,
      cmd heading: 171.975380 deg,
      new cmd heading: 171.963766 deg.

2025-08-11T14:48:18.212Z,1754923698.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:18.214Z,1754923698.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 323.584808 m,
      bearing: 174.143898 deg,
      approach rate: -0.545424 m/s,
      LOS rate: -0.012151 deg/s,
      cmd heading: 171.963768 deg,
      new cmd heading: 171.950920 deg.

2025-08-11T14:48:18.606Z,1754923698.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:18.608Z,1754923698.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:18.611Z,1754923698.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 323.398621 m,
      bearing: 174.139797 deg,
      approach rate: -0.468921 m/s,
      LOS rate: -0.010336 deg/s,
      cmd heading: 171.950914 deg,
      new cmd heading: 171.938601 deg.

2025-08-11T14:48:18.804Z,1754923698.804 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:18.804Z,1754923698.804 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:18.804Z,1754923698.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:19.031Z,1754923699.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:19.033Z,1754923699.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 323.201874 m,
      bearing: 174.134912 deg,
      approach rate: -0.466094 m/s,
      LOS rate: -0.011579 deg/s,
      cmd heading: 171.938606 deg,
      new cmd heading: 171.923942 deg.

2025-08-11T14:48:19.056Z,1754923699.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248051
2025-08-11T14:48:19.308Z,1754923699.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500044
2025-08-11T14:48:19.412Z,1754923699.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:19.414Z,1754923699.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 323.024689 m,
      bearing: 174.130599 deg,
      approach rate: -0.465236 m/s,
      LOS rate: -0.011330 deg/s,
      cmd heading: 171.923948 deg,
      new cmd heading: 171.911003 deg.

2025-08-11T14:48:19.560Z,1754923699.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752012
2025-08-11T14:48:19.812Z,1754923699.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003997
2025-08-11T14:48:19.845Z,1754923699.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:19.868Z,1754923699.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 322.814819 m,
      bearing: 174.125669 deg,
      approach rate: -0.484605 m/s,
      LOS rate: -0.011392 deg/s,
      cmd heading: 171.910998 deg,
      new cmd heading: 171.896198 deg.

2025-08-11T14:48:20.065Z,1754923700.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256666
2025-08-11T14:48:20.258Z,1754923700.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:20.265Z,1754923700.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 322.626953 m,
      bearing: 174.121369 deg,
      approach rate: -0.453771 m/s,
      LOS rate: -0.010392 deg/s,
      cmd heading: 171.896204 deg,
      new cmd heading: 171.883296 deg.

2025-08-11T14:48:20.316Z,1754923700.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508118
2025-08-11T14:48:20.569Z,1754923700.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760999
2025-08-11T14:48:20.653Z,1754923700.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:20.657Z,1754923700.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:20.667Z,1754923700.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 322.422211 m,
      bearing: 174.116677 deg,
      approach rate: -0.514696 m/s,
      LOS rate: -0.011802 deg/s,
      cmd heading: 171.883295 deg,
      new cmd heading: 171.869211 deg.

2025-08-11T14:48:20.821Z,1754923700.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012401
2025-08-11T14:48:21.072Z,1754923701.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264012
2025-08-11T14:48:21.096Z,1754923701.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:21.098Z,1754923701.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 322.224579 m,
      bearing: 174.112160 deg,
      approach rate: -0.454238 m/s,
      LOS rate: -0.010389 deg/s,
      cmd heading: 171.869211 deg,
      new cmd heading: 171.855651 deg.

2025-08-11T14:48:21.324Z,1754923701.324 [DAT](INFO): DAT read: Rx Time:14:48:22.0068

2025-08-11T14:48:21.325Z,1754923701.325 [DAT](INFO): Rx dataTimestamp_ set to:1754923701.324320
2025-08-11T14:48:21.325Z,1754923701.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517004
2025-08-11T14:48:21.453Z,1754923701.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 326.40 m.
2025-08-11T14:48:21.456Z,1754923701.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 326.399994 m,
      nav range: 322.036804 m,
      bearing: 174.107971 deg,
      approach rate: -0.518598 m/s,
      LOS rate: -0.011575 deg/s,
      cmd heading: 171.855646 deg,
      new cmd heading: 171.843073 deg.

2025-08-11T14:48:21.577Z,1754923701.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768642
2025-08-11T14:48:21.834Z,1754923701.834 [DAT](INFO): DAT read: 14:48:22.0068 LVL= 12112, 14449, 12594, 16643, AGC= 70, IDX= 410,-0.23,-0.193,-1.898,-0.018,-0.403, PHS= 0.312,-1.451, 0.340, RAW= 150.8,   9.0, CAL= 150.4,   9.8, ROT= 359.6,  -9.8

2025-08-11T14:48:21.835Z,1754923701.835 [DAT](INFO): got valid direction response:
 14:48:22.0068 LVL= 12112, 14449, 12594, 16643, AGC= 70, IDX= 410,-0.23,-0.193,-1.898,-0.018,-0.403, PHS= 0.312,-1.451, 0.340, RAW= 150.8,   9.0, CAL= 150.4,   9.8, ROT= 359.6,  -9.8

2025-08-11T14:48:21.836Z,1754923701.836 [DAT](INFO): DAT read: Bearing 332.3,  -1.0 (Local)

2025-08-11T14:48:21.836Z,1754923701.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.3,  -1.0 (Local)

2025-08-11T14:48:21.838Z,1754923701.838 [DAT](INFO): DAT read: Range 11 to 50 : 324.4 m  (Round-trip  432.6 ms) speed  0.2 m/s

2025-08-11T14:48:21.839Z,1754923701.839 [DAT](INFO): DAT read: user:119>

2025-08-11T14:48:21.839Z,1754923701.839 [DAT](INFO): DAT read: Tx time:14:48:23.1201

2025-08-11T14:48:21.840Z,1754923701.840 [DAT](INFO): Ping request sent.
2025-08-11T14:48:21.840Z,1754923701.840 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:21.840Z,1754923701.840 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:21.841Z,1754923701.841 [DAT](INFO): direction in FSK: [0.985384,-0.006879,0.170209]
2025-08-11T14:48:21.841Z,1754923701.841 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:21.842Z,1754923701.842 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:21.852Z,1754923701.852 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:21.852Z,1754923701.852 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:22.004Z,1754923702.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 324.399994 m,
      deltaT: 4.032002 s,
      deltaX: -2.000000 m,
      approachRate: -0.496031 m/s,
      rangeRepo size: 4

2025-08-11T14:48:22.006Z,1754923702.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 324.399994 m,
      bearing: 174.098789 deg,
      lat: 36.905862 deg,
      lon: -122.116045 deg,
      deltaT: 4.032002 s,
      deltaX: -2.000000 m,
      approachRate: -0.496031 m/s,
      posRepo size: 4

2025-08-11T14:48:22.006Z,1754923702.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:22.013Z,1754923702.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 321.594238 m,
      bearing: 174.098789 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011575 deg/s,
      cmd heading: 171.843079 deg,
      new cmd heading: 171.824002 deg.

2025-08-11T14:48:22.287Z,1754923702.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:22.289Z,1754923702.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 321.433777 m,
      bearing: 174.095327 deg,
      approach rate: -0.565559 m/s,
      LOS rate: -0.012205 deg/s,
      cmd heading: 171.823995 deg,
      new cmd heading: 171.813607 deg.

2025-08-11T14:48:22.686Z,1754923702.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:22.711Z,1754923702.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:22.741Z,1754923702.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 321.216736 m,
      bearing: 174.090735 deg,
      approach rate: -0.513941 m/s,
      LOS rate: -0.010881 deg/s,
      cmd heading: 171.813613 deg,
      new cmd heading: 171.799828 deg.

2025-08-11T14:48:22.836Z,1754923702.836 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:22.836Z,1754923702.836 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:22.836Z,1754923702.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:23.088Z,1754923703.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248120
2025-08-11T14:48:23.134Z,1754923703.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:23.137Z,1754923703.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 320.959442 m,
      bearing: 174.085496 deg,
      approach rate: -0.604764 m/s,
      LOS rate: -0.012326 deg/s,
      cmd heading: 171.799830 deg,
      new cmd heading: 171.784098 deg.

2025-08-11T14:48:23.340Z,1754923703.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500428
2025-08-11T14:48:23.515Z,1754923703.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:23.518Z,1754923703.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 320.749268 m,
      bearing: 174.081436 deg,
      approach rate: -0.576181 m/s,
      LOS rate: -0.011137 deg/s,
      cmd heading: 171.784093 deg,
      new cmd heading: 171.771906 deg.

2025-08-11T14:48:23.593Z,1754923703.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752695
2025-08-11T14:48:23.844Z,1754923703.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004547
2025-08-11T14:48:23.950Z,1754923703.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:23.953Z,1754923703.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 320.479614 m,
      bearing: 174.075737 deg,
      approach rate: -0.597951 m/s,
      LOS rate: -0.012646 deg/s,
      cmd heading: 171.771908 deg,
      new cmd heading: 171.754799 deg.

2025-08-11T14:48:24.096Z,1754923704.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256299
2025-08-11T14:48:24.306Z,1754923704.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:24.309Z,1754923704.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 320.245453 m,
      bearing: 174.070889 deg,
      approach rate: -0.657696 m/s,
      LOS rate: -0.013627 deg/s,
      cmd heading: 171.754806 deg,
      new cmd heading: 171.740250 deg.

2025-08-11T14:48:24.349Z,1754923704.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508984
2025-08-11T14:48:24.600Z,1754923704.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760305
2025-08-11T14:48:24.821Z,1754923704.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:24.833Z,1754923704.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:24.836Z,1754923704.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 319.942505 m,
      bearing: 174.064744 deg,
      approach rate: -0.585823 m/s,
      LOS rate: -0.011895 deg/s,
      cmd heading: 171.740244 deg,
      new cmd heading: 171.721790 deg.

2025-08-11T14:48:24.854Z,1754923704.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014233
2025-08-11T14:48:25.104Z,1754923705.104 [DAT](INFO): DAT read: Rx Time:14:48:25.9539

2025-08-11T14:48:25.105Z,1754923705.105 [DAT](INFO): Rx dataTimestamp_ set to:1754923705.104264
2025-08-11T14:48:25.105Z,1754923705.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265268
2025-08-11T14:48:25.195Z,1754923705.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:25.197Z,1754923705.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 319.683075 m,
      bearing: 174.059266 deg,
      approach rate: -0.698587 m/s,
      LOS rate: -0.014763 deg/s,
      cmd heading: 171.721788 deg,
      new cmd heading: 171.705341 deg.

2025-08-11T14:48:25.356Z,1754923705.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516243
2025-08-11T14:48:25.544Z,1754923705.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.40 m.
2025-08-11T14:48:25.546Z,1754923705.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 324.399994 m,
      nav range: 319.459015 m,
      bearing: 174.054600 deg,
      approach rate: -0.642278 m/s,
      LOS rate: -0.013383 deg/s,
      cmd heading: 171.705341 deg,
      new cmd heading: 171.691335 deg.

2025-08-11T14:48:25.635Z,1754923705.635 [DAT](INFO): DAT read: 14:48:25.9539 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.06,-1.946, 2.575,-1.880,-2.234, PHS= 0.391,-1.429, 0.310, RAW= 147.8,   8.2, CAL= 147.3,   8.9, ROT=   2.7,  -8.9

2025-08-11T14:48:25.646Z,1754923705.646 [DAT](INFO): got valid direction response:
 14:48:25.9539 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.06,-1.946, 2.575,-1.880,-2.234, PHS= 0.391,-1.429, 0.310, RAW= 147.8,   8.2, CAL= 147.3,   8.9, ROT=   2.7,  -8.9

2025-08-11T14:48:25.671Z,1754923705.671 [DAT](INFO): DAT read: Bearing 330.1,   2.3 (Local)

2025-08-11T14:48:25.672Z,1754923705.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.1,   2.3 (Local)

2025-08-11T14:48:25.673Z,1754923705.673 [DAT](INFO): DAT read: Range 11 to 50 : 322.2 m  (Round-trip  429.6 ms) speed  0.7 m/s

2025-08-11T14:48:25.675Z,1754923705.675 [DAT](INFO): DAT read: user:120>

2025-08-11T14:48:25.685Z,1754923705.685 [DAT](INFO): DAT read: Tx time:14:48:27.0701

2025-08-11T14:48:25.685Z,1754923705.685 [DAT](INFO): Ping request sent.
2025-08-11T14:48:25.685Z,1754923705.685 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:25.685Z,1754923705.685 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:25.686Z,1754923705.686 [DAT](INFO): direction in FSK: [0.986863,0.046539,0.154710]
2025-08-11T14:48:25.686Z,1754923705.686 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:25.687Z,1754923705.687 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:25.691Z,1754923705.691 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:25.700Z,1754923705.700 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:25.999Z,1754923705.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 322.200012 m,
      deltaT: 3.781414 s,
      deltaX: -2.199982 m,
      approachRate: -0.581788 m/s,
      rangeRepo size: 4

2025-08-11T14:48:26.001Z,1754923706.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 322.200012 m,
      bearing: 174.050198 deg,
      lat: 36.905860 deg,
      lon: -122.116045 deg,
      deltaT: 3.781414 s,
      deltaX: -2.199982 m,
      approachRate: -0.581788 m/s,
      posRepo size: 4

2025-08-11T14:48:26.002Z,1754923706.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.20 m.
2025-08-11T14:48:26.005Z,1754923706.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.200012 m,
      nav range: 319.308350 m,
      bearing: 174.050198 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013383 deg/s,
      cmd heading: 171.691339 deg,
      new cmd heading: 171.673078 deg.

2025-08-11T14:48:26.358Z,1754923706.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.20 m.
2025-08-11T14:48:26.361Z,1754923706.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.200012 m,
      nav range: 319.063538 m,
      bearing: 174.044461 deg,
      approach rate: -0.680572 m/s,
      LOS rate: -0.015962 deg/s,
      cmd heading: 171.673076 deg,
      new cmd heading: 171.655851 deg.

2025-08-11T14:48:26.831Z,1754923706.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:26.833Z,1754923706.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.20 m.
2025-08-11T14:48:26.844Z,1754923706.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.200012 m,
      nav range: 318.749420 m,
      bearing: 174.037143 deg,
      approach rate: -0.660635 m/s,
      LOS rate: -0.015407 deg/s,
      cmd heading: 171.655850 deg,
      new cmd heading: 171.633872 deg.

2025-08-11T14:48:26.868Z,1754923706.868 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:26.868Z,1754923706.868 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:26.868Z,1754923706.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:27.120Z,1754923707.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.435209
2025-08-11T14:48:27.255Z,1754923707.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.20 m.
2025-08-11T14:48:27.261Z,1754923707.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.200012 m,
      nav range: 318.478119 m,
      bearing: 174.028601 deg,
      approach rate: -0.644266 m/s,
      LOS rate: -0.020301 deg/s,
      cmd heading: 171.633870 deg,
      new cmd heading: 171.608224 deg.

2025-08-11T14:48:27.380Z,1754923707.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694869
2025-08-11T14:48:27.613Z,1754923707.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.20 m.
2025-08-11T14:48:27.616Z,1754923707.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.200012 m,
      nav range: 318.242340 m,
      bearing: 174.021191 deg,
      approach rate: -0.658221 m/s,
      LOS rate: -0.020702 deg/s,
      cmd heading: 171.608230 deg,
      new cmd heading: 171.585983 deg.

2025-08-11T14:48:27.624Z,1754923707.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.939487
2025-08-11T14:48:27.880Z,1754923707.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194598
2025-08-11T14:48:28.042Z,1754923708.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.20 m.
2025-08-11T14:48:28.045Z,1754923708.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.200012 m,
      nav range: 317.972260 m,
      bearing: 174.013506 deg,
      approach rate: -0.629422 m/s,
      LOS rate: -0.017927 deg/s,
      cmd heading: 171.585977 deg,
      new cmd heading: 171.562900 deg.

2025-08-11T14:48:28.129Z,1754923708.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443931
2025-08-11T14:48:28.380Z,1754923708.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.695178
2025-08-11T14:48:28.425Z,1754923708.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.20 m.
2025-08-11T14:48:28.428Z,1754923708.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.200012 m,
      nav range: 317.730072 m,
      bearing: 174.006652 deg,
      approach rate: -0.631358 m/s,
      LOS rate: -0.017879 deg/s,
      cmd heading: 171.562905 deg,
      new cmd heading: 171.542329 deg.

2025-08-11T14:48:28.632Z,1754923708.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.947196
2025-08-11T14:48:28.884Z,1754923708.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199233
2025-08-11T14:48:28.885Z,1754923708.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:28.887Z,1754923708.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.20 m.
2025-08-11T14:48:28.890Z,1754923708.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.200012 m,
      nav range: 317.451630 m,
      bearing: 173.998745 deg,
      approach rate: -0.603661 m/s,
      LOS rate: -0.017157 deg/s,
      cmd heading: 171.542332 deg,
      new cmd heading: 171.518590 deg.

2025-08-11T14:48:29.136Z,1754923709.136 [DAT](INFO): DAT read: Rx Time:14:48:29.9005

2025-08-11T14:48:29.137Z,1754923709.137 [DAT](INFO): Rx dataTimestamp_ set to:1754923709.136546
2025-08-11T14:48:29.137Z,1754923709.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.452422
2025-08-11T14:48:29.242Z,1754923709.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.20 m.
2025-08-11T14:48:29.245Z,1754923709.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 322.200012 m,
      nav range: 317.234833 m,
      bearing: 173.992600 deg,
      approach rate: -0.609639 m/s,
      LOS rate: -0.017293 deg/s,
      cmd heading: 171.518590 deg,
      new cmd heading: 171.500142 deg.

2025-08-11T14:48:29.389Z,1754923709.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703634
2025-08-11T14:48:29.646Z,1754923709.646 [DAT](INFO): DAT read: 14:48:29.9004 LVL= 23904, 31265, 28370, 32755, AGC= 75, IDX= 410, 0.00,-0.898,-2.641,-0.838,-1.185, PHS= 0.390,-1.411, 0.303, RAW= 147.6,   8.2, CAL= 147.1,   8.9, ROT=   2.9,  -8.9

2025-08-11T14:48:29.647Z,1754923709.647 [DAT](INFO): got valid direction response:
 14:48:29.9004 LVL= 23904, 31265, 28370, 32755, AGC= 75, IDX= 410, 0.00,-0.898,-2.641,-0.838,-1.185, PHS= 0.390,-1.411, 0.303, RAW= 147.6,   8.2, CAL= 147.1,   8.9, ROT=   2.9,  -8.9

2025-08-11T14:48:29.648Z,1754923709.648 [DAT](INFO): DAT read: Bearing 329.4,   2.1 (Local)

2025-08-11T14:48:29.648Z,1754923709.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.4,   2.1 (Local)

2025-08-11T14:48:29.650Z,1754923709.650 [DAT](INFO): DAT read: Range 11 to 50 : 319.7 m  (Round-trip  426.3 ms) speed  0.0 m/s

2025-08-11T14:48:29.651Z,1754923709.651 [DAT](INFO): DAT read: user:121>

2025-08-11T14:48:29.651Z,1754923709.651 [DAT](INFO): DAT read: Tx time:14:48:31.0200

2025-08-11T14:48:29.652Z,1754923709.652 [DAT](INFO): Ping request sent.
2025-08-11T14:48:29.652Z,1754923709.652 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:29.652Z,1754923709.652 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:29.653Z,1754923709.653 [DAT](INFO): direction in FSK: [0.986695,0.049984,0.154710]
2025-08-11T14:48:29.653Z,1754923709.653 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:29.654Z,1754923709.654 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:29.657Z,1754923709.657 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:29.657Z,1754923709.657 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:29.681Z,1754923709.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 319.700012 m,
      deltaT: 4.030529 s,
      deltaX: -2.500000 m,
      approachRate: -0.620266 m/s,
      rangeRepo size: 4

2025-08-11T14:48:29.693Z,1754923709.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 319.700012 m,
      bearing: 174.045407 deg,
      lat: 36.905862 deg,
      lon: -122.116049 deg,
      deltaT: 4.030529 s,
      deltaX: -2.500000 m,
      approachRate: -0.620266 m/s,
      posRepo size: 4

2025-08-11T14:48:29.695Z,1754923709.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:29.717Z,1754923709.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 316.834686 m,
      bearing: 174.045407 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017293 deg/s,
      cmd heading: 171.500135 deg,
      new cmd heading: 171.477892 deg.

2025-08-11T14:48:30.093Z,1754923710.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:30.100Z,1754923710.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 316.563354 m,
      bearing: 174.038915 deg,
      approach rate: -0.643418 m/s,
      LOS rate: -0.015407 deg/s,
      cmd heading: 171.477896 deg,
      new cmd heading: 171.458405 deg.

2025-08-11T14:48:30.446Z,1754923710.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:30.449Z,1754923710.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 316.346924 m,
      bearing: 174.033753 deg,
      approach rate: -0.612325 m/s,
      LOS rate: -0.014615 deg/s,
      cmd heading: 171.458403 deg,
      new cmd heading: 171.442906 deg.

2025-08-11T14:48:30.927Z,1754923710.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:30.934Z,1754923710.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:30.943Z,1754923710.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 316.074249 m,
      bearing: 174.027574 deg,
      approach rate: -0.558895 m/s,
      LOS rate: -0.012677 deg/s,
      cmd heading: 171.442912 deg,
      new cmd heading: 171.424357 deg.

2025-08-11T14:48:31.152Z,1754923711.152 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:31.152Z,1754923711.152 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:31.152Z,1754923711.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:31.305Z,1754923711.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:31.308Z,1754923711.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 315.843811 m,
      bearing: 174.022390 deg,
      approach rate: -0.621395 m/s,
      LOS rate: -0.013989 deg/s,
      cmd heading: 171.424361 deg,
      new cmd heading: 171.408798 deg.

2025-08-11T14:48:31.405Z,1754923711.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752864
2025-08-11T14:48:31.656Z,1754923711.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004476
2025-08-11T14:48:31.701Z,1754923711.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:31.731Z,1754923711.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 315.616608 m,
      bearing: 174.017300 deg,
      approach rate: -0.575926 m/s,
      LOS rate: -0.012913 deg/s,
      cmd heading: 171.408802 deg,
      new cmd heading: 171.393519 deg.

2025-08-11T14:48:31.908Z,1754923711.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256421
2025-08-11T14:48:32.118Z,1754923712.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:32.122Z,1754923712.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 315.399597 m,
      bearing: 174.013253 deg,
      approach rate: -0.518154 m/s,
      LOS rate: -0.009668 deg/s,
      cmd heading: 171.393516 deg,
      new cmd heading: 171.381369 deg.

2025-08-11T14:48:32.161Z,1754923712.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508637
2025-08-11T14:48:32.412Z,1754923712.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760263
2025-08-11T14:48:32.499Z,1754923712.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:32.502Z,1754923712.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 315.205902 m,
      bearing: 174.009664 deg,
      approach rate: -0.508549 m/s,
      LOS rate: -0.009428 deg/s,
      cmd heading: 171.381372 deg,
      new cmd heading: 171.370599 deg.

2025-08-11T14:48:32.664Z,1754923712.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012345
2025-08-11T14:48:32.917Z,1754923712.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264977
2025-08-11T14:48:33.029Z,1754923713.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:33.031Z,1754923713.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:33.038Z,1754923713.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 314.983521 m,
      bearing: 174.006350 deg,
      approach rate: -0.418290 m/s,
      LOS rate: -0.006238 deg/s,
      cmd heading: 171.370594 deg,
      new cmd heading: 171.360644 deg.

2025-08-11T14:48:33.174Z,1754923713.174 [DAT](INFO): DAT read: 14:48:33.8475 LVL= 31120, 32753, 32754, 32755, AGC= 75, IDX= 412, 0.29,-2.134, 2.371,-2.138,-2.436, PHS= 0.404,-1.431, 0.255, RAW= 145.8,   8.8, CAL= 145.4,   9.6, ROT=   4.6,  -9.6

2025-08-11T14:48:33.175Z,1754923713.175 [DAT](INFO): got valid direction response:
 14:48:33.8475 LVL= 31120, 32753, 32754, 32755, AGC= 75, IDX= 412, 0.29,-2.134, 2.371,-2.138,-2.436, PHS= 0.404,-1.431, 0.255, RAW= 145.8,   8.8, CAL= 145.4,   9.6, ROT=   4.6,  -9.6

2025-08-11T14:48:33.176Z,1754923713.176 [DAT](INFO): DAT read: Rx Time:14:48:33.8475

2025-08-11T14:48:33.177Z,1754923713.177 [DAT](INFO): Rx dataTimestamp_ set to:1754923713.176357
2025-08-11T14:48:33.177Z,1754923713.177 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-11T14:48:33.178Z,1754923713.178 [DAT](INFO): Received low SNR in chirp
2025-08-11T14:48:33.192Z,1754923713.192 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:48:33.193Z,1754923713.193 [DAT](INFO): direction in FSK: [0.982820,0.079076,0.166769]
2025-08-11T14:48:33.201Z,1754923713.201 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:33.201Z,1754923713.201 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:33.201Z,1754923713.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:33.386Z,1754923713.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:33.393Z,1754923713.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 314.802460 m,
      bearing: 174.003672 deg,
      approach rate: -0.509960 m/s,
      LOS rate: -0.007548 deg/s,
      cmd heading: 171.360649 deg,
      new cmd heading: 171.352609 deg.

2025-08-11T14:48:33.420Z,1754923713.420 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:33.420Z,1754923713.420 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:33.420Z,1754923713.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:33.673Z,1754923713.673 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:33.673Z,1754923713.673 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:33.673Z,1754923713.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:33.774Z,1754923713.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:33.781Z,1754923713.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 314.614838 m,
      bearing: 174.000919 deg,
      approach rate: -0.483405 m/s,
      LOS rate: -0.007095 deg/s,
      cmd heading: 171.352603 deg,
      new cmd heading: 171.344341 deg.

2025-08-11T14:48:33.925Z,1754923713.925 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:33.925Z,1754923713.925 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:33.925Z,1754923713.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:34.176Z,1754923714.176 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:34.177Z,1754923714.177 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:34.177Z,1754923714.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:34.248Z,1754923714.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:34.255Z,1754923714.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 314.391510 m,
      bearing: 173.998890 deg,
      approach rate: -0.470832 m/s,
      LOS rate: -0.004282 deg/s,
      cmd heading: 171.344339 deg,
      new cmd heading: 171.338245 deg.

2025-08-11T14:48:34.428Z,1754923714.428 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:34.428Z,1754923714.428 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:34.428Z,1754923714.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:34.604Z,1754923714.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:34.607Z,1754923714.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 314.217010 m,
      bearing: 173.997303 deg,
      approach rate: -0.489932 m/s,
      LOS rate: -0.004456 deg/s,
      cmd heading: 171.338246 deg,
      new cmd heading: 171.333485 deg.

2025-08-11T14:48:34.684Z,1754923714.684 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:34.684Z,1754923714.684 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:34.685Z,1754923714.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:34.936Z,1754923714.936 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:34.936Z,1754923714.936 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:34.936Z,1754923714.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:35.030Z,1754923715.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:35.032Z,1754923715.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 314.019867 m,
      bearing: 173.996797 deg,
      approach rate: -0.463783 m/s,
      LOS rate: -0.001193 deg/s,
      cmd heading: 171.333478 deg,
      new cmd heading: 171.331957 deg.

2025-08-11T14:48:35.188Z,1754923715.188 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:35.188Z,1754923715.188 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:35.189Z,1754923715.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:35.408Z,1754923715.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:35.410Z,1754923715.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:35.421Z,1754923715.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 313.851135 m,
      bearing: 173.996315 deg,
      approach rate: -0.443837 m/s,
      LOS rate: -0.001268 deg/s,
      cmd heading: 171.331962 deg,
      new cmd heading: 171.330517 deg.

2025-08-11T14:48:35.440Z,1754923715.440 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:35.440Z,1754923715.440 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:35.440Z,1754923715.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:35.694Z,1754923715.694 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:35.694Z,1754923715.694 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:35.694Z,1754923715.694 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:35.804Z,1754923715.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:35.807Z,1754923715.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 313.660492 m,
      bearing: 173.995702 deg,
      approach rate: -0.482871 m/s,
      LOS rate: -0.001553 deg/s,
      cmd heading: 171.330514 deg,
      new cmd heading: 171.328674 deg.

2025-08-11T14:48:35.945Z,1754923715.945 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:35.945Z,1754923715.945 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:35.945Z,1754923715.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:36.196Z,1754923716.196 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:36.197Z,1754923716.197 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:36.197Z,1754923716.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:36.268Z,1754923716.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:36.275Z,1754923716.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 313.442780 m,
      bearing: 173.995003 deg,
      approach rate: -0.469403 m/s,
      LOS rate: -0.001508 deg/s,
      cmd heading: 171.328670 deg,
      new cmd heading: 171.326571 deg.

2025-08-11T14:48:36.448Z,1754923716.448 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:36.448Z,1754923716.448 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:36.448Z,1754923716.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:36.643Z,1754923716.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:36.646Z,1754923716.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 313.252960 m,
      bearing: 173.994393 deg,
      approach rate: -0.506773 m/s,
      LOS rate: -0.001630 deg/s,
      cmd heading: 171.326566 deg,
      new cmd heading: 171.324734 deg.

2025-08-11T14:48:36.701Z,1754923716.701 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:36.701Z,1754923716.701 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:36.701Z,1754923716.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:36.954Z,1754923716.954 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:36.954Z,1754923716.954 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:36.955Z,1754923716.955 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:37.058Z,1754923717.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:37.065Z,1754923717.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 313.045502 m,
      bearing: 173.993470 deg,
      approach rate: -0.499309 m/s,
      LOS rate: -0.002223 deg/s,
      cmd heading: 171.324736 deg,
      new cmd heading: 171.321965 deg.

2025-08-11T14:48:37.204Z,1754923717.204 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:37.205Z,1754923717.205 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:37.205Z,1754923717.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:37.409Z,1754923717.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:37.412Z,1754923717.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 312.850739 m,
      bearing: 173.992553 deg,
      approach rate: -0.554909 m/s,
      LOS rate: -0.002615 deg/s,
      cmd heading: 171.321963 deg,
      new cmd heading: 171.319209 deg.

2025-08-11T14:48:37.456Z,1754923717.456 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:37.456Z,1754923717.456 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:37.456Z,1754923717.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:37.708Z,1754923717.708 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:37.708Z,1754923717.708 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:37.708Z,1754923717.708 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:37.813Z,1754923717.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:37.815Z,1754923717.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:37.818Z,1754923717.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 312.638153 m,
      bearing: 173.991485 deg,
      approach rate: -0.524307 m/s,
      LOS rate: -0.002636 deg/s,
      cmd heading: 171.319203 deg,
      new cmd heading: 171.315997 deg.

2025-08-11T14:48:37.963Z,1754923717.963 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:37.963Z,1754923717.963 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:37.964Z,1754923717.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:38.212Z,1754923718.212 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:38.212Z,1754923718.212 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:38.212Z,1754923718.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:38.274Z,1754923718.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:38.281Z,1754923718.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 312.380432 m,
      bearing: 173.989029 deg,
      approach rate: -0.560915 m/s,
      LOS rate: -0.005349 deg/s,
      cmd heading: 171.315993 deg,
      new cmd heading: 171.308621 deg.

2025-08-11T14:48:38.464Z,1754923718.464 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:38.464Z,1754923718.464 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:38.464Z,1754923718.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:38.618Z,1754923718.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:38.621Z,1754923718.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 312.178925 m,
      bearing: 173.987054 deg,
      approach rate: -0.585403 m/s,
      LOS rate: -0.005742 deg/s,
      cmd heading: 171.308617 deg,
      new cmd heading: 171.302687 deg.

2025-08-11T14:48:38.717Z,1754923718.717 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:38.717Z,1754923718.717 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:38.717Z,1754923718.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:38.971Z,1754923718.971 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:38.971Z,1754923718.971 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:38.972Z,1754923718.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:39.058Z,1754923719.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:39.076Z,1754923719.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 311.925659 m,
      bearing: 173.983640 deg,
      approach rate: -0.576837 m/s,
      LOS rate: -0.007781 deg/s,
      cmd heading: 171.302688 deg,
      new cmd heading: 171.292439 deg.

2025-08-11T14:48:39.220Z,1754923719.220 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:39.220Z,1754923719.220 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:39.220Z,1754923719.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:39.427Z,1754923719.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:39.430Z,1754923719.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 311.713013 m,
      bearing: 173.980669 deg,
      approach rate: -0.575822 m/s,
      LOS rate: -0.008051 deg/s,
      cmd heading: 171.292443 deg,
      new cmd heading: 171.283523 deg.

2025-08-11T14:48:39.472Z,1754923719.472 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:39.473Z,1754923719.473 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:39.473Z,1754923719.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:48:39.724Z,1754923719.724 [DAT](INFO): Reached modem response timeout
2025-08-11T14:48:39.724Z,1754923719.724 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:39.724Z,1754923719.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:39.830Z,1754923719.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:39.832Z,1754923719.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:39.843Z,1754923719.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 311.479340 m,
      bearing: 173.977376 deg,
      approach rate: -0.576130 m/s,
      LOS rate: -0.008127 deg/s,
      cmd heading: 171.283522 deg,
      new cmd heading: 171.273634 deg.

2025-08-11T14:48:39.978Z,1754923719.978 [DAT](INFO): Reached modem response timeout
2025-08-11T14:48:39.979Z,1754923719.979 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:39.980Z,1754923719.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:40.228Z,1754923720.228 [DAT](INFO): Reached modem response timeout
2025-08-11T14:48:40.228Z,1754923720.228 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:40.228Z,1754923720.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:40.266Z,1754923720.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:40.272Z,1754923720.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 311.209930 m,
      bearing: 173.972319 deg,
      approach rate: -0.621614 m/s,
      LOS rate: -0.011676 deg/s,
      cmd heading: 171.273632 deg,
      new cmd heading: 171.258451 deg.

2025-08-11T14:48:40.480Z,1754923720.480 [DAT](INFO): Reached modem response timeout
2025-08-11T14:48:40.480Z,1754923720.480 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:40.480Z,1754923720.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:40.629Z,1754923720.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:40.633Z,1754923720.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 310.984375 m,
      bearing: 173.967996 deg,
      approach rate: -0.620247 m/s,
      LOS rate: -0.011898 deg/s,
      cmd heading: 171.258456 deg,
      new cmd heading: 171.245475 deg.

2025-08-11T14:48:40.732Z,1754923720.732 [DAT](INFO): Reached modem response timeout
2025-08-11T14:48:40.733Z,1754923720.733 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:40.733Z,1754923720.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:40.987Z,1754923720.987 [DAT](INFO): Reached modem response timeout
2025-08-11T14:48:40.988Z,1754923720.988 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:40.989Z,1754923720.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:41.078Z,1754923721.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:41.098Z,1754923721.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 310.696259 m,
      bearing: 173.960784 deg,
      approach rate: -0.641730 m/s,
      LOS rate: -0.016078 deg/s,
      cmd heading: 171.245478 deg,
      new cmd heading: 171.223822 deg.

2025-08-11T14:48:41.236Z,1754923721.236 [DAT](INFO): Reached modem response timeout
2025-08-11T14:48:41.236Z,1754923721.236 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:41.236Z,1754923721.236 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:41.444Z,1754923721.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:41.447Z,1754923721.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 310.461426 m,
      bearing: 173.954904 deg,
      approach rate: -0.641655 m/s,
      LOS rate: -0.016078 deg/s,
      cmd heading: 171.223827 deg,
      new cmd heading: 171.206174 deg.

2025-08-11T14:48:41.488Z,1754923721.488 [DAT](INFO): Reached modem response timeout
2025-08-11T14:48:41.488Z,1754923721.488 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:41.489Z,1754923721.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:41.740Z,1754923721.740 [DAT](INFO): Reached modem response timeout
2025-08-11T14:48:41.740Z,1754923721.740 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:41.740Z,1754923721.740 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:41.847Z,1754923721.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:41.853Z,1754923721.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:41.860Z,1754923721.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 310.207184 m,
      bearing: 173.948514 deg,
      approach rate: -0.622556 m/s,
      LOS rate: -0.015658 deg/s,
      cmd heading: 171.206177 deg,
      new cmd heading: 171.186994 deg.

2025-08-11T14:48:41.996Z,1754923721.996 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:48:41.996Z,1754923721.996 [DAT](INFO): response not received
2025-08-11T14:48:41.998Z,1754923721.998 [DAT](INFO): DAT read: user:123>

2025-08-11T14:48:41.999Z,1754923721.999 [DAT](ERROR): No response from remote modem.
2025-08-11T14:48:42.000Z,1754923722.000 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:48:42.001Z,1754923722.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:42.244Z,1754923722.244 [DAT](INFO): DAT read: Tx time:14:48:43.4700

2025-08-11T14:48:42.245Z,1754923722.245 [DAT](INFO): Ping request sent.
2025-08-11T14:48:42.245Z,1754923722.245 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:42.245Z,1754923722.245 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:42.246Z,1754923722.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-08-11T14:48:42.274Z,1754923722.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:42.293Z,1754923722.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 309.929443 m,
      bearing: 173.940039 deg,
      approach rate: -0.660143 m/s,
      LOS rate: -0.020162 deg/s,
      cmd heading: 171.186998 deg,
      new cmd heading: 171.161550 deg.

2025-08-11T14:48:42.496Z,1754923722.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251444
2025-08-11T14:48:42.648Z,1754923722.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:42.650Z,1754923722.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 309.689240 m,
      bearing: 173.932682 deg,
      approach rate: -0.642100 m/s,
      LOS rate: -0.019682 deg/s,
      cmd heading: 171.161549 deg,
      new cmd heading: 171.139460 deg.

2025-08-11T14:48:42.656Z,1754923722.656 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-11T14:38:42.6Z
2025-08-11T14:48:42.656Z,1754923722.656 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-11T14:48:42.656Z,1754923722.656 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-11T14:48:42.656Z,1754923722.656 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-11T14:48:42.656Z,1754923722.656 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-11T14:48:42.657Z,1754923722.657 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-11T14:48:42.748Z,1754923722.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503475
2025-08-11T14:48:43.003Z,1754923723.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757729
2025-08-11T14:48:43.098Z,1754923723.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:43.101Z,1754923723.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 309.404572 m,
      bearing: 173.922838 deg,
      approach rate: -0.631832 m/s,
      LOS rate: -0.021869 deg/s,
      cmd heading: 171.139460 deg,
      new cmd heading: 171.109901 deg.

2025-08-11T14:48:43.105Z,1754923723.105 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-11T14:48:43.105Z,1754923723.105 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-11T14:48:43.105Z,1754923723.105 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-11T14:48:43.106Z,1754923723.106 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-11T14:48:43.106Z,1754923723.106 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-11T14:48:43.252Z,1754923723.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007397
2025-08-11T14:48:43.510Z,1754923723.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265486
2025-08-11T14:48:43.525Z,1754923723.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:43.528Z,1754923723.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 309.134949 m,
      bearing: 173.913549 deg,
      approach rate: -0.631894 m/s,
      LOS rate: -0.021790 deg/s,
      cmd heading: 171.109899 deg,
      new cmd heading: 171.082006 deg.

2025-08-11T14:48:43.764Z,1754923723.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519563
2025-08-11T14:48:43.934Z,1754923723.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:43.953Z,1754923723.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:43.960Z,1754923723.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 308.877472 m,
      bearing: 173.904710 deg,
      approach rate: -0.601733 m/s,
      LOS rate: -0.020674 deg/s,
      cmd heading: 171.082005 deg,
      new cmd heading: 171.055465 deg.

2025-08-11T14:48:44.019Z,1754923724.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773792
2025-08-11T14:48:44.269Z,1754923724.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023802
2025-08-11T14:48:44.379Z,1754923724.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:44.382Z,1754923724.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 308.608521 m,
      bearing: 173.893640 deg,
      approach rate: -0.630975 m/s,
      LOS rate: -0.025992 deg/s,
      cmd heading: 171.055462 deg,
      new cmd heading: 171.022226 deg.

2025-08-11T14:48:44.521Z,1754923724.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275857
2025-08-11T14:48:44.743Z,1754923724.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:44.746Z,1754923724.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 308.389587 m,
      bearing: 173.884655 deg,
      approach rate: -0.602032 m/s,
      LOS rate: -0.024726 deg/s,
      cmd heading: 171.022227 deg,
      new cmd heading: 170.995251 deg.

2025-08-11T14:48:44.773Z,1754923724.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528198
2025-08-11T14:48:45.027Z,1754923725.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781637
2025-08-11T14:48:45.232Z,1754923725.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:45.235Z,1754923725.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 308.091705 m,
      bearing: 173.873551 deg,
      approach rate: -0.608399 m/s,
      LOS rate: -0.022701 deg/s,
      cmd heading: 170.995248 deg,
      new cmd heading: 170.961903 deg.

2025-08-11T14:48:45.276Z,1754923725.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031416
2025-08-11T14:48:45.528Z,1754923725.528 [DAT](INFO): DAT read: Rx Time:14:48:46.2882

2025-08-11T14:48:45.529Z,1754923725.529 [DAT](INFO): Rx dataTimestamp_ set to:1754923725.528365
2025-08-11T14:48:45.529Z,1754923725.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284462
2025-08-11T14:48:45.749Z,1754923725.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.70 m.
2025-08-11T14:48:45.756Z,1754923725.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 319.700012 m,
      nav range: 307.787292 m,
      bearing: 173.862210 deg,
      approach rate: -0.588696 m/s,
      LOS rate: -0.021953 deg/s,
      cmd heading: 170.961903 deg,
      new cmd heading: 170.927847 deg.

2025-08-11T14:48:45.780Z,1754923725.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535593
2025-08-11T14:48:46.053Z,1754923726.053 [DAT](INFO): DAT read: 14:48:46.2882 LVL= 28752, 30785, 25122, 32755, AGC= 70, IDX= 349, 0.14,-2.971, 1.536,-2.866, 3.021, PHS= 0.392,-1.440, 0.352, RAW= 148.9,   7.7, CAL= 148.4,   8.3, ROT=   1.6,  -8.3

2025-08-11T14:48:46.084Z,1754923726.084 [DAT](INFO): got valid direction response:
 14:48:46.2882 LVL= 28752, 30785, 25122, 32755, AGC= 70, IDX= 349, 0.14,-2.971, 1.536,-2.866, 3.021, PHS= 0.392,-1.440, 0.352, RAW= 148.9,   7.7, CAL= 148.4,   8.3, ROT=   1.6,  -8.3

2025-08-11T14:48:46.085Z,1754923726.085 [DAT](INFO): DAT read: Bearing 329.7,  -0.0 (Local)

2025-08-11T14:48:46.086Z,1754923726.086 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.7,  -0.0 (Local)

2025-08-11T14:48:46.096Z,1754923726.096 [DAT](INFO): DAT read: Range 11 to 50 : 310.5 m  (Round-trip  414.1 ms) speed  0.7 m/s

2025-08-11T14:48:46.097Z,1754923726.097 [DAT](INFO): DAT read: user:124>

2025-08-11T14:48:46.098Z,1754923726.098 [DAT](INFO): DAT read: Tx time:14:48:47.3700

2025-08-11T14:48:46.098Z,1754923726.098 [DAT](INFO): Ping request sent.
2025-08-11T14:48:46.098Z,1754923726.098 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:46.098Z,1754923726.098 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:46.099Z,1754923726.099 [DAT](INFO): direction in FSK: [0.989140,0.027629,0.144356]
2025-08-11T14:48:46.100Z,1754923726.100 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:46.100Z,1754923726.100 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:46.103Z,1754923726.103 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:46.115Z,1754923726.115 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:46.269Z,1754923726.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 310.500000 m,
      deltaT: 16.393617 s,
      deltaX: -9.200012 m,
      approachRate: -0.561195 m/s,
      rangeRepo size: 4

2025-08-11T14:48:46.276Z,1754923726.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 310.500000 m,
      bearing: 174.175684 deg,
      lat: 36.905862 deg,
      lon: -122.116069 deg,
      deltaT: 16.393617 s,
      deltaX: -9.200012 m,
      approachRate: -0.561195 m/s,
      posRepo size: 4

2025-08-11T14:48:46.277Z,1754923726.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:46.281Z,1754923726.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 307.308319 m,
      bearing: 174.175684 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021953 deg/s,
      cmd heading: 170.927847 deg,
      new cmd heading: 170.893643 deg.

2025-08-11T14:48:46.580Z,1754923726.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:46.605Z,1754923726.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:46.633Z,1754923726.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 307.120575 m,
      bearing: 174.169551 deg,
      approach rate: -0.567891 m/s,
      LOS rate: -0.018563 deg/s,
      cmd heading: 170.893642 deg,
      new cmd heading: 170.875231 deg.

2025-08-11T14:48:46.788Z,1754923726.788 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:46.788Z,1754923726.788 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:46.788Z,1754923726.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:46.987Z,1754923726.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:47.008Z,1754923727.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 306.888306 m,
      bearing: 174.162008 deg,
      approach rate: -0.599222 m/s,
      LOS rate: -0.019475 deg/s,
      cmd heading: 170.875227 deg,
      new cmd heading: 170.852581 deg.

2025-08-11T14:48:47.040Z,1754923727.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.942303
2025-08-11T14:48:47.292Z,1754923727.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.194150
2025-08-11T14:48:47.440Z,1754923727.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:47.447Z,1754923727.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 306.649048 m,
      bearing: 174.155577 deg,
      approach rate: -0.527836 m/s,
      LOS rate: -0.014198 deg/s,
      cmd heading: 170.852579 deg,
      new cmd heading: 170.833272 deg.

2025-08-11T14:48:47.544Z,1754923727.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.446302
2025-08-11T14:48:47.789Z,1754923727.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:47.797Z,1754923727.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.698867
2025-08-11T14:48:47.798Z,1754923727.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 306.449493 m,
      bearing: 174.150245 deg,
      approach rate: -0.572633 m/s,
      LOS rate: -0.015310 deg/s,
      cmd heading: 170.833276 deg,
      new cmd heading: 170.817270 deg.

2025-08-11T14:48:48.050Z,1754923728.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952078
2025-08-11T14:48:48.233Z,1754923728.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:48.236Z,1754923728.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 306.214752 m,
      bearing: 174.146508 deg,
      approach rate: -0.528680 m/s,
      LOS rate: -0.008424 deg/s,
      cmd heading: 170.817266 deg,
      new cmd heading: 170.806045 deg.

2025-08-11T14:48:48.301Z,1754923728.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203061
2025-08-11T14:48:48.552Z,1754923728.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454134
2025-08-11T14:48:48.612Z,1754923728.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:48.614Z,1754923728.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:48.617Z,1754923728.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 306.013306 m,
      bearing: 174.143294 deg,
      approach rate: -0.528312 m/s,
      LOS rate: -0.008433 deg/s,
      cmd heading: 170.806051 deg,
      new cmd heading: 170.796405 deg.

2025-08-11T14:48:48.804Z,1754923728.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706158
2025-08-11T14:48:49.005Z,1754923729.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:49.024Z,1754923729.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 305.809326 m,
      bearing: 174.140037 deg,
      approach rate: -0.522151 m/s,
      LOS rate: -0.008344 deg/s,
      cmd heading: 170.796407 deg,
      new cmd heading: 170.786628 deg.

2025-08-11T14:48:49.056Z,1754923729.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958506
2025-08-11T14:48:49.309Z,1754923729.309 [DAT](INFO): DAT read: Rx Time:14:48:50.1853

2025-08-11T14:48:49.309Z,1754923729.309 [DAT](INFO): Rx dataTimestamp_ set to:1754923729.309145
2025-08-11T14:48:49.310Z,1754923729.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212051
2025-08-11T14:48:49.452Z,1754923729.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:49.455Z,1754923729.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 305.570679 m,
      bearing: 174.138927 deg,
      approach rate: -0.533586 m/s,
      LOS rate: -0.002484 deg/s,
      cmd heading: 170.786626 deg,
      new cmd heading: 170.783294 deg.

2025-08-11T14:48:49.561Z,1754923729.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463069
2025-08-11T14:48:49.815Z,1754923729.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.716519
2025-08-11T14:48:49.893Z,1754923729.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.50 m.
2025-08-11T14:48:49.900Z,1754923729.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.500000 m,
      nav range: 305.342194 m,
      bearing: 174.137862 deg,
      approach rate: -0.517881 m/s,
      LOS rate: -0.002414 deg/s,
      cmd heading: 170.783293 deg,
      new cmd heading: 170.780097 deg.

2025-08-11T14:48:50.072Z,1754923730.072 [DAT](INFO): DAT read: 14:48:50.1853 LVL= 25456, 32753, 30130, 32755, AGC= 74, IDX= 415, 0.18,-0.072,-1.842, 0.041,-0.350, PHS= 0.380,-1.447, 0.347, RAW= 149.1,   8.0, CAL= 148.6,   8.6, ROT=   1.4,  -8.6

2025-08-11T14:48:50.073Z,1754923730.073 [DAT](INFO): got valid direction response:
 14:48:50.1853 LVL= 25456, 32753, 30130, 32755, AGC= 74, IDX= 415, 0.18,-0.072,-1.842, 0.041,-0.350, PHS= 0.380,-1.447, 0.347, RAW= 149.1,   8.0, CAL= 148.6,   8.6, ROT=   1.4,  -8.6

2025-08-11T14:48:50.074Z,1754923730.074 [DAT](INFO): DAT read: Bearing 330.0,   0.6 (Local)

2025-08-11T14:48:50.074Z,1754923730.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.0,   0.6 (Local)

2025-08-11T14:48:50.076Z,1754923730.076 [DAT](INFO): DAT read: Range 11 to 50 : 308.4 m  (Round-trip  411.2 ms) speed  0.4 m/s

2025-08-11T14:48:50.078Z,1754923730.078 [DAT](INFO): DAT read: user:125>

2025-08-11T14:48:50.081Z,1754923730.081 [DAT](INFO): DAT read: Tx time:14:48:51.2700

2025-08-11T14:48:50.082Z,1754923730.082 [DAT](INFO): Ping request sent.
2025-08-11T14:48:50.082Z,1754923730.082 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:50.083Z,1754923730.083 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:50.086Z,1754923730.086 [DAT](INFO): direction in FSK: [0.988461,0.024157,0.149535]
2025-08-11T14:48:50.088Z,1754923730.088 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:50.089Z,1754923730.089 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:50.137Z,1754923730.137 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:50.138Z,1754923730.138 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:50.355Z,1754923730.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 308.399994 m,
      deltaT: 4.031598 s,
      deltaX: -2.100006 m,
      approachRate: -0.520887 m/s,
      rangeRepo size: 4

2025-08-11T14:48:50.357Z,1754923730.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 308.399994 m,
      bearing: 174.138095 deg,
      lat: 36.905862 deg,
      lon: -122.116069 deg,
      deltaT: 4.031598 s,
      deltaX: -2.100006 m,
      approachRate: -0.520887 m/s,
      posRepo size: 4

2025-08-11T14:48:50.358Z,1754923730.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.40 m.
2025-08-11T14:48:50.365Z,1754923730.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.399994 m,
      nav range: 305.107056 m,
      bearing: 174.138095 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002414 deg/s,
      cmd heading: 170.780097 deg,
      new cmd heading: 170.776784 deg.

2025-08-11T14:48:50.702Z,1754923730.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:50.727Z,1754923730.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.40 m.
2025-08-11T14:48:50.730Z,1754923730.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.399994 m,
      nav range: 304.907166 m,
      bearing: 174.138253 deg,
      approach rate: -0.530597 m/s,
      LOS rate: 0.000422 deg/s,
      cmd heading: 170.776791 deg,
      new cmd heading: 170.777268 deg.

2025-08-11T14:48:50.820Z,1754923730.820 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:50.820Z,1754923730.820 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:50.820Z,1754923730.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:51.074Z,1754923731.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991217
2025-08-11T14:48:51.250Z,1754923731.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.40 m.
2025-08-11T14:48:51.257Z,1754923731.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.399994 m,
      nav range: 304.638245 m,
      bearing: 174.139148 deg,
      approach rate: -0.514460 m/s,
      LOS rate: 0.001712 deg/s,
      cmd heading: 170.777269 deg,
      new cmd heading: 170.779954 deg.

2025-08-11T14:48:51.324Z,1754923731.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242329
2025-08-11T14:48:51.576Z,1754923731.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494163
2025-08-11T14:48:51.748Z,1754923731.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.40 m.
2025-08-11T14:48:51.751Z,1754923731.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.399994 m,
      nav range: 304.383270 m,
      bearing: 174.139956 deg,
      approach rate: -0.511652 m/s,
      LOS rate: 0.001623 deg/s,
      cmd heading: 170.779960 deg,
      new cmd heading: 170.782387 deg.

2025-08-11T14:48:51.829Z,1754923731.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746678
2025-08-11T14:48:52.081Z,1754923732.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998948
2025-08-11T14:48:52.239Z,1754923732.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.40 m.
2025-08-11T14:48:52.242Z,1754923732.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.399994 m,
      nav range: 304.112335 m,
      bearing: 174.140086 deg,
      approach rate: -0.552116 m/s,
      LOS rate: 0.000266 deg/s,
      cmd heading: 170.782392 deg,
      new cmd heading: 170.782783 deg.

2025-08-11T14:48:52.333Z,1754923732.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250863
2025-08-11T14:48:52.584Z,1754923732.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502262
2025-08-11T14:48:52.618Z,1754923732.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.40 m.
2025-08-11T14:48:52.637Z,1754923732.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.399994 m,
      nav range: 303.910431 m,
      bearing: 174.140147 deg,
      approach rate: -0.532556 m/s,
      LOS rate: 0.000160 deg/s,
      cmd heading: 170.782788 deg,
      new cmd heading: 170.782970 deg.

2025-08-11T14:48:52.836Z,1754923732.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754244
2025-08-11T14:48:53.022Z,1754923733.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:53.024Z,1754923733.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.40 m.
2025-08-11T14:48:53.027Z,1754923733.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.399994 m,
      nav range: 303.694672 m,
      bearing: 174.140156 deg,
      approach rate: -0.531050 m/s,
      LOS rate: 0.000021 deg/s,
      cmd heading: 170.782965 deg,
      new cmd heading: 170.782991 deg.

2025-08-11T14:48:53.089Z,1754923733.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007087
2025-08-11T14:48:53.340Z,1754923733.340 [DAT](INFO): DAT read: Rx Time:14:48:54.0823

2025-08-11T14:48:53.341Z,1754923733.341 [DAT](INFO): Rx dataTimestamp_ set to:1754923733.340588
2025-08-11T14:48:53.341Z,1754923733.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259508
2025-08-11T14:48:53.470Z,1754923733.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.40 m.
2025-08-11T14:48:53.489Z,1754923733.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.399994 m,
      nav range: 303.450989 m,
      bearing: 174.139013 deg,
      approach rate: -0.546611 m/s,
      LOS rate: -0.002565 deg/s,
      cmd heading: 170.782993 deg,
      new cmd heading: 170.779562 deg.

2025-08-11T14:48:53.593Z,1754923733.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510892
2025-08-11T14:48:53.833Z,1754923733.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.40 m.
2025-08-11T14:48:53.835Z,1754923733.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.399994 m,
      nav range: 303.252960 m,
      bearing: 174.138054 deg,
      approach rate: -0.546358 m/s,
      LOS rate: -0.002647 deg/s,
      cmd heading: 170.779564 deg,
      new cmd heading: 170.776686 deg.

2025-08-11T14:48:53.850Z,1754923733.850 [DAT](INFO): DAT read: 14:48:54.0823 LVL= 21744, 32753, 30402, 32755, AGC= 75, IDX= 416, 0.15,-1.642, 2.874,-1.565,-1.959, PHS= 0.420,-1.405, 0.350, RAW= 148.1,   7.1, CAL= 147.5,   7.7, ROT=   2.5,  -7.7

2025-08-11T14:48:53.851Z,1754923733.851 [DAT](INFO): got valid direction response:
 14:48:54.0823 LVL= 21744, 32753, 30402, 32755, AGC= 75, IDX= 416, 0.15,-1.642, 2.874,-1.565,-1.959, PHS= 0.420,-1.405, 0.350, RAW= 148.1,   7.1, CAL= 147.5,   7.7, ROT=   2.5,  -7.7

2025-08-11T14:48:53.852Z,1754923733.852 [DAT](INFO): DAT read: Bearing 329.4,   2.2 (Local)

2025-08-11T14:48:53.852Z,1754923733.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.4,   2.2 (Local)

2025-08-11T14:48:53.854Z,1754923733.854 [DAT](INFO): DAT read: Range 11 to 50 : 306.1 m  (Round-trip  408.2 ms) speed  0.4 m/s

2025-08-11T14:48:53.855Z,1754923733.855 [DAT](INFO): DAT read: user:126>

2025-08-11T14:48:53.868Z,1754923733.868 [DAT](INFO): DAT read: Tx time:14:48:55.1700

2025-08-11T14:48:53.868Z,1754923733.868 [DAT](INFO): Ping request sent.
2025-08-11T14:48:53.868Z,1754923733.868 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:53.868Z,1754923733.868 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:53.869Z,1754923733.869 [DAT](INFO): direction in FSK: [0.990040,0.043226,0.133986]
2025-08-11T14:48:53.870Z,1754923733.870 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:53.870Z,1754923733.870 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:53.885Z,1754923733.885 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:53.885Z,1754923733.885 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:54.277Z,1754923734.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.100006 m,
      deltaT: 3.778774 s,
      deltaX: -2.299988 m,
      approachRate: -0.608660 m/s,
      rangeRepo size: 4

2025-08-11T14:48:54.283Z,1754923734.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 306.100006 m,
      bearing: 174.967122 deg,
      lat: 36.905860 deg,
      lon: -122.116118 deg,
      deltaT: 3.778774 s,
      deltaX: -2.299988 m,
      approachRate: -0.608660 m/s,
      posRepo size: 4

2025-08-11T14:48:54.284Z,1754923734.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:54.286Z,1754923734.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 302.783356 m,
      bearing: 174.967122 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002647 deg/s,
      cmd heading: 170.776681 deg,
      new cmd heading: 170.773159 deg.

2025-08-11T14:48:54.637Z,1754923734.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:54.646Z,1754923734.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 302.574585 m,
      bearing: 174.964227 deg,
      approach rate: -0.579885 m/s,
      LOS rate: -0.008047 deg/s,
      cmd heading: 170.773157 deg,
      new cmd heading: 170.764466 deg.

2025-08-11T14:48:55.046Z,1754923735.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:55.072Z,1754923735.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:55.074Z,1754923735.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 302.348236 m,
      bearing: 174.961078 deg,
      approach rate: -0.520011 m/s,
      LOS rate: -0.007239 deg/s,
      cmd heading: 170.764469 deg,
      new cmd heading: 170.755016 deg.

2025-08-11T14:48:55.105Z,1754923735.105 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:55.105Z,1754923735.105 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:55.105Z,1754923735.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:55.356Z,1754923735.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488007
2025-08-11T14:48:55.483Z,1754923735.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:55.486Z,1754923735.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 302.108185 m,
      bearing: 174.954894 deg,
      approach rate: -0.583562 m/s,
      LOS rate: -0.015045 deg/s,
      cmd heading: 170.755016 deg,
      new cmd heading: 170.736450 deg.

2025-08-11T14:48:55.609Z,1754923735.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741000
2025-08-11T14:48:55.860Z,1754923735.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992145
2025-08-11T14:48:55.862Z,1754923735.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:55.869Z,1754923735.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 301.905579 m,
      bearing: 174.949683 deg,
      approach rate: -0.534804 m/s,
      LOS rate: -0.013766 deg/s,
      cmd heading: 170.736452 deg,
      new cmd heading: 170.720807 deg.

2025-08-11T14:48:56.112Z,1754923736.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243997
2025-08-11T14:48:56.308Z,1754923736.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:56.311Z,1754923736.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 301.647858 m,
      bearing: 174.941022 deg,
      approach rate: -0.578651 m/s,
      LOS rate: -0.019463 deg/s,
      cmd heading: 170.720811 deg,
      new cmd heading: 170.694806 deg.

2025-08-11T14:48:56.366Z,1754923736.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497181
2025-08-11T14:48:56.616Z,1754923736.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748149
2025-08-11T14:48:56.688Z,1754923736.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:56.691Z,1754923736.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 301.433533 m,
      bearing: 174.933808 deg,
      approach rate: -0.561925 m/s,
      LOS rate: -0.018927 deg/s,
      cmd heading: 170.694801 deg,
      new cmd heading: 170.673144 deg.

2025-08-11T14:48:56.871Z,1754923736.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002864
2025-08-11T14:48:57.064Z,1754923737.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:57.066Z,1754923737.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:57.069Z,1754923737.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 301.221710 m,
      bearing: 174.926701 deg,
      approach rate: -0.561158 m/s,
      LOS rate: -0.018843 deg/s,
      cmd heading: 170.673149 deg,
      new cmd heading: 170.651812 deg.

2025-08-11T14:48:57.121Z,1754923737.121 [DAT](INFO): DAT read: Rx Time:14:48:57.9796

2025-08-11T14:48:57.122Z,1754923737.122 [DAT](INFO): Rx dataTimestamp_ set to:1754923737.121177
2025-08-11T14:48:57.123Z,1754923737.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254260
2025-08-11T14:48:57.372Z,1754923737.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504053
2025-08-11T14:48:57.518Z,1754923737.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:57.524Z,1754923737.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 300.960327 m,
      bearing: 174.916772 deg,
      approach rate: -0.578779 m/s,
      LOS rate: -0.022004 deg/s,
      cmd heading: 170.651812 deg,
      new cmd heading: 170.622001 deg.

2025-08-11T14:48:57.627Z,1754923737.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758785
2025-08-11T14:48:57.869Z,1754923737.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.10 m.
2025-08-11T14:48:57.871Z,1754923737.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 306.100006 m,
      nav range: 300.749420 m,
      bearing: 174.908766 deg,
      approach rate: -0.600784 m/s,
      LOS rate: -0.022823 deg/s,
      cmd heading: 170.622005 deg,
      new cmd heading: 170.597969 deg.

2025-08-11T14:48:57.882Z,1754923737.882 [DAT](INFO): DAT read: 14:48:57.9796 LVL= 24352, 27937, 22866, 32499, AGC= 74, IDX= 421,-0.10,-2.869, 1.627,-2.787, 3.097, PHS= 0.420,-1.425, 0.355, RAW= 148.2,   7.2, CAL= 147.7,   7.8, ROT=   2.3,  -7.8

2025-08-11T14:48:57.891Z,1754923737.891 [DAT](INFO): got valid direction response:
 14:48:57.9796 LVL= 24352, 27937, 22866, 32499, AGC= 74, IDX= 421,-0.10,-2.869, 1.627,-2.787, 3.097, PHS= 0.420,-1.425, 0.355, RAW= 148.2,   7.2, CAL= 147.7,   7.8, ROT=   2.3,  -7.8

2025-08-11T14:48:57.892Z,1754923737.892 [DAT](INFO): DAT read: Bearing 329.8,   2.2 (Local)

2025-08-11T14:48:57.893Z,1754923737.893 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.8,   2.2 (Local)

2025-08-11T14:48:57.894Z,1754923737.894 [DAT](INFO): DAT read: Range 11 to 50 : 304.1 m  (Round-trip  405.5 ms) speed  0.6 m/s

2025-08-11T14:48:57.895Z,1754923737.895 [DAT](INFO): DAT read: user:127>

2025-08-11T14:48:57.896Z,1754923737.896 [DAT](INFO): DAT read: Tx time:14:48:59.0700

2025-08-11T14:48:57.896Z,1754923737.896 [DAT](INFO): Ping request sent.
2025-08-11T14:48:57.896Z,1754923737.896 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:48:57.896Z,1754923737.896 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:48:57.897Z,1754923737.897 [DAT](INFO): direction in FSK: [0.989950,0.039760,0.135716]
2025-08-11T14:48:57.897Z,1754923737.897 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:57.898Z,1754923737.898 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:57.922Z,1754923737.922 [DAT](INFO): publishing transmit ping time
2025-08-11T14:48:57.922Z,1754923737.922 [DAT](INFO): publishing direction and range info
2025-08-11T14:48:58.316Z,1754923738.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 304.100006 m,
      deltaT: 4.032068 s,
      deltaX: -2.000000 m,
      approachRate: -0.496023 m/s,
      rangeRepo size: 4

2025-08-11T14:48:58.318Z,1754923738.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.100006 m,
      bearing: 174.867464 deg,
      lat: 36.905855 deg,
      lon: -122.116116 deg,
      deltaT: 4.032068 s,
      deltaX: -2.000000 m,
      approachRate: -0.496023 m/s,
      posRepo size: 4

2025-08-11T14:48:58.319Z,1754923738.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.10 m.
2025-08-11T14:48:58.321Z,1754923738.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.100006 m,
      nav range: 301.019928 m,
      bearing: 174.867464 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022823 deg/s,
      cmd heading: 170.597963 deg,
      new cmd heading: 170.567405 deg.

2025-08-11T14:48:58.695Z,1754923738.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.10 m.
2025-08-11T14:48:58.698Z,1754923738.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.100006 m,
      nav range: 300.788971 m,
      bearing: 174.858757 deg,
      approach rate: -0.608089 m/s,
      LOS rate: -0.022942 deg/s,
      cmd heading: 170.567404 deg,
      new cmd heading: 170.541264 deg.

2025-08-11T14:48:59.085Z,1754923739.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:48:59.088Z,1754923739.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.10 m.
2025-08-11T14:48:59.090Z,1754923739.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.100006 m,
      nav range: 300.552704 m,
      bearing: 174.849829 deg,
      approach rate: -0.601663 m/s,
      LOS rate: -0.022755 deg/s,
      cmd heading: 170.541259 deg,
      new cmd heading: 170.514451 deg.

2025-08-11T14:48:59.137Z,1754923739.137 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:48:59.137Z,1754923739.137 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:48:59.137Z,1754923739.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:48:59.388Z,1754923739.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492463
2025-08-11T14:48:59.524Z,1754923739.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.10 m.
2025-08-11T14:48:59.527Z,1754923739.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.100006 m,
      nav range: 300.290131 m,
      bearing: 174.840442 deg,
      approach rate: -0.600741 m/s,
      LOS rate: -0.021495 deg/s,
      cmd heading: 170.514457 deg,
      new cmd heading: 170.486272 deg.

2025-08-11T14:48:59.641Z,1754923739.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744671
2025-08-11T14:48:59.890Z,1754923739.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.10 m.
2025-08-11T14:48:59.892Z,1754923739.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996426
2025-08-11T14:48:59.894Z,1754923739.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.100006 m,
      nav range: 300.070404 m,
      bearing: 174.832592 deg,
      approach rate: -0.601039 m/s,
      LOS rate: -0.021488 deg/s,
      cmd heading: 170.486275 deg,
      new cmd heading: 170.462708 deg.

2025-08-11T14:49:00.145Z,1754923740.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249172
2025-08-11T14:49:00.344Z,1754923740.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.10 m.
2025-08-11T14:49:00.346Z,1754923740.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.100006 m,
      nav range: 299.797241 m,
      bearing: 174.825231 deg,
      approach rate: -0.601952 m/s,
      LOS rate: -0.016235 deg/s,
      cmd heading: 170.462711 deg,
      new cmd heading: 170.440609 deg.

2025-08-11T14:49:00.398Z,1754923740.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501263
2025-08-11T14:49:00.649Z,1754923740.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752482
2025-08-11T14:49:00.705Z,1754923740.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.10 m.
2025-08-11T14:49:00.708Z,1754923740.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.100006 m,
      nav range: 299.579529 m,
      bearing: 174.819352 deg,
      approach rate: -0.602151 m/s,
      LOS rate: -0.016274 deg/s,
      cmd heading: 170.440609 deg,
      new cmd heading: 170.422957 deg.

2025-08-11T14:49:00.900Z,1754923740.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004233
2025-08-11T14:49:01.114Z,1754923741.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:01.124Z,1754923741.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.10 m.
2025-08-11T14:49:01.130Z,1754923741.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.100006 m,
      nav range: 299.342438 m,
      bearing: 174.812919 deg,
      approach rate: -0.567571 m/s,
      LOS rate: -0.015412 deg/s,
      cmd heading: 170.422960 deg,
      new cmd heading: 170.403646 deg.

2025-08-11T14:49:01.153Z,1754923741.153 [DAT](INFO): DAT read: Rx Time:14:49:01.8768

2025-08-11T14:49:01.154Z,1754923741.154 [DAT](INFO): Rx dataTimestamp_ set to:1754923741.153579
2025-08-11T14:49:01.156Z,1754923741.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259581
2025-08-11T14:49:01.406Z,1754923741.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509319
2025-08-11T14:49:01.590Z,1754923741.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.10 m.
2025-08-11T14:49:01.602Z,1754923741.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.100006 m,
      nav range: 299.054932 m,
      bearing: 174.805348 deg,
      approach rate: -0.616387 m/s,
      LOS rate: -0.016247 deg/s,
      cmd heading: 170.403644 deg,
      new cmd heading: 170.380909 deg.

2025-08-11T14:49:01.663Z,1754923741.663 [DAT](INFO): DAT read: 14:49:01.8768 LVL= 26352, 32753, 27378, 32755, AGC= 69, IDX= 408,-0.36,-0.113,-1.864,-0.032,-0.384, PHS= 0.373,-1.436, 0.308, RAW= 148.2,   8.5, CAL= 147.7,   9.3, ROT=   2.3,  -9.3

2025-08-11T14:49:01.664Z,1754923741.664 [DAT](INFO): got valid direction response:
 14:49:01.8768 LVL= 26352, 32753, 27378, 32755, AGC= 69, IDX= 408,-0.36,-0.113,-1.864,-0.032,-0.384, PHS= 0.373,-1.436, 0.308, RAW= 148.2,   8.5, CAL= 147.7,   9.3, ROT=   2.3,  -9.3

2025-08-11T14:49:01.665Z,1754923741.665 [DAT](INFO): DAT read: Bearing 331.4,   1.4 (Local)

2025-08-11T14:49:01.665Z,1754923741.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.4,   1.4 (Local)

2025-08-11T14:49:01.667Z,1754923741.667 [DAT](INFO): DAT read: Range 11 to 50 : 302.0 m  (Round-trip  402.7 ms) speed  0.4 m/s

2025-08-11T14:49:01.667Z,1754923741.667 [DAT](INFO): DAT read: user:128>

2025-08-11T14:49:01.668Z,1754923741.668 [DAT](INFO): DAT read: Tx time:14:49:02.9700

2025-08-11T14:49:01.668Z,1754923741.668 [DAT](INFO): Ping request sent.
2025-08-11T14:49:01.669Z,1754923741.669 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:01.669Z,1754923741.669 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:01.670Z,1754923741.670 [DAT](INFO): direction in FSK: [0.986061,0.039604,0.161604]
2025-08-11T14:49:01.670Z,1754923741.670 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:01.670Z,1754923741.670 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:01.678Z,1754923741.678 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:01.678Z,1754923741.678 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:02.012Z,1754923742.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 302.000000 m,
      deltaT: 3.780708 s,
      deltaX: -2.100006 m,
      approachRate: -0.555453 m/s,
      rangeRepo size: 4

2025-08-11T14:49:02.014Z,1754923742.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 302.000000 m,
      bearing: 174.799143 deg,
      lat: 36.905855 deg,
      lon: -122.116116 deg,
      deltaT: 3.780708 s,
      deltaX: -2.100006 m,
      approachRate: -0.555453 m/s,
      posRepo size: 4

2025-08-11T14:49:02.014Z,1754923742.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.00 m.
2025-08-11T14:49:02.021Z,1754923742.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.000000 m,
      nav range: 298.819366 m,
      bearing: 174.799143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016247 deg/s,
      cmd heading: 170.380913 deg,
      new cmd heading: 170.361159 deg.

2025-08-11T14:49:02.421Z,1754923742.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.00 m.
2025-08-11T14:49:02.424Z,1754923742.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.000000 m,
      nav range: 298.583038 m,
      bearing: 174.794245 deg,
      approach rate: -0.554650 m/s,
      LOS rate: -0.011503 deg/s,
      cmd heading: 170.361160 deg,
      new cmd heading: 170.346457 deg.

2025-08-11T14:49:02.797Z,1754923742.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.00 m.
2025-08-11T14:49:02.800Z,1754923742.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.000000 m,
      nav range: 298.369263 m,
      bearing: 174.789833 deg,
      approach rate: -0.568008 m/s,
      LOS rate: -0.011733 deg/s,
      cmd heading: 170.346462 deg,
      new cmd heading: 170.333214 deg.

2025-08-11T14:49:03.196Z,1754923743.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:03.198Z,1754923743.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.00 m.
2025-08-11T14:49:03.201Z,1754923743.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.000000 m,
      nav range: 298.145599 m,
      bearing: 174.785227 deg,
      approach rate: -0.557614 m/s,
      LOS rate: -0.011492 deg/s,
      cmd heading: 170.333211 deg,
      new cmd heading: 170.319383 deg.

2025-08-11T14:49:03.420Z,1754923743.420 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:03.420Z,1754923743.420 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:03.420Z,1754923743.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:03.660Z,1754923743.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.00 m.
2025-08-11T14:49:03.662Z,1754923743.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.000000 m,
      nav range: 297.911530 m,
      bearing: 174.780401 deg,
      approach rate: -0.526117 m/s,
      LOS rate: -0.010855 deg/s,
      cmd heading: 170.319387 deg,
      new cmd heading: 170.304899 deg.

2025-08-11T14:49:03.672Z,1754923743.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003624
2025-08-11T14:49:03.925Z,1754923743.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256275
2025-08-11T14:49:04.021Z,1754923744.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.00 m.
2025-08-11T14:49:04.040Z,1754923744.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.000000 m,
      nav range: 297.705963 m,
      bearing: 174.776233 deg,
      approach rate: -0.544175 m/s,
      LOS rate: -0.011042 deg/s,
      cmd heading: 170.304893 deg,
      new cmd heading: 170.292380 deg.

2025-08-11T14:49:04.176Z,1754923744.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507646
2025-08-11T14:49:04.428Z,1754923744.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759645
2025-08-11T14:49:04.450Z,1754923744.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.00 m.
2025-08-11T14:49:04.453Z,1754923744.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.000000 m,
      nav range: 297.484406 m,
      bearing: 174.772727 deg,
      approach rate: -0.516047 m/s,
      LOS rate: -0.008173 deg/s,
      cmd heading: 170.292380 deg,
      new cmd heading: 170.281853 deg.

2025-08-11T14:49:04.681Z,1754923744.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011947
2025-08-11T14:49:04.842Z,1754923744.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.00 m.
2025-08-11T14:49:04.846Z,1754923744.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.000000 m,
      nav range: 297.291473 m,
      bearing: 174.769727 deg,
      approach rate: -0.492513 m/s,
      LOS rate: -0.007661 deg/s,
      cmd heading: 170.281848 deg,
      new cmd heading: 170.272845 deg.

2025-08-11T14:49:04.933Z,1754923744.933 [DAT](INFO): DAT read: Rx Time:14:49:05.7738

2025-08-11T14:49:04.933Z,1754923744.933 [DAT](INFO): Rx dataTimestamp_ set to:1754923744.933080
2025-08-11T14:49:04.934Z,1754923744.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265714
2025-08-11T14:49:05.184Z,1754923745.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515527
2025-08-11T14:49:05.226Z,1754923745.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:05.228Z,1754923745.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.00 m.
2025-08-11T14:49:05.231Z,1754923745.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.000000 m,
      nav range: 297.082947 m,
      bearing: 174.766526 deg,
      approach rate: -0.539770 m/s,
      LOS rate: -0.008294 deg/s,
      cmd heading: 170.272846 deg,
      new cmd heading: 170.263234 deg.

2025-08-11T14:49:05.454Z,1754923745.454 [DAT](INFO): DAT read: 14:49:05.7737 LVL= 25520, 32753, 26930, 32755, AGC= 75, IDX= 409,-0.17,-2.605, 1.909,-2.550,-2.919, PHS= 0.416,-1.411, 0.324, RAW= 147.5,   7.6, CAL= 147.0,   8.2, ROT=   3.0,  -8.2

2025-08-11T14:49:05.455Z,1754923745.455 [DAT](INFO): got valid direction response:
 14:49:05.7737 LVL= 25520, 32753, 26930, 32755, AGC= 75, IDX= 409,-0.17,-2.605, 1.909,-2.550,-2.919, PHS= 0.416,-1.411, 0.324, RAW= 147.5,   7.6, CAL= 147.0,   8.2, ROT=   3.0,  -8.2

2025-08-11T14:49:05.456Z,1754923745.456 [DAT](INFO): DAT read: Bearing 330.3,   1.3 (Local)

2025-08-11T14:49:05.456Z,1754923745.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.3,   1.3 (Local)

2025-08-11T14:49:05.458Z,1754923745.458 [DAT](INFO): DAT read: Range 11 to 50 : 299.7 m  (Round-trip  399.7 ms) speed  0.8 m/s

2025-08-11T14:49:05.458Z,1754923745.458 [DAT](INFO): DAT read: user:129>

2025-08-11T14:49:05.464Z,1754923745.464 [DAT](INFO): DAT read: Tx time:14:49:06.8699

2025-08-11T14:49:05.465Z,1754923745.465 [DAT](INFO): Ping request sent.
2025-08-11T14:49:05.465Z,1754923745.465 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:05.467Z,1754923745.467 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:05.473Z,1754923745.473 [DAT](INFO): direction in FSK: [0.988420,0.051801,0.142629]
2025-08-11T14:49:05.473Z,1754923745.473 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:05.473Z,1754923745.473 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:05.521Z,1754923745.521 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:05.521Z,1754923745.521 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:05.720Z,1754923745.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.700012 m,
      deltaT: 3.781888 s,
      deltaX: -2.299988 m,
      approachRate: -0.608159 m/s,
      rangeRepo size: 4

2025-08-11T14:49:05.722Z,1754923745.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 299.700012 m,
      bearing: 175.015006 deg,
      lat: 36.905854 deg,
      lon: -122.116130 deg,
      deltaT: 3.781888 s,
      deltaX: -2.299988 m,
      approachRate: -0.608159 m/s,
      posRepo size: 4

2025-08-11T14:49:05.722Z,1754923745.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:05.729Z,1754923745.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 296.850647 m,
      bearing: 175.015006 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008294 deg/s,
      cmd heading: 170.263229 deg,
      new cmd heading: 170.251033 deg.

2025-08-11T14:49:06.053Z,1754923746.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:06.056Z,1754923746.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 296.676483 m,
      bearing: 175.012869 deg,
      approach rate: -0.520139 m/s,
      LOS rate: -0.006386 deg/s,
      cmd heading: 170.251030 deg,
      new cmd heading: 170.244615 deg.

2025-08-11T14:49:06.494Z,1754923746.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:06.497Z,1754923746.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 296.476044 m,
      bearing: 175.010513 deg,
      approach rate: -0.454516 m/s,
      LOS rate: -0.005345 deg/s,
      cmd heading: 170.244610 deg,
      new cmd heading: 170.237538 deg.

2025-08-11T14:49:06.879Z,1754923746.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:06.882Z,1754923746.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 296.301056 m,
      bearing: 175.008454 deg,
      approach rate: -0.454999 m/s,
      LOS rate: -0.005357 deg/s,
      cmd heading: 170.237534 deg,
      new cmd heading: 170.231353 deg.

2025-08-11T14:49:07.263Z,1754923747.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:07.265Z,1754923747.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:07.268Z,1754923747.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 296.125763 m,
      bearing: 175.006446 deg,
      approach rate: -0.454039 m/s,
      LOS rate: -0.005203 deg/s,
      cmd heading: 170.231359 deg,
      new cmd heading: 170.225333 deg.

2025-08-11T14:49:07.452Z,1754923747.452 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:07.452Z,1754923747.452 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:07.452Z,1754923747.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:07.702Z,1754923747.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:07.704Z,1754923747.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239402
2025-08-11T14:49:07.706Z,1754923747.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 295.921204 m,
      bearing: 175.003265 deg,
      approach rate: -0.468759 m/s,
      LOS rate: -0.007296 deg/s,
      cmd heading: 170.225335 deg,
      new cmd heading: 170.215783 deg.

2025-08-11T14:49:07.956Z,1754923747.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491313
2025-08-11T14:49:08.073Z,1754923748.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:08.077Z,1754923748.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 295.747223 m,
      bearing: 175.000583 deg,
      approach rate: -0.468012 m/s,
      LOS rate: -0.007216 deg/s,
      cmd heading: 170.215786 deg,
      new cmd heading: 170.207739 deg.

2025-08-11T14:49:08.208Z,1754923748.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743185
2025-08-11T14:49:08.460Z,1754923748.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995332
2025-08-11T14:49:08.531Z,1754923748.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:08.534Z,1754923748.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 295.515167 m,
      bearing: 174.998948 deg,
      approach rate: -0.507269 m/s,
      LOS rate: -0.003578 deg/s,
      cmd heading: 170.207740 deg,
      new cmd heading: 170.202830 deg.

2025-08-11T14:49:08.712Z,1754923748.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247340
2025-08-11T14:49:08.884Z,1754923748.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:08.886Z,1754923748.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 295.336029 m,
      bearing: 174.997701 deg,
      approach rate: -0.507430 m/s,
      LOS rate: -0.003534 deg/s,
      cmd heading: 170.202836 deg,
      new cmd heading: 170.199094 deg.

2025-08-11T14:49:08.965Z,1754923748.965 [DAT](INFO): DAT read: Rx Time:14:49:09.6710

2025-08-11T14:49:08.966Z,1754923748.966 [DAT](INFO): Rx dataTimestamp_ set to:1754923748.965351
2025-08-11T14:49:08.967Z,1754923748.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501674
2025-08-11T14:49:09.216Z,1754923749.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751512
2025-08-11T14:49:09.320Z,1754923749.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:09.346Z,1754923749.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.70 m.
2025-08-11T14:49:09.357Z,1754923749.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.700012 m,
      nav range: 295.129517 m,
      bearing: 174.996273 deg,
      approach rate: -0.448588 m/s,
      LOS rate: -0.003104 deg/s,
      cmd heading: 170.199093 deg,
      new cmd heading: 170.194807 deg.

2025-08-11T14:49:09.477Z,1754923749.477 [DAT](INFO): DAT read: 14:49:09.6710 LVL= 22832, 24497, 22498, 32355, AGC= 73, IDX= 414, 0.14, 0.955,-0.907, 1.023, 0.617, PHS= 0.440,-1.479, 0.362, RAW= 147.9,   7.3, CAL= 147.4,   7.8, ROT=   2.6,  -7.8

2025-08-11T14:49:09.479Z,1754923749.479 [DAT](INFO): got valid direction response:
 14:49:09.6710 LVL= 22832, 24497, 22498, 32355, AGC= 73, IDX= 414, 0.14, 0.955,-0.907, 1.023, 0.617, PHS= 0.440,-1.479, 0.362, RAW= 147.9,   7.3, CAL= 147.4,   7.8, ROT=   2.6,  -7.8

2025-08-11T14:49:09.481Z,1754923749.481 [DAT](INFO): DAT read: Bearing 329.4,   0.4 (Local)

2025-08-11T14:49:09.481Z,1754923749.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.4,   0.4 (Local)

2025-08-11T14:49:09.483Z,1754923749.483 [DAT](INFO): DAT read: Range 11 to 50 : 297.7 m  (Round-trip  397.0 ms) speed  0.4 m/s

2025-08-11T14:49:09.484Z,1754923749.484 [DAT](INFO): DAT read: user:130>

2025-08-11T14:49:09.485Z,1754923749.485 [DAT](INFO): DAT read: Tx time:14:49:10.7699

2025-08-11T14:49:09.486Z,1754923749.486 [DAT](INFO): Ping request sent.
2025-08-11T14:49:09.486Z,1754923749.486 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:09.486Z,1754923749.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:09.493Z,1754923749.493 [DAT](INFO): direction in FSK: [0.989728,0.044943,0.135716]
2025-08-11T14:49:09.494Z,1754923749.494 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:09.494Z,1754923749.494 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:09.525Z,1754923749.525 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:09.525Z,1754923749.525 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:09.780Z,1754923749.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.700012 m,
      deltaT: 4.030103 s,
      deltaX: -2.000000 m,
      approachRate: -0.496265 m/s,
      rangeRepo size: 4

2025-08-11T14:49:09.782Z,1754923749.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.700012 m,
      bearing: 174.995219 deg,
      lat: 36.905854 deg,
      lon: -122.116130 deg,
      deltaT: 4.030103 s,
      deltaX: -2.000000 m,
      approachRate: -0.496265 m/s,
      posRepo size: 4

2025-08-11T14:49:09.783Z,1754923749.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.70 m.
2025-08-11T14:49:09.786Z,1754923749.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.700012 m,
      nav range: 294.928589 m,
      bearing: 174.995219 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003104 deg/s,
      cmd heading: 170.194804 deg,
      new cmd heading: 170.190753 deg.

2025-08-11T14:49:10.156Z,1754923750.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.70 m.
2025-08-11T14:49:10.159Z,1754923750.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.700012 m,
      nav range: 294.723663 m,
      bearing: 174.993589 deg,
      approach rate: -0.543653 m/s,
      LOS rate: -0.004325 deg/s,
      cmd heading: 170.190747 deg,
      new cmd heading: 170.185856 deg.

2025-08-11T14:49:10.584Z,1754923750.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.70 m.
2025-08-11T14:49:10.591Z,1754923750.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.700012 m,
      nav range: 294.502777 m,
      bearing: 174.991580 deg,
      approach rate: -0.515837 m/s,
      LOS rate: -0.004697 deg/s,
      cmd heading: 170.185856 deg,
      new cmd heading: 170.179823 deg.

2025-08-11T14:49:10.964Z,1754923750.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.70 m.
2025-08-11T14:49:10.966Z,1754923750.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.700012 m,
      nav range: 294.286499 m,
      bearing: 174.989615 deg,
      approach rate: -0.570539 m/s,
      LOS rate: -0.005186 deg/s,
      cmd heading: 170.179819 deg,
      new cmd heading: 170.173921 deg.

2025-08-11T14:49:11.348Z,1754923751.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:11.350Z,1754923751.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.70 m.
2025-08-11T14:49:11.353Z,1754923751.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.700012 m,
      nav range: 294.077545 m,
      bearing: 174.987704 deg,
      approach rate: -0.540466 m/s,
      LOS rate: -0.004947 deg/s,
      cmd heading: 170.173917 deg,
      new cmd heading: 170.168179 deg.

2025-08-11T14:49:11.484Z,1754923751.484 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:11.484Z,1754923751.484 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:11.485Z,1754923751.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:11.736Z,1754923751.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250389
2025-08-11T14:49:11.789Z,1754923751.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.70 m.
2025-08-11T14:49:11.792Z,1754923751.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.700012 m,
      nav range: 293.816437 m,
      bearing: 174.983749 deg,
      approach rate: -0.595132 m/s,
      LOS rate: -0.009021 deg/s,
      cmd heading: 170.168180 deg,
      new cmd heading: 170.156306 deg.

2025-08-11T14:49:11.989Z,1754923751.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502833
2025-08-11T14:49:12.171Z,1754923752.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.70 m.
2025-08-11T14:49:12.174Z,1754923752.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.700012 m,
      nav range: 293.589111 m,
      bearing: 174.980284 deg,
      approach rate: -0.594491 m/s,
      LOS rate: -0.009070 deg/s,
      cmd heading: 170.156309 deg,
      new cmd heading: 170.145904 deg.

2025-08-11T14:49:12.240Z,1754923752.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754409
2025-08-11T14:49:12.492Z,1754923752.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006376
2025-08-11T14:49:12.669Z,1754923752.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.70 m.
2025-08-11T14:49:12.680Z,1754923752.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.700012 m,
      nav range: 293.291992 m,
      bearing: 174.975344 deg,
      approach rate: -0.597085 m/s,
      LOS rate: -0.009937 deg/s,
      cmd heading: 170.145900 deg,
      new cmd heading: 170.131066 deg.

2025-08-11T14:49:12.744Z,1754923752.744 [DAT](INFO): DAT read: Rx Time:14:49:13.5684

2025-08-11T14:49:12.745Z,1754923752.745 [DAT](INFO): Rx dataTimestamp_ set to:1754923752.744574
2025-08-11T14:49:12.745Z,1754923752.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259573
2025-08-11T14:49:12.996Z,1754923752.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510229
2025-08-11T14:49:13.160Z,1754923753.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.70 m.
2025-08-11T14:49:13.163Z,1754923753.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.700012 m,
      nav range: 292.998566 m,
      bearing: 174.970559 deg,
      approach rate: -0.597220 m/s,
      LOS rate: -0.009750 deg/s,
      cmd heading: 170.131065 deg,
      new cmd heading: 170.116694 deg.

2025-08-11T14:49:13.254Z,1754923753.254 [DAT](INFO): DAT read: 14:49:13.5684 LVL= 28432, 32753, 28834, 32755, AGC= 74, IDX= 419,-0.47,-3.029, 1.476,-2.996, 2.949, PHS= 0.408,-1.427, 0.295, RAW= 146.8,   8.2, CAL= 146.4,   8.9, ROT=   3.6,  -8.9

2025-08-11T14:49:13.256Z,1754923753.256 [DAT](INFO): got valid direction response:
 14:49:13.5684 LVL= 28432, 32753, 28834, 32755, AGC= 74, IDX= 419,-0.47,-3.029, 1.476,-2.996, 2.949, PHS= 0.408,-1.427, 0.295, RAW= 146.8,   8.2, CAL= 146.4,   8.9, ROT=   3.6,  -8.9

2025-08-11T14:49:13.257Z,1754923753.257 [DAT](INFO): DAT read: Bearing 330.1,   0.8 (Local)

2025-08-11T14:49:13.257Z,1754923753.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.1,   0.8 (Local)

2025-08-11T14:49:13.258Z,1754923753.258 [DAT](INFO): DAT read: Range 11 to 50 : 295.8 m  (Round-trip  394.4 ms) speed  0.6 m/s

2025-08-11T14:49:13.259Z,1754923753.259 [DAT](INFO): DAT read: user:131>

2025-08-11T14:49:13.260Z,1754923753.260 [DAT](INFO): DAT read: Tx time:14:49:14.6699

2025-08-11T14:49:13.260Z,1754923753.260 [DAT](INFO): Ping request sent.
2025-08-11T14:49:13.260Z,1754923753.260 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:13.261Z,1754923753.261 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:13.262Z,1754923753.262 [DAT](INFO): direction in FSK: [0.986010,0.062035,0.154710]
2025-08-11T14:49:13.262Z,1754923753.262 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:13.262Z,1754923753.262 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:13.265Z,1754923753.265 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:13.265Z,1754923753.265 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:13.763Z,1754923753.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.799988 m,
      deltaT: 3.779836 s,
      deltaX: -1.900024 m,
      approachRate: -0.502674 m/s,
      rangeRepo size: 4

2025-08-11T14:49:13.765Z,1754923753.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 295.799988 m,
      bearing: 174.972636 deg,
      lat: 36.905848 deg,
      lon: -122.116130 deg,
      deltaT: 3.779836 s,
      deltaX: -1.900024 m,
      approachRate: -0.502674 m/s,
      posRepo size: 4

2025-08-11T14:49:13.766Z,1754923753.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.80 m.
2025-08-11T14:49:13.784Z,1754923753.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.799988 m,
      nav range: 293.231567 m,
      bearing: 174.972636 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009750 deg/s,
      cmd heading: 170.116694 deg,
      new cmd heading: 170.099090 deg.

2025-08-11T14:49:14.147Z,1754923754.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:14.149Z,1754923754.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.80 m.
2025-08-11T14:49:14.168Z,1754923754.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.799988 m,
      nav range: 292.995209 m,
      bearing: 174.967370 deg,
      approach rate: -0.610386 m/s,
      LOS rate: -0.013612 deg/s,
      cmd heading: 170.099086 deg,
      new cmd heading: 170.083273 deg.

2025-08-11T14:49:14.257Z,1754923754.257 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:14.257Z,1754923754.257 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:14.257Z,1754923754.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:14.508Z,1754923754.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247946
2025-08-11T14:49:14.576Z,1754923754.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.80 m.
2025-08-11T14:49:14.578Z,1754923754.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.799988 m,
      nav range: 292.742767 m,
      bearing: 174.960410 deg,
      approach rate: -0.591701 m/s,
      LOS rate: -0.016326 deg/s,
      cmd heading: 170.083267 deg,
      new cmd heading: 170.062371 deg.

2025-08-11T14:49:14.760Z,1754923754.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499907
2025-08-11T14:49:14.972Z,1754923754.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.80 m.
2025-08-11T14:49:14.975Z,1754923754.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.799988 m,
      nav range: 292.518341 m,
      bearing: 174.954280 deg,
      approach rate: -0.566516 m/s,
      LOS rate: -0.015486 deg/s,
      cmd heading: 170.062367 deg,
      new cmd heading: 170.043962 deg.

2025-08-11T14:49:15.012Z,1754923755.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751943
2025-08-11T14:49:15.264Z,1754923755.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003858
2025-08-11T14:49:15.355Z,1754923755.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.80 m.
2025-08-11T14:49:15.358Z,1754923755.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.799988 m,
      nav range: 292.281860 m,
      bearing: 174.947891 deg,
      approach rate: -0.617624 m/s,
      LOS rate: -0.016699 deg/s,
      cmd heading: 170.043966 deg,
      new cmd heading: 170.024785 deg.

2025-08-11T14:49:15.518Z,1754923755.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257478
2025-08-11T14:49:15.768Z,1754923755.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507920
2025-08-11T14:49:15.785Z,1754923755.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.80 m.
2025-08-11T14:49:15.788Z,1754923755.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.799988 m,
      nav range: 292.038544 m,
      bearing: 174.939579 deg,
      approach rate: -0.565261 m/s,
      LOS rate: -0.019327 deg/s,
      cmd heading: 170.024787 deg,
      new cmd heading: 169.999829 deg.

2025-08-11T14:49:16.021Z,1754923756.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760790
2025-08-11T14:49:16.155Z,1754923756.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:16.157Z,1754923756.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.80 m.
2025-08-11T14:49:16.160Z,1754923756.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.799988 m,
      nav range: 291.828644 m,
      bearing: 174.932458 deg,
      approach rate: -0.564996 m/s,
      LOS rate: -0.019181 deg/s,
      cmd heading: 169.999829 deg,
      new cmd heading: 169.978451 deg.

2025-08-11T14:49:16.273Z,1754923756.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012328
2025-08-11T14:49:16.536Z,1754923756.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266352
2025-08-11T14:49:16.645Z,1754923756.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.80 m.
2025-08-11T14:49:16.652Z,1754923756.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.799988 m,
      nav range: 291.588074 m,
      bearing: 174.924666 deg,
      approach rate: -0.492885 m/s,
      LOS rate: -0.015979 deg/s,
      cmd heading: 169.978451 deg,
      new cmd heading: 169.955054 deg.

2025-08-11T14:49:16.776Z,1754923756.776 [DAT](INFO): DAT read: Rx Time:14:49:17.4654

2025-08-11T14:49:16.777Z,1754923756.777 [DAT](INFO): Rx dataTimestamp_ set to:1754923756.776279
2025-08-11T14:49:16.777Z,1754923756.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516885
2025-08-11T14:49:16.987Z,1754923756.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.80 m.
2025-08-11T14:49:16.989Z,1754923756.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.799988 m,
      nav range: 291.376038 m,
      bearing: 174.917786 deg,
      approach rate: -0.620595 m/s,
      LOS rate: -0.020151 deg/s,
      cmd heading: 169.955051 deg,
      new cmd heading: 169.934396 deg.

2025-08-11T14:49:17.029Z,1754923757.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768479
2025-08-11T14:49:17.286Z,1754923757.286 [DAT](INFO): DAT read: 14:49:17.4654 LVL= 24416, 32753, 24002, 30771, AGC= 74, IDX= 404,-0.36, 1.235,-0.633, 1.240, 0.863, PHS= 0.474,-1.451, 0.333, RAW= 146.2,   7.0, CAL= 145.7,   7.6, ROT=   4.3,  -7.6

2025-08-11T14:49:17.287Z,1754923757.287 [DAT](INFO): got valid direction response:
 14:49:17.4654 LVL= 24416, 32753, 24002, 30771, AGC= 74, IDX= 404,-0.36, 1.235,-0.633, 1.240, 0.863, PHS= 0.474,-1.451, 0.333, RAW= 146.2,   7.0, CAL= 145.7,   7.6, ROT=   4.3,  -7.6

2025-08-11T14:49:17.288Z,1754923757.288 [DAT](INFO): DAT read: Bearing 328.0,   1.9 (Local)

2025-08-11T14:49:17.288Z,1754923757.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.0,   1.9 (Local)

2025-08-11T14:49:17.290Z,1754923757.290 [DAT](INFO): DAT read: Range 11 to 50 : 293.5 m  (Round-trip  391.4 ms) speed  0.4 m/s

2025-08-11T14:49:17.290Z,1754923757.290 [DAT](INFO): DAT read: user:132>

2025-08-11T14:49:17.295Z,1754923757.295 [DAT](INFO): DAT read: Tx time:14:49:18.5699

2025-08-11T14:49:17.296Z,1754923757.296 [DAT](INFO): Ping request sent.
2025-08-11T14:49:17.296Z,1754923757.296 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:17.296Z,1754923757.296 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:17.297Z,1754923757.297 [DAT](INFO): direction in FSK: [0.988425,0.074320,0.132256]
2025-08-11T14:49:17.297Z,1754923757.297 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:17.298Z,1754923757.298 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:17.301Z,1754923757.301 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:17.301Z,1754923757.301 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:17.448Z,1754923757.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.500000 m,
      deltaT: 4.031301 s,
      deltaX: -2.299988 m,
      approachRate: -0.570532 m/s,
      rangeRepo size: 4

2025-08-11T14:49:17.450Z,1754923757.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 293.500000 m,
      bearing: 175.084125 deg,
      lat: 36.905846 deg,
      lon: -122.116140 deg,
      deltaT: 4.031301 s,
      deltaX: -2.299988 m,
      approachRate: -0.570532 m/s,
      posRepo size: 4

2025-08-11T14:49:17.451Z,1754923757.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:17.458Z,1754923757.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 291.305450 m,
      bearing: 175.084125 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020151 deg/s,
      cmd heading: 169.934396 deg,
      new cmd heading: 169.906796 deg.

2025-08-11T14:49:17.834Z,1754923757.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:17.852Z,1754923757.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 291.088531 m,
      bearing: 175.077259 deg,
      approach rate: -0.555594 m/s,
      LOS rate: -0.017597 deg/s,
      cmd heading: 169.906802 deg,
      new cmd heading: 169.886191 deg.

2025-08-11T14:49:18.236Z,1754923758.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:18.238Z,1754923758.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:18.241Z,1754923758.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 290.868622 m,
      bearing: 175.070289 deg,
      approach rate: -0.543905 m/s,
      LOS rate: -0.017252 deg/s,
      cmd heading: 169.886189 deg,
      new cmd heading: 169.865263 deg.

2025-08-11T14:49:18.289Z,1754923758.289 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:18.289Z,1754923758.289 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:18.289Z,1754923758.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:18.543Z,1754923758.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246372
2025-08-11T14:49:18.666Z,1754923758.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:18.669Z,1754923758.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 290.640015 m,
      bearing: 175.064876 deg,
      approach rate: -0.534088 m/s,
      LOS rate: -0.012656 deg/s,
      cmd heading: 169.865261 deg,
      new cmd heading: 169.849010 deg.

2025-08-11T14:49:18.792Z,1754923758.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496249
2025-08-11T14:49:19.016Z,1754923759.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:19.018Z,1754923759.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 290.453430 m,
      bearing: 175.060491 deg,
      approach rate: -0.533889 m/s,
      LOS rate: -0.012556 deg/s,
      cmd heading: 169.849005 deg,
      new cmd heading: 169.835841 deg.

2025-08-11T14:49:19.044Z,1754923759.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748421
2025-08-11T14:49:19.297Z,1754923759.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001169
2025-08-11T14:49:19.436Z,1754923759.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:19.439Z,1754923759.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 290.237671 m,
      bearing: 175.055465 deg,
      approach rate: -0.512799 m/s,
      LOS rate: -0.011955 deg/s,
      cmd heading: 169.835837 deg,
      new cmd heading: 169.820746 deg.

2025-08-11T14:49:19.551Z,1754923759.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254635
2025-08-11T14:49:19.800Z,1754923759.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504667
2025-08-11T14:49:19.861Z,1754923759.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:19.864Z,1754923759.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 290.014130 m,
      bearing: 175.051476 deg,
      approach rate: -0.526415 m/s,
      LOS rate: -0.009401 deg/s,
      cmd heading: 169.820742 deg,
      new cmd heading: 169.808765 deg.

2025-08-11T14:49:20.052Z,1754923760.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756351
2025-08-11T14:49:20.238Z,1754923760.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:20.240Z,1754923760.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:20.259Z,1754923760.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 289.822083 m,
      bearing: 175.048078 deg,
      approach rate: -0.506002 m/s,
      LOS rate: -0.008957 deg/s,
      cmd heading: 169.808762 deg,
      new cmd heading: 169.798563 deg.

2025-08-11T14:49:20.305Z,1754923760.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008656
2025-08-11T14:49:20.559Z,1754923760.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262741
2025-08-11T14:49:20.694Z,1754923760.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:20.701Z,1754923760.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 289.594330 m,
      bearing: 175.046695 deg,
      approach rate: -0.501683 m/s,
      LOS rate: -0.003049 deg/s,
      cmd heading: 169.798557 deg,
      new cmd heading: 169.794405 deg.

2025-08-11T14:49:20.810Z,1754923760.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513871
2025-08-11T14:49:21.055Z,1754923761.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:21.058Z,1754923761.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 289.402374 m,
      bearing: 175.045528 deg,
      approach rate: -0.531920 m/s,
      LOS rate: -0.003237 deg/s,
      cmd heading: 169.794405 deg,
      new cmd heading: 169.790900 deg.

2025-08-11T14:49:21.060Z,1754923761.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764421
2025-08-11T14:49:21.313Z,1754923761.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016997
2025-08-11T14:49:21.454Z,1754923761.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:21.457Z,1754923761.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 289.197052 m,
      bearing: 175.044345 deg,
      approach rate: -0.514979 m/s,
      LOS rate: -0.002967 deg/s,
      cmd heading: 169.790894 deg,
      new cmd heading: 169.787345 deg.

2025-08-11T14:49:21.566Z,1754923761.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270136
2025-08-11T14:49:21.816Z,1754923761.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.520363
2025-08-11T14:49:21.877Z,1754923761.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:21.880Z,1754923761.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 288.989777 m,
      bearing: 175.043241 deg,
      approach rate: -0.489770 m/s,
      LOS rate: -0.002612 deg/s,
      cmd heading: 169.787342 deg,
      new cmd heading: 169.784026 deg.

2025-08-11T14:49:22.068Z,1754923762.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772531
2025-08-11T14:49:22.252Z,1754923762.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:22.254Z,1754923762.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:22.257Z,1754923762.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 288.785156 m,
      bearing: 175.042176 deg,
      approach rate: -0.543051 m/s,
      LOS rate: -0.002830 deg/s,
      cmd heading: 169.784023 deg,
      new cmd heading: 169.780824 deg.

2025-08-11T14:49:22.321Z,1754923762.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025301
2025-08-11T14:49:22.575Z,1754923762.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278794
2025-08-11T14:49:22.720Z,1754923762.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:22.723Z,1754923762.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 288.549744 m,
      bearing: 175.040954 deg,
      approach rate: -0.504878 m/s,
      LOS rate: -0.002622 deg/s,
      cmd heading: 169.780826 deg,
      new cmd heading: 169.777159 deg.

2025-08-11T14:49:22.824Z,1754923762.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528358
2025-08-11T14:49:23.061Z,1754923763.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:23.064Z,1754923763.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 288.369476 m,
      bearing: 175.040032 deg,
      approach rate: -0.529410 m/s,
      LOS rate: -0.002709 deg/s,
      cmd heading: 169.777165 deg,
      new cmd heading: 169.774398 deg.

2025-08-11T14:49:23.077Z,1754923763.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.781245
2025-08-11T14:49:23.329Z,1754923763.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.032712
2025-08-11T14:49:23.466Z,1754923763.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:23.469Z,1754923763.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 288.160797 m,
      bearing: 175.038985 deg,
      approach rate: -0.514952 m/s,
      LOS rate: -0.002587 deg/s,
      cmd heading: 169.774392 deg,
      new cmd heading: 169.771248 deg.

2025-08-11T14:49:23.582Z,1754923763.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.285733
2025-08-11T14:49:23.833Z,1754923763.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.537320
2025-08-11T14:49:23.903Z,1754923763.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:23.905Z,1754923763.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 287.930206 m,
      bearing: 175.041222 deg,
      approach rate: -0.528023 m/s,
      LOS rate: 0.005127 deg/s,
      cmd heading: 169.771250 deg,
      new cmd heading: 169.777968 deg.

2025-08-11T14:49:24.085Z,1754923764.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.788359
2025-08-11T14:49:24.274Z,1754923764.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:24.277Z,1754923764.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:24.279Z,1754923764.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 287.732788 m,
      bearing: 175.043141 deg,
      approach rate: -0.527853 m/s,
      LOS rate: 0.005133 deg/s,
      cmd heading: 169.777971 deg,
      new cmd heading: 169.783730 deg.

2025-08-11T14:49:24.338Z,1754923764.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.041421
2025-08-11T14:49:24.592Z,1754923764.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295380
2025-08-11T14:49:24.731Z,1754923764.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:24.734Z,1754923764.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 287.486206 m,
      bearing: 175.045497 deg,
      approach rate: -0.542535 m/s,
      LOS rate: 0.005189 deg/s,
      cmd heading: 169.783736 deg,
      new cmd heading: 169.790811 deg.

2025-08-11T14:49:24.841Z,1754923764.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.545219
2025-08-11T14:49:25.093Z,1754923765.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.797128
2025-08-11T14:49:25.106Z,1754923765.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:25.109Z,1754923765.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 287.287842 m,
      bearing: 175.047343 deg,
      approach rate: -0.528491 m/s,
      LOS rate: 0.004921 deg/s,
      cmd heading: 169.790812 deg,
      new cmd heading: 169.796353 deg.

2025-08-11T14:49:25.344Z,1754923765.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.048443
2025-08-11T14:49:25.483Z,1754923765.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:25.486Z,1754923765.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 287.078430 m,
      bearing: 175.049248 deg,
      approach rate: -0.556053 m/s,
      LOS rate: 0.005064 deg/s,
      cmd heading: 169.796358 deg,
      new cmd heading: 169.802079 deg.

2025-08-11T14:49:25.597Z,1754923765.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.301177
2025-08-11T14:49:25.848Z,1754923765.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.552581
2025-08-11T14:49:25.917Z,1754923765.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:25.942Z,1754923765.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 286.844849 m,
      bearing: 175.050880 deg,
      approach rate: -0.538246 m/s,
      LOS rate: 0.003764 deg/s,
      cmd heading: 169.802082 deg,
      new cmd heading: 169.806982 deg.

2025-08-11T14:49:26.101Z,1754923766.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.805423
2025-08-11T14:49:26.306Z,1754923766.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:26.308Z,1754923766.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:26.311Z,1754923766.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 286.630768 m,
      bearing: 175.052323 deg,
      approach rate: -0.547002 m/s,
      LOS rate: 0.003690 deg/s,
      cmd heading: 169.806986 deg,
      new cmd heading: 169.811318 deg.

2025-08-11T14:49:26.352Z,1754923766.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.056617
2025-08-11T14:49:26.606Z,1754923766.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.309981
2025-08-11T14:49:26.729Z,1754923766.729 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021618363672,35.0, +10.1,   0.0,1490

2025-08-11T14:49:26.761Z,1754923766.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:26.764Z,1754923766.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 286.384979 m,
      bearing: 175.053983 deg,
      approach rate: -0.542478 m/s,
      LOS rate: 0.003665 deg/s,
      cmd heading: 169.811316 deg,
      new cmd heading: 169.816298 deg.

2025-08-11T14:49:26.857Z,1754923766.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.561377
2025-08-11T14:49:27.108Z,1754923767.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.812310
2025-08-11T14:49:27.129Z,1754923767.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:27.132Z,1754923767.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 286.185059 m,
      bearing: 175.055177 deg,
      approach rate: -0.543820 m/s,
      LOS rate: 0.003252 deg/s,
      cmd heading: 169.816302 deg,
      new cmd heading: 169.819889 deg.

2025-08-11T14:49:27.360Z,1754923767.360 [DAT](INFO): Reached modem response timeout
2025-08-11T14:49:27.360Z,1754923767.360 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:49:27.360Z,1754923767.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:27.506Z,1754923767.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:27.509Z,1754923767.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 285.980560 m,
      bearing: 175.056328 deg,
      approach rate: -0.542838 m/s,
      LOS rate: 0.003055 deg/s,
      cmd heading: 169.819895 deg,
      new cmd heading: 169.823348 deg.

2025-08-11T14:49:27.614Z,1754923767.614 [DAT](INFO): Reached modem response timeout
2025-08-11T14:49:27.614Z,1754923767.614 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:49:27.614Z,1754923767.614 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:27.868Z,1754923767.868 [DAT](INFO): Reached modem response timeout
2025-08-11T14:49:27.868Z,1754923767.868 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:49:27.868Z,1754923767.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:27.970Z,1754923767.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:27.977Z,1754923767.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 285.714813 m,
      bearing: 175.055656 deg,
      approach rate: -0.572859 m/s,
      LOS rate: -0.001449 deg/s,
      cmd heading: 169.823351 deg,
      new cmd heading: 169.821334 deg.

2025-08-11T14:49:28.120Z,1754923768.120 [DAT](INFO): Reached modem response timeout
2025-08-11T14:49:28.120Z,1754923768.120 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:49:28.121Z,1754923768.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:28.372Z,1754923768.372 [DAT](INFO): Reached modem response timeout
2025-08-11T14:49:28.372Z,1754923768.372 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:49:28.372Z,1754923768.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:28.375Z,1754923768.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:28.377Z,1754923768.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:28.381Z,1754923768.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 285.474640 m,
      bearing: 175.054969 deg,
      approach rate: -0.589336 m/s,
      LOS rate: -0.001687 deg/s,
      cmd heading: 169.821329 deg,
      new cmd heading: 169.819266 deg.

2025-08-11T14:49:28.624Z,1754923768.624 [DAT](INFO): Reached modem response timeout
2025-08-11T14:49:28.624Z,1754923768.624 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:49:28.624Z,1754923768.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:28.822Z,1754923768.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:28.837Z,1754923768.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 285.219055 m,
      bearing: 175.052070 deg,
      approach rate: -0.574023 m/s,
      LOS rate: -0.006517 deg/s,
      cmd heading: 169.819267 deg,
      new cmd heading: 169.810561 deg.

2025-08-11T14:49:28.876Z,1754923768.876 [DAT](INFO): Reached modem response timeout
2025-08-11T14:49:28.876Z,1754923768.876 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:49:28.876Z,1754923768.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:29.128Z,1754923769.128 [DAT](INFO): Reached modem response timeout
2025-08-11T14:49:29.128Z,1754923769.128 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:49:29.128Z,1754923769.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:29.199Z,1754923769.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:29.202Z,1754923769.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 285.005432 m,
      bearing: 175.049472 deg,
      approach rate: -0.573582 m/s,
      LOS rate: -0.006981 deg/s,
      cmd heading: 169.810565 deg,
      new cmd heading: 169.802765 deg.

2025-08-11T14:49:29.380Z,1754923769.380 [DAT](INFO): Reached modem response timeout
2025-08-11T14:49:29.380Z,1754923769.380 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:49:29.380Z,1754923769.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:29.632Z,1754923769.632 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:49:29.633Z,1754923769.633 [DAT](INFO): response not received
2025-08-11T14:49:29.633Z,1754923769.633 [DAT](INFO): DAT read: user:133>

2025-08-11T14:49:29.634Z,1754923769.634 [DAT](INFO): DAT read: Tx time:14:49:31.0199

2025-08-11T14:49:29.634Z,1754923769.634 [DAT](INFO): Ping request sent.
2025-08-11T14:49:29.634Z,1754923769.634 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:29.634Z,1754923769.634 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:29.643Z,1754923769.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-11T14:49:29.767Z,1754923769.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:29.774Z,1754923769.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 284.666199 m,
      bearing: 175.045157 deg,
      approach rate: -0.593242 m/s,
      LOS rate: -0.007554 deg/s,
      cmd heading: 169.802765 deg,
      new cmd heading: 169.789806 deg.

2025-08-11T14:49:29.884Z,1754923769.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249962
2025-08-11T14:49:30.059Z,1754923770.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:30.064Z,1754923770.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 284.481567 m,
      bearing: 175.041810 deg,
      approach rate: -0.631659 m/s,
      LOS rate: -0.011457 deg/s,
      cmd heading: 169.789801 deg,
      new cmd heading: 169.779754 deg.

2025-08-11T14:49:30.137Z,1754923770.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502745
2025-08-11T14:49:30.388Z,1754923770.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753894
2025-08-11T14:49:30.434Z,1754923770.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:30.448Z,1754923770.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:30.455Z,1754923770.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 284.252930 m,
      bearing: 175.037544 deg,
      approach rate: -0.587247 m/s,
      LOS rate: -0.010966 deg/s,
      cmd heading: 169.779761 deg,
      new cmd heading: 169.766953 deg.

2025-08-11T14:49:30.640Z,1754923770.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006265
2025-08-11T14:49:30.880Z,1754923770.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:30.882Z,1754923770.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 283.996674 m,
      bearing: 175.031456 deg,
      approach rate: -0.593975 m/s,
      LOS rate: -0.014125 deg/s,
      cmd heading: 169.766947 deg,
      new cmd heading: 169.748665 deg.

2025-08-11T14:49:30.892Z,1754923770.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258037
2025-08-11T14:49:31.145Z,1754923771.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510936
2025-08-11T14:49:31.253Z,1754923771.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:31.256Z,1754923771.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 283.759155 m,
      bearing: 175.025748 deg,
      approach rate: -0.636284 m/s,
      LOS rate: -0.015304 deg/s,
      cmd heading: 169.748670 deg,
      new cmd heading: 169.731532 deg.

2025-08-11T14:49:31.396Z,1754923771.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761946
2025-08-11T14:49:31.648Z,1754923771.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013982
2025-08-11T14:49:31.688Z,1754923771.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:31.690Z,1754923771.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 283.498260 m,
      bearing: 175.019467 deg,
      approach rate: -0.600776 m/s,
      LOS rate: -0.014477 deg/s,
      cmd heading: 169.731526 deg,
      new cmd heading: 169.712665 deg.

2025-08-11T14:49:31.900Z,1754923771.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265928
2025-08-11T14:49:32.125Z,1754923772.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:32.128Z,1754923772.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 283.231201 m,
      bearing: 175.011968 deg,
      approach rate: -0.609848 m/s,
      LOS rate: -0.017140 deg/s,
      cmd heading: 169.712661 deg,
      new cmd heading: 169.690143 deg.

2025-08-11T14:49:32.152Z,1754923772.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518186
2025-08-11T14:49:32.404Z,1754923772.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769968
2025-08-11T14:49:32.495Z,1754923772.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:32.497Z,1754923772.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:32.500Z,1754923772.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 283.006165 m,
      bearing: 175.005638 deg,
      approach rate: -0.604986 m/s,
      LOS rate: -0.017032 deg/s,
      cmd heading: 169.690149 deg,
      new cmd heading: 169.671142 deg.

2025-08-11T14:49:32.656Z,1754923772.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021917
2025-08-11T14:49:32.918Z,1754923772.918 [DAT](INFO): DAT read: Rx Time:14:49:33.8032

2025-08-11T14:49:32.919Z,1754923772.919 [DAT](INFO): Rx dataTimestamp_ set to:1754923772.918530
2025-08-11T14:49:32.920Z,1754923772.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285776
2025-08-11T14:49:32.942Z,1754923772.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:32.953Z,1754923772.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 282.757080 m,
      bearing: 174.998853 deg,
      approach rate: -0.560259 m/s,
      LOS rate: -0.015275 deg/s,
      cmd heading: 169.671147 deg,
      new cmd heading: 169.650774 deg.

2025-08-11T14:49:33.169Z,1754923773.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534417
2025-08-11T14:49:33.288Z,1754923773.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.50 m.
2025-08-11T14:49:33.291Z,1754923773.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.500000 m,
      nav range: 282.526245 m,
      bearing: 174.992580 deg,
      approach rate: -0.666527 m/s,
      LOS rate: -0.018127 deg/s,
      cmd heading: 169.650779 deg,
      new cmd heading: 169.631945 deg.

2025-08-11T14:49:33.424Z,1754923773.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789612
2025-08-11T14:49:33.678Z,1754923773.678 [DAT](INFO): DAT read: 14:49:33.8032 LVL= 27568, 31457, 31618, 32755, AGC= 69, IDX= 279, 0.12, 0.245,-1.520, 0.318,-0.082, PHS= 0.429,-1.393, 0.356, RAW= 148.0,   6.9, CAL= 147.4,   7.4, ROT=   2.6,  -7.4

2025-08-11T14:49:33.679Z,1754923773.679 [DAT](INFO): got valid direction response:
 14:49:33.8032 LVL= 27568, 31457, 31618, 32755, AGC= 69, IDX= 279, 0.12, 0.245,-1.520, 0.318,-0.082, PHS= 0.429,-1.393, 0.356, RAW= 148.0,   6.9, CAL= 147.4,   7.4, ROT=   2.6,  -7.4

2025-08-11T14:49:33.680Z,1754923773.680 [DAT](INFO): DAT read: Bearing 327.8,   2.8 (Local)

2025-08-11T14:49:33.680Z,1754923773.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.8,   2.8 (Local)

2025-08-11T14:49:33.682Z,1754923773.682 [DAT](INFO): DAT read: Range 11 to 50 : 284.3 m  (Round-trip  379.1 ms) speed  0.0 m/s

2025-08-11T14:49:33.683Z,1754923773.683 [DAT](INFO): DAT read: user:134>

2025-08-11T14:49:33.684Z,1754923773.684 [DAT](INFO): DAT read: Tx time:14:49:34.9199

2025-08-11T14:49:33.684Z,1754923773.684 [DAT](INFO): Ping request sent.
2025-08-11T14:49:33.684Z,1754923773.684 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:33.685Z,1754923773.685 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:33.686Z,1754923773.686 [DAT](INFO): direction in FSK: [0.990650,0.044985,0.128796]
2025-08-11T14:49:33.686Z,1754923773.686 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:33.686Z,1754923773.686 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:33.690Z,1754923773.690 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:33.691Z,1754923773.691 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:33.836Z,1754923773.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 284.299988 m,
      deltaT: 16.392037 s,
      deltaX: -9.200012 m,
      approachRate: -0.561249 m/s,
      rangeRepo size: 4

2025-08-11T14:49:33.845Z,1754923773.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 284.299988 m,
      bearing: 174.984699 deg,
      lat: 36.905846 deg,
      lon: -122.116140 deg,
      deltaT: 16.392037 s,
      deltaX: -9.200012 m,
      approachRate: -0.561249 m/s,
      posRepo size: 4

2025-08-11T14:49:33.845Z,1754923773.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.30 m.
2025-08-11T14:49:33.852Z,1754923773.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.299988 m,
      nav range: 282.234253 m,
      bearing: 174.984699 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018127 deg/s,
      cmd heading: 169.631942 deg,
      new cmd heading: 169.602625 deg.

2025-08-11T14:49:34.246Z,1754923774.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.30 m.
2025-08-11T14:49:34.265Z,1754923774.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.299988 m,
      nav range: 281.944855 m,
      bearing: 174.977539 deg,
      approach rate: -0.690401 m/s,
      LOS rate: -0.017099 deg/s,
      cmd heading: 169.602627 deg,
      new cmd heading: 169.581124 deg.

2025-08-11T14:49:34.616Z,1754923774.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:34.618Z,1754923774.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.30 m.
2025-08-11T14:49:34.633Z,1754923774.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.299988 m,
      nav range: 281.713776 m,
      bearing: 174.971941 deg,
      approach rate: -0.621342 m/s,
      LOS rate: -0.015063 deg/s,
      cmd heading: 169.581125 deg,
      new cmd heading: 169.564319 deg.

2025-08-11T14:49:34.681Z,1754923774.681 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:34.681Z,1754923774.681 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:34.681Z,1754923774.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:34.933Z,1754923774.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248367
2025-08-11T14:49:35.113Z,1754923775.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.30 m.
2025-08-11T14:49:35.116Z,1754923775.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.299988 m,
      nav range: 281.435883 m,
      bearing: 174.966402 deg,
      approach rate: -0.568435 m/s,
      LOS rate: -0.011343 deg/s,
      cmd heading: 169.564323 deg,
      new cmd heading: 169.547687 deg.

2025-08-11T14:49:35.185Z,1754923775.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500241
2025-08-11T14:49:35.436Z,1754923775.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751750
2025-08-11T14:49:35.446Z,1754923775.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.30 m.
2025-08-11T14:49:35.465Z,1754923775.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.299988 m,
      nav range: 281.230011 m,
      bearing: 174.962368 deg,
      approach rate: -0.607656 m/s,
      LOS rate: -0.011915 deg/s,
      cmd heading: 169.547685 deg,
      new cmd heading: 169.535575 deg.

2025-08-11T14:49:35.688Z,1754923775.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004004
2025-08-11T14:49:35.907Z,1754923775.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.30 m.
2025-08-11T14:49:35.911Z,1754923775.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.299988 m,
      nav range: 280.962769 m,
      bearing: 174.956999 deg,
      approach rate: -0.579707 m/s,
      LOS rate: -0.011657 deg/s,
      cmd heading: 169.535581 deg,
      new cmd heading: 169.519460 deg.

2025-08-11T14:49:35.941Z,1754923775.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256309
2025-08-11T14:49:36.193Z,1754923776.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508246
2025-08-11T14:49:36.285Z,1754923776.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.30 m.
2025-08-11T14:49:36.287Z,1754923776.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.299988 m,
      nav range: 280.753876 m,
      bearing: 174.952796 deg,
      approach rate: -0.553197 m/s,
      LOS rate: -0.011140 deg/s,
      cmd heading: 169.519462 deg,
      new cmd heading: 169.506842 deg.

2025-08-11T14:49:36.444Z,1754923776.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759674
2025-08-11T14:49:36.682Z,1754923776.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:36.688Z,1754923776.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.30 m.
2025-08-11T14:49:36.691Z,1754923776.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.299988 m,
      nav range: 280.523254 m,
      bearing: 174.948391 deg,
      approach rate: -0.571701 m/s,
      LOS rate: -0.010927 deg/s,
      cmd heading: 169.506840 deg,
      new cmd heading: 169.493616 deg.

2025-08-11T14:49:36.696Z,1754923776.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011881
2025-08-11T14:49:36.948Z,1754923776.948 [DAT](INFO): DAT read: Rx Time:14:49:37.7002

2025-08-11T14:49:36.949Z,1754923776.949 [DAT](INFO): Rx dataTimestamp_ set to:1754923776.948295
2025-08-11T14:49:36.949Z,1754923776.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264712
2025-08-11T14:49:37.102Z,1754923777.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.30 m.
2025-08-11T14:49:37.105Z,1754923777.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.299988 m,
      nav range: 280.288788 m,
      bearing: 174.945529 deg,
      approach rate: -0.566613 m/s,
      LOS rate: -0.006923 deg/s,
      cmd heading: 169.493617 deg,
      new cmd heading: 169.485022 deg.

2025-08-11T14:49:37.201Z,1754923777.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516475
2025-08-11T14:49:37.458Z,1754923777.458 [DAT](INFO): DAT read: 14:49:37.7002 LVL= 29872, 32753, 32194, 32755, AGC= 73, IDX= 409,-0.13, 2.695, 0.878, 2.747, 2.347, PHS= 0.450,-1.423, 0.356, RAW= 147.5,   6.8, CAL= 146.9,   7.3, ROT=   3.1,  -7.3

2025-08-11T14:49:37.459Z,1754923777.459 [DAT](INFO): got valid direction response:
 14:49:37.7002 LVL= 29872, 32753, 32194, 32755, AGC= 73, IDX= 409,-0.13, 2.695, 0.878, 2.747, 2.347, PHS= 0.450,-1.423, 0.356, RAW= 147.5,   6.8, CAL= 146.9,   7.3, ROT=   3.1,  -7.3

2025-08-11T14:49:37.460Z,1754923777.460 [DAT](INFO): DAT read: Bearing 326.9,   4.2 (Local)

2025-08-11T14:49:37.460Z,1754923777.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.9,   4.2 (Local)

2025-08-11T14:49:37.462Z,1754923777.462 [DAT](INFO): DAT read: Range 11 to 50 : 282.1 m  (Round-trip  376.2 ms) speed  0.4 m/s

2025-08-11T14:49:37.463Z,1754923777.463 [DAT](INFO): DAT read: user:135>

2025-08-11T14:49:37.463Z,1754923777.463 [DAT](INFO): DAT read: Tx time:14:49:38.8199

2025-08-11T14:49:37.464Z,1754923777.464 [DAT](INFO): Ping request sent.
2025-08-11T14:49:37.464Z,1754923777.464 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:37.464Z,1754923777.464 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:37.465Z,1754923777.465 [DAT](INFO): direction in FSK: [0.990443,0.053640,0.127065]
2025-08-11T14:49:37.465Z,1754923777.465 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:37.466Z,1754923777.466 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:37.473Z,1754923777.473 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:37.473Z,1754923777.473 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:37.493Z,1754923777.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 282.100006 m,
      deltaT: 3.780122 s,
      deltaX: -2.199982 m,
      approachRate: -0.581987 m/s,
      rangeRepo size: 4

2025-08-11T14:49:37.528Z,1754923777.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 282.100006 m,
      bearing: 173.997875 deg,
      lat: 36.905846 deg,
      lon: -122.116088 deg,
      deltaT: 3.780122 s,
      deltaX: -2.199982 m,
      approachRate: -0.581987 m/s,
      posRepo size: 4

2025-08-11T14:49:37.528Z,1754923777.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:37.531Z,1754923777.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 280.524261 m,
      bearing: 173.997875 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006923 deg/s,
      cmd heading: 169.485024 deg,
      new cmd heading: 169.476908 deg.

2025-08-11T14:49:37.951Z,1754923777.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:37.954Z,1754923777.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 280.289642 m,
      bearing: 173.995152 deg,
      approach rate: -0.516293 m/s,
      LOS rate: -0.005998 deg/s,
      cmd heading: 169.476910 deg,
      new cmd heading: 169.468734 deg.

2025-08-11T14:49:38.313Z,1754923778.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:38.316Z,1754923778.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 280.086395 m,
      bearing: 173.992742 deg,
      approach rate: -0.555106 m/s,
      LOS rate: -0.006589 deg/s,
      cmd heading: 169.468728 deg,
      new cmd heading: 169.461490 deg.

2025-08-11T14:49:38.714Z,1754923778.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:38.716Z,1754923778.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:38.719Z,1754923778.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 279.873566 m,
      bearing: 173.990169 deg,
      approach rate: -0.527914 m/s,
      LOS rate: -0.006387 deg/s,
      cmd heading: 169.461488 deg,
      new cmd heading: 169.453763 deg.

2025-08-11T14:49:38.971Z,1754923778.971 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:38.971Z,1754923778.971 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:38.971Z,1754923778.971 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:39.152Z,1754923779.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:39.155Z,1754923779.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 279.634460 m,
      bearing: 173.988002 deg,
      approach rate: -0.548378 m/s,
      LOS rate: -0.004973 deg/s,
      cmd heading: 169.453769 deg,
      new cmd heading: 169.447264 deg.

2025-08-11T14:49:39.217Z,1754923779.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752993
2025-08-11T14:49:39.468Z,1754923779.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004592
2025-08-11T14:49:39.529Z,1754923779.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:39.531Z,1754923779.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 279.428650 m,
      bearing: 173.986015 deg,
      approach rate: -0.546983 m/s,
      LOS rate: -0.005284 deg/s,
      cmd heading: 169.447267 deg,
      new cmd heading: 169.441303 deg.

2025-08-11T14:49:39.720Z,1754923779.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256323
2025-08-11T14:49:39.970Z,1754923779.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:39.972Z,1754923779.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508420
2025-08-11T14:49:39.974Z,1754923779.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 279.199036 m,
      bearing: 173.983622 deg,
      approach rate: -0.520218 m/s,
      LOS rate: -0.005425 deg/s,
      cmd heading: 169.441298 deg,
      new cmd heading: 169.434114 deg.

2025-08-11T14:49:40.224Z,1754923780.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760303
2025-08-11T14:49:40.329Z,1754923780.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:40.340Z,1754923780.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 279.012085 m,
      bearing: 173.981591 deg,
      approach rate: -0.520590 m/s,
      LOS rate: -0.005660 deg/s,
      cmd heading: 169.434112 deg,
      new cmd heading: 169.428014 deg.

2025-08-11T14:49:40.476Z,1754923780.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012348
2025-08-11T14:49:40.728Z,1754923780.728 [DAT](INFO): DAT read: Rx Time:14:49:41.5975

2025-08-11T14:49:40.729Z,1754923780.729 [DAT](INFO): Rx dataTimestamp_ set to:1754923780.728476
2025-08-11T14:49:40.729Z,1754923780.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265507
2025-08-11T14:49:40.738Z,1754923780.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:40.740Z,1754923780.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:40.743Z,1754923780.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 278.798828 m,
      bearing: 173.979204 deg,
      approach rate: -0.518675 m/s,
      LOS rate: -0.005812 deg/s,
      cmd heading: 169.428020 deg,
      new cmd heading: 169.420851 deg.

2025-08-11T14:49:40.984Z,1754923780.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519764
2025-08-11T14:49:41.157Z,1754923781.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.10 m.
2025-08-11T14:49:41.160Z,1754923781.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.100006 m,
      nav range: 278.582153 m,
      bearing: 173.977159 deg,
      approach rate: -0.520089 m/s,
      LOS rate: -0.004912 deg/s,
      cmd heading: 169.420848 deg,
      new cmd heading: 169.414708 deg.

2025-08-11T14:49:41.237Z,1754923781.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772531
2025-08-11T14:49:41.490Z,1754923781.490 [DAT](INFO): DAT read: 14:49:41.5975 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 414,-0.18, 1.802,-0.060, 1.921, 1.455, PHS= 0.449,-1.470, 0.421, RAW= 149.3,   6.4, CAL= 148.7,   6.7, ROT=   1.3,  -6.7

2025-08-11T14:49:41.491Z,1754923781.491 [DAT](INFO): got valid direction response:
 14:49:41.5975 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 414,-0.18, 1.802,-0.060, 1.921, 1.455, PHS= 0.449,-1.470, 0.421, RAW= 149.3,   6.4, CAL= 148.7,   6.7, ROT=   1.3,  -6.7

2025-08-11T14:49:41.492Z,1754923781.492 [DAT](INFO): DAT read: Bearing 326.5,   2.3 (Local)

2025-08-11T14:49:41.492Z,1754923781.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.5,   2.3 (Local)

2025-08-11T14:49:41.494Z,1754923781.494 [DAT](INFO): DAT read: Range 11 to 50 : 280.2 m  (Round-trip  373.6 ms) speed  0.5 m/s

2025-08-11T14:49:41.494Z,1754923781.494 [DAT](INFO): DAT read: user:136>

2025-08-11T14:49:41.495Z,1754923781.495 [DAT](INFO): DAT read: Tx time:14:49:42.7198

2025-08-11T14:49:41.495Z,1754923781.495 [DAT](INFO): Ping request sent.
2025-08-11T14:49:41.496Z,1754923781.496 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:41.496Z,1754923781.496 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:41.497Z,1754923781.497 [DAT](INFO): direction in FSK: [0.992915,0.022532,0.116671]
2025-08-11T14:49:41.497Z,1754923781.497 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:41.497Z,1754923781.497 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:41.505Z,1754923781.505 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:41.505Z,1754923781.505 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:41.647Z,1754923781.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 280.200012 m,
      deltaT: 4.031860 s,
      deltaX: -1.899994 m,
      approachRate: -0.471245 m/s,
      rangeRepo size: 4

2025-08-11T14:49:41.661Z,1754923781.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 280.200012 m,
      bearing: 173.826433 deg,
      lat: 36.905858 deg,
      lon: -122.116081 deg,
      deltaT: 4.031860 s,
      deltaX: -1.899994 m,
      approachRate: -0.471245 m/s,
      posRepo size: 4

2025-08-11T14:49:41.662Z,1754923781.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m.
2025-08-11T14:49:41.672Z,1754923781.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.200012 m,
      nav range: 277.104980 m,
      bearing: 173.826433 deg,
      approach rate: 0.004553 m/s,
      LOS rate: -0.004912 deg/s,
      cmd heading: 169.414714 deg,
      new cmd heading: 169.407727 deg.

2025-08-11T14:49:42.013Z,1754923782.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m.
2025-08-11T14:49:42.016Z,1754923782.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.200012 m,
      nav range: 276.891296 m,
      bearing: 173.824934 deg,
      approach rate: -0.559358 m/s,
      LOS rate: -0.003926 deg/s,
      cmd heading: 169.407734 deg,
      new cmd heading: 169.403235 deg.

2025-08-11T14:49:42.360Z,1754923782.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m.
2025-08-11T14:49:42.362Z,1754923782.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.200012 m,
      nav range: 276.708862 m,
      bearing: 173.823662 deg,
      approach rate: -0.526742 m/s,
      LOS rate: -0.003676 deg/s,
      cmd heading: 169.403240 deg,
      new cmd heading: 169.399420 deg.

2025-08-11T14:49:42.838Z,1754923782.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:42.840Z,1754923782.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m.
2025-08-11T14:49:42.870Z,1754923782.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.200012 m,
      nav range: 276.456268 m,
      bearing: 173.821932 deg,
      approach rate: -0.525658 m/s,
      LOS rate: -0.003604 deg/s,
      cmd heading: 169.399415 deg,
      new cmd heading: 169.394220 deg.

2025-08-11T14:49:42.996Z,1754923782.996 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:42.996Z,1754923782.996 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:42.997Z,1754923782.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:43.248Z,1754923783.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752866
2025-08-11T14:49:43.324Z,1754923783.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m.
2025-08-11T14:49:43.326Z,1754923783.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.200012 m,
      nav range: 276.206055 m,
      bearing: 173.820526 deg,
      approach rate: -0.517167 m/s,
      LOS rate: -0.002908 deg/s,
      cmd heading: 169.394224 deg,
      new cmd heading: 169.390002 deg.

2025-08-11T14:49:43.500Z,1754923783.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004545
2025-08-11T14:49:43.688Z,1754923783.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m.
2025-08-11T14:49:43.691Z,1754923783.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.200012 m,
      nav range: 275.986633 m,
      bearing: 173.819323 deg,
      approach rate: -0.602353 m/s,
      LOS rate: -0.003305 deg/s,
      cmd heading: 169.390003 deg,
      new cmd heading: 169.386391 deg.

2025-08-11T14:49:43.752Z,1754923783.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256682
2025-08-11T14:49:44.004Z,1754923784.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508646
2025-08-11T14:49:44.130Z,1754923784.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m.
2025-08-11T14:49:44.133Z,1754923784.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.200012 m,
      nav range: 275.735107 m,
      bearing: 173.817479 deg,
      approach rate: -0.568693 m/s,
      LOS rate: -0.004172 deg/s,
      cmd heading: 169.386396 deg,
      new cmd heading: 169.380861 deg.

2025-08-11T14:49:44.256Z,1754923784.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760579
2025-08-11T14:49:44.490Z,1754923784.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m.
2025-08-11T14:49:44.494Z,1754923784.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.200012 m,
      nav range: 275.530334 m,
      bearing: 173.815975 deg,
      approach rate: -0.568828 m/s,
      LOS rate: -0.004182 deg/s,
      cmd heading: 169.380864 deg,
      new cmd heading: 169.376348 deg.

2025-08-11T14:49:44.516Z,1754923784.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020680
2025-08-11T14:49:44.768Z,1754923784.768 [DAT](INFO): DAT read: Rx Time:14:49:45.4944

2025-08-11T14:49:44.769Z,1754923784.769 [DAT](INFO): Rx dataTimestamp_ set to:1754923784.768656
2025-08-11T14:49:44.769Z,1754923784.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273886
2025-08-11T14:49:44.968Z,1754923784.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:44.970Z,1754923784.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.20 m.
2025-08-11T14:49:44.981Z,1754923784.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 280.200012 m,
      nav range: 275.262482 m,
      bearing: 173.814021 deg,
      approach rate: -0.557945 m/s,
      LOS rate: -0.004073 deg/s,
      cmd heading: 169.376342 deg,
      new cmd heading: 169.370476 deg.

2025-08-11T14:49:45.020Z,1754923785.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524610
2025-08-11T14:49:45.278Z,1754923785.278 [DAT](INFO): DAT read: 14:49:45.4944 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414, 0.39, 0.325,-1.476, 0.416, 0.012, PHS= 0.415,-1.443, 0.360, RAW= 148.5,   7.4, CAL= 148.0,   7.9, ROT=   2.0,  -7.9

2025-08-11T14:49:45.279Z,1754923785.279 [DAT](INFO): got valid direction response:
 14:49:45.4944 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414, 0.39, 0.325,-1.476, 0.416, 0.012, PHS= 0.415,-1.443, 0.360, RAW= 148.5,   7.4, CAL= 148.0,   7.9, ROT=   2.0,  -7.9

2025-08-11T14:49:45.280Z,1754923785.280 [DAT](INFO): DAT read: Bearing 327.7,   2.4 (Local)

2025-08-11T14:49:45.281Z,1754923785.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.7,   2.4 (Local)

2025-08-11T14:49:45.282Z,1754923785.282 [DAT](INFO): DAT read: Range 11 to 50 : 277.8 m  (Round-trip  370.5 ms) speed  0.5 m/s

2025-08-11T14:49:45.283Z,1754923785.283 [DAT](INFO): DAT read: user:137>

2025-08-11T14:49:45.284Z,1754923785.284 [DAT](INFO): DAT read: Tx time:14:49:46.6198

2025-08-11T14:49:45.284Z,1754923785.284 [DAT](INFO): Ping request sent.
2025-08-11T14:49:45.284Z,1754923785.284 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:45.284Z,1754923785.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:45.285Z,1754923785.285 [DAT](INFO): direction in FSK: [0.989906,0.034568,0.137445]
2025-08-11T14:49:45.286Z,1754923785.286 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:45.286Z,1754923785.286 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:45.305Z,1754923785.305 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:45.305Z,1754923785.305 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:45.484Z,1754923785.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 277.799988 m,
      deltaT: 3.788202 s,
      deltaX: -2.400024 m,
      approachRate: -0.633552 m/s,
      rangeRepo size: 4

2025-08-11T14:49:45.486Z,1754923785.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 277.799988 m,
      bearing: 173.777817 deg,
      lat: 36.905860 deg,
      lon: -122.116080 deg,
      deltaT: 3.788202 s,
      deltaX: -2.400024 m,
      approachRate: -0.633552 m/s,
      posRepo size: 4

2025-08-11T14:49:45.491Z,1754923785.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.80 m.
2025-08-11T14:49:45.494Z,1754923785.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.799988 m,
      nav range: 274.763794 m,
      bearing: 173.777817 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004073 deg/s,
      cmd heading: 169.370482 deg,
      new cmd heading: 169.364263 deg.

2025-08-11T14:49:45.817Z,1754923785.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.80 m.
2025-08-11T14:49:45.820Z,1754923785.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.799988 m,
      nav range: 274.557861 m,
      bearing: 173.775865 deg,
      approach rate: -0.609808 m/s,
      LOS rate: -0.005784 deg/s,
      cmd heading: 169.364267 deg,
      new cmd heading: 169.358407 deg.

2025-08-11T14:49:46.237Z,1754923786.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.80 m.
2025-08-11T14:49:46.240Z,1754923786.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.799988 m,
      nav range: 274.305603 m,
      bearing: 173.771618 deg,
      approach rate: -0.600973 m/s,
      LOS rate: -0.010128 deg/s,
      cmd heading: 169.358406 deg,
      new cmd heading: 169.345652 deg.

2025-08-11T14:49:46.620Z,1754923786.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.80 m.
2025-08-11T14:49:46.623Z,1754923786.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.799988 m,
      nav range: 274.075714 m,
      bearing: 173.767681 deg,
      approach rate: -0.600927 m/s,
      LOS rate: -0.010299 deg/s,
      cmd heading: 169.345648 deg,
      new cmd heading: 169.333827 deg.

2025-08-11T14:49:47.082Z,1754923787.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:47.093Z,1754923787.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.80 m.
2025-08-11T14:49:47.100Z,1754923787.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.799988 m,
      nav range: 273.799042 m,
      bearing: 173.760694 deg,
      approach rate: -0.583499 m/s,
      LOS rate: -0.014750 deg/s,
      cmd heading: 169.333831 deg,
      new cmd heading: 169.312849 deg.

2025-08-11T14:49:47.292Z,1754923787.292 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:47.292Z,1754923787.292 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:47.292Z,1754923787.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:47.440Z,1754923787.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.80 m.
2025-08-11T14:49:47.443Z,1754923787.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.799988 m,
      nav range: 273.577545 m,
      bearing: 173.755090 deg,
      approach rate: -0.638571 m/s,
      LOS rate: -0.016169 deg/s,
      cmd heading: 169.312849 deg,
      new cmd heading: 169.296023 deg.

2025-08-11T14:49:47.546Z,1754923787.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261519
2025-08-11T14:49:47.796Z,1754923787.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511929
2025-08-11T14:49:47.868Z,1754923787.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.80 m.
2025-08-11T14:49:47.871Z,1754923787.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.799988 m,
      nav range: 273.317902 m,
      bearing: 173.748510 deg,
      approach rate: -0.607076 m/s,
      LOS rate: -0.015400 deg/s,
      cmd heading: 169.296019 deg,
      new cmd heading: 169.276259 deg.

2025-08-11T14:49:48.049Z,1754923788.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764703
2025-08-11T14:49:48.263Z,1754923788.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.80 m.
2025-08-11T14:49:48.266Z,1754923788.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.799988 m,
      nav range: 273.076538 m,
      bearing: 173.740570 deg,
      approach rate: -0.611346 m/s,
      LOS rate: -0.020129 deg/s,
      cmd heading: 169.276253 deg,
      new cmd heading: 169.252412 deg.

2025-08-11T14:49:48.300Z,1754923788.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016120
2025-08-11T14:49:48.555Z,1754923788.555 [DAT](INFO): DAT read: Rx Time:14:49:49.3912

2025-08-11T14:49:48.555Z,1754923788.555 [DAT](INFO): Rx dataTimestamp_ set to:1754923788.554785
2025-08-11T14:49:48.556Z,1754923788.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271638
2025-08-11T14:49:48.674Z,1754923788.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.80 m.
2025-08-11T14:49:48.681Z,1754923788.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.799988 m,
      nav range: 272.827972 m,
      bearing: 173.732399 deg,
      approach rate: -0.604180 m/s,
      LOS rate: -0.019879 deg/s,
      cmd heading: 169.252415 deg,
      new cmd heading: 169.227880 deg.

2025-08-11T14:49:48.804Z,1754923788.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520040
2025-08-11T14:49:49.069Z,1754923789.069 [DAT](INFO): DAT read: 14:49:49.3912 LVL= 24880, 32753, 32562, 32755, AGC= 73, IDX= 413,-0.18, 1.490,-0.333, 1.593, 1.158, PHS= 0.434,-1.446, 0.392, RAW= 148.9,   6.7, CAL= 148.3,   7.2, ROT=   1.7,  -7.2

2025-08-11T14:49:49.070Z,1754923789.070 [DAT](INFO): got valid direction response:
 14:49:49.3912 LVL= 24880, 32753, 32562, 32755, AGC= 73, IDX= 413,-0.18, 1.490,-0.333, 1.593, 1.158, PHS= 0.434,-1.446, 0.392, RAW= 148.9,   6.7, CAL= 148.3,   7.2, ROT=   1.7,  -7.2

2025-08-11T14:49:49.075Z,1754923789.075 [DAT](INFO): DAT read: Bearing 327.3,   2.3 (Local)

2025-08-11T14:49:49.076Z,1754923789.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.3,   2.3 (Local)

2025-08-11T14:49:49.077Z,1754923789.077 [DAT](INFO): DAT read: Range 11 to 50 : 275.4 m  (Round-trip  367.2 ms) speed  0.6 m/s

2025-08-11T14:49:49.078Z,1754923789.078 [DAT](INFO): DAT read: user:138>

2025-08-11T14:49:49.078Z,1754923789.078 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:49.081Z,1754923789.081 [DAT](INFO): direction in FSK: [0.991678,0.029432,0.125333]
2025-08-11T14:49:49.082Z,1754923789.082 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:49.088Z,1754923789.088 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:49.088Z,1754923789.088 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:49.089Z,1754923789.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:49.221Z,1754923789.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 275.399994 m,
      deltaT: 3.786205 s,
      deltaX: -2.399994 m,
      approachRate: -0.633878 m/s,
      rangeRepo size: 4

2025-08-11T14:49:49.223Z,1754923789.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 275.399994 m,
      bearing: 173.164445 deg,
      lat: 36.905861 deg,
      lon: -122.116050 deg,
      deltaT: 3.786205 s,
      deltaX: -2.399994 m,
      approachRate: -0.633878 m/s,
      posRepo size: 4

2025-08-11T14:49:49.228Z,1754923789.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:49.230Z,1754923789.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 272.684814 m,
      bearing: 173.164445 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019879 deg/s,
      cmd heading: 169.227881 deg,
      new cmd heading: 169.195329 deg.

2025-08-11T14:49:49.309Z,1754923789.309 [DAT](INFO): DAT read: Tx time:14:49:50.5198

2025-08-11T14:49:49.309Z,1754923789.309 [DAT](INFO): Ping request sent.
2025-08-11T14:49:49.309Z,1754923789.309 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:49.309Z,1754923789.309 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:49.310Z,1754923789.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-11T14:49:49.560Z,1754923789.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251285
2025-08-11T14:49:49.575Z,1754923789.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:49.577Z,1754923789.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:49.580Z,1754923789.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 272.452393 m,
      bearing: 173.154944 deg,
      approach rate: -0.651023 m/s,
      LOS rate: -0.026638 deg/s,
      cmd heading: 169.195329 deg,
      new cmd heading: 169.166799 deg.

2025-08-11T14:49:49.812Z,1754923789.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503077
2025-08-11T14:49:49.973Z,1754923789.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:49.977Z,1754923789.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 272.207306 m,
      bearing: 173.145023 deg,
      approach rate: -0.618946 m/s,
      LOS rate: -0.025076 deg/s,
      cmd heading: 169.166792 deg,
      new cmd heading: 169.137004 deg.

2025-08-11T14:49:50.065Z,1754923790.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755511
2025-08-11T14:49:50.316Z,1754923790.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007250
2025-08-11T14:49:50.404Z,1754923790.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:50.407Z,1754923790.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 271.934052 m,
      bearing: 173.132867 deg,
      approach rate: -0.633310 m/s,
      LOS rate: -0.028201 deg/s,
      cmd heading: 169.136999 deg,
      new cmd heading: 169.100496 deg.

2025-08-11T14:49:50.568Z,1754923790.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259095
2025-08-11T14:49:50.777Z,1754923790.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:50.779Z,1754923790.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 271.700043 m,
      bearing: 173.122570 deg,
      approach rate: -0.628985 m/s,
      LOS rate: -0.027701 deg/s,
      cmd heading: 169.100498 deg,
      new cmd heading: 169.069581 deg.

2025-08-11T14:49:50.821Z,1754923790.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511699
2025-08-11T14:49:51.072Z,1754923791.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763205
2025-08-11T14:49:51.209Z,1754923791.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:51.212Z,1754923791.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 271.441101 m,
      bearing: 173.110610 deg,
      approach rate: -0.598871 m/s,
      LOS rate: -0.027687 deg/s,
      cmd heading: 169.069585 deg,
      new cmd heading: 169.033670 deg.

2025-08-11T14:49:51.324Z,1754923791.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015087
2025-08-11T14:49:51.576Z,1754923791.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267213
2025-08-11T14:49:51.588Z,1754923791.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:51.590Z,1754923791.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:51.593Z,1754923791.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 271.213135 m,
      bearing: 173.100215 deg,
      approach rate: -0.597949 m/s,
      LOS rate: -0.027288 deg/s,
      cmd heading: 169.033672 deg,
      new cmd heading: 169.002461 deg.

2025-08-11T14:49:51.828Z,1754923791.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519227
2025-08-11T14:49:52.003Z,1754923792.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:52.027Z,1754923792.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 270.976501 m,
      bearing: 173.089548 deg,
      approach rate: -0.573495 m/s,
      LOS rate: -0.025876 deg/s,
      cmd heading: 169.002458 deg,
      new cmd heading: 168.970427 deg.

2025-08-11T14:49:52.080Z,1754923792.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771342
2025-08-11T14:49:52.333Z,1754923792.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023533
2025-08-11T14:49:52.444Z,1754923792.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:52.447Z,1754923792.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 270.698151 m,
      bearing: 173.078913 deg,
      approach rate: -0.630739 m/s,
      LOS rate: -0.024123 deg/s,
      cmd heading: 168.970424 deg,
      new cmd heading: 168.938487 deg.

2025-08-11T14:49:52.584Z,1754923792.584 [DAT](INFO): DAT read: Rx Time:14:49:53.2883

2025-08-11T14:49:52.585Z,1754923792.585 [DAT](INFO): Rx dataTimestamp_ set to:1754923792.584339
2025-08-11T14:49:52.585Z,1754923792.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276190
2025-08-11T14:49:52.818Z,1754923792.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.40 m.
2025-08-11T14:49:52.821Z,1754923792.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 275.399994 m,
      nav range: 270.478546 m,
      bearing: 173.070636 deg,
      approach rate: -0.586497 m/s,
      LOS rate: -0.022124 deg/s,
      cmd heading: 168.938486 deg,
      new cmd heading: 168.913634 deg.

2025-08-11T14:49:52.836Z,1754923792.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527194
2025-08-11T14:49:53.094Z,1754923793.094 [DAT](INFO): DAT read: 14:49:53.2883 LVL= 18064, 28353, 18482, 30499, AGC= 66, IDX= 416,-0.27, 1.180,-0.569, 1.226, 0.891, PHS= 0.391,-1.415, 0.292, RAW= 147.2,   8.4, CAL= 146.7,   9.1, ROT=   3.3,  -9.1

2025-08-11T14:49:53.095Z,1754923793.095 [DAT](INFO): got valid direction response:
 14:49:53.2883 LVL= 18064, 28353, 18482, 30499, AGC= 66, IDX= 416,-0.27, 1.180,-0.569, 1.226, 0.891, PHS= 0.391,-1.415, 0.292, RAW= 147.2,   8.4, CAL= 146.7,   9.1, ROT=   3.3,  -9.1

2025-08-11T14:49:53.096Z,1754923793.096 [DAT](INFO): DAT read: Bearing 328.7,   3.0 (Local)

2025-08-11T14:49:53.096Z,1754923793.096 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.7,   3.0 (Local)

2025-08-11T14:49:53.098Z,1754923793.098 [DAT](INFO): DAT read: Range 11 to 50 : 273.3 m  (Round-trip  364.4 ms) speed  0.4 m/s

2025-08-11T14:49:53.098Z,1754923793.098 [DAT](INFO): DAT read: user:139>

2025-08-11T14:49:53.099Z,1754923793.099 [DAT](INFO): DAT read: Tx time:14:49:54.3698

2025-08-11T14:49:53.099Z,1754923793.099 [DAT](INFO): Ping request sent.
2025-08-11T14:49:53.099Z,1754923793.099 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:53.100Z,1754923793.100 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:53.101Z,1754923793.101 [DAT](INFO): direction in FSK: [0.985776,0.056840,0.158158]
2025-08-11T14:49:53.101Z,1754923793.101 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:53.101Z,1754923793.101 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:53.105Z,1754923793.105 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:53.105Z,1754923793.105 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:53.296Z,1754923793.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 273.299988 m,
      deltaT: 4.029590 s,
      deltaX: -2.100006 m,
      approachRate: -0.521146 m/s,
      rangeRepo size: 4

2025-08-11T14:49:53.298Z,1754923793.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 273.299988 m,
      bearing: 173.061205 deg,
      lat: 36.905861 deg,
      lon: -122.116050 deg,
      deltaT: 4.029590 s,
      deltaX: -2.100006 m,
      approachRate: -0.521146 m/s,
      posRepo size: 4

2025-08-11T14:49:53.299Z,1754923793.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.30 m.
2025-08-11T14:49:53.309Z,1754923793.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.299988 m,
      nav range: 270.192230 m,
      bearing: 173.061205 deg,
      approach rate: -53308112920953154858932764672 m/s,
      LOS rate: -0.022124 deg/s,
      cmd heading: 168.913638 deg,
      new cmd heading: 168.882275 deg.

2025-08-11T14:49:53.654Z,1754923793.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:53.656Z,1754923793.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.30 m.
2025-08-11T14:49:53.659Z,1754923793.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.299988 m,
      nav range: 269.969604 m,
      bearing: 173.053930 deg,
      approach rate: -0.609773 m/s,
      LOS rate: -0.019942 deg/s,
      cmd heading: 168.882274 deg,
      new cmd heading: 168.860431 deg.

2025-08-11T14:49:53.844Z,1754923793.844 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:53.844Z,1754923793.844 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:53.844Z,1754923793.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:54.100Z,1754923794.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999056
2025-08-11T14:49:54.131Z,1754923794.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.30 m.
2025-08-11T14:49:54.134Z,1754923794.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.299988 m,
      nav range: 269.700928 m,
      bearing: 173.045254 deg,
      approach rate: -0.570341 m/s,
      LOS rate: -0.018434 deg/s,
      cmd heading: 168.860431 deg,
      new cmd heading: 168.834379 deg.

2025-08-11T14:49:54.351Z,1754923794.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251473
2025-08-11T14:49:54.524Z,1754923794.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.30 m.
2025-08-11T14:49:54.529Z,1754923794.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.299988 m,
      nav range: 269.482971 m,
      bearing: 173.040364 deg,
      approach rate: -0.550290 m/s,
      LOS rate: -0.012357 deg/s,
      cmd heading: 168.834381 deg,
      new cmd heading: 168.819698 deg.

2025-08-11T14:49:54.601Z,1754923794.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501545
2025-08-11T14:49:54.852Z,1754923794.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752615
2025-08-11T14:49:54.897Z,1754923794.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.30 m.
2025-08-11T14:49:54.900Z,1754923794.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.299988 m,
      nav range: 269.273010 m,
      bearing: 173.035768 deg,
      approach rate: -0.561941 m/s,
      LOS rate: -0.012311 deg/s,
      cmd heading: 168.819696 deg,
      new cmd heading: 168.805896 deg.

2025-08-11T14:49:55.104Z,1754923795.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004809
2025-08-11T14:49:55.314Z,1754923795.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.30 m.
2025-08-11T14:49:55.317Z,1754923795.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.299988 m,
      nav range: 269.045105 m,
      bearing: 173.033747 deg,
      approach rate: -0.546211 m/s,
      LOS rate: -0.004849 deg/s,
      cmd heading: 168.805899 deg,
      new cmd heading: 168.799829 deg.

2025-08-11T14:49:55.356Z,1754923795.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256737
2025-08-11T14:49:55.608Z,1754923795.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508718
2025-08-11T14:49:55.693Z,1754923795.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:55.696Z,1754923795.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.30 m.
2025-08-11T14:49:55.698Z,1754923795.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.299988 m,
      nav range: 268.836639 m,
      bearing: 173.031972 deg,
      approach rate: -0.546928 m/s,
      LOS rate: -0.004660 deg/s,
      cmd heading: 168.799833 deg,
      new cmd heading: 168.794505 deg.

2025-08-11T14:49:55.864Z,1754923795.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763848
2025-08-11T14:49:56.116Z,1754923796.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016297
2025-08-11T14:49:56.178Z,1754923796.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.30 m.
2025-08-11T14:49:56.181Z,1754923796.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.299988 m,
      nav range: 268.591919 m,
      bearing: 173.032011 deg,
      approach rate: -0.507147 m/s,
      LOS rate: 0.000081 deg/s,
      cmd heading: 168.794506 deg,
      new cmd heading: 168.794623 deg.

2025-08-11T14:49:56.364Z,1754923796.364 [DAT](INFO): DAT read: Rx Time:14:49:57.1357

2025-08-11T14:49:56.365Z,1754923796.365 [DAT](INFO): Rx dataTimestamp_ set to:1754923796.364388
2025-08-11T14:49:56.365Z,1754923796.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265708
2025-08-11T14:49:56.533Z,1754923796.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.30 m.
2025-08-11T14:49:56.541Z,1754923796.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.299988 m,
      nav range: 268.424011 m,
      bearing: 173.032056 deg,
      approach rate: -0.473093 m/s,
      LOS rate: 0.000129 deg/s,
      cmd heading: 168.794629 deg,
      new cmd heading: 168.794766 deg.

2025-08-11T14:49:56.616Z,1754923796.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516641
2025-08-11T14:49:56.891Z,1754923796.891 [DAT](INFO): DAT read: 14:49:57.1357 LVL= 32464, 32753, 32754, 32755, AGC= 73, IDX= 421,-0.33, 1.799,-0.025, 1.857, 1.498, PHS= 0.402,-1.478, 0.315, RAW= 147.6,   8.3, CAL= 147.2,   9.0, ROT=   2.8,  -9.0

2025-08-11T14:49:56.892Z,1754923796.892 [DAT](INFO): got valid direction response:
 14:49:57.1357 LVL= 32464, 32753, 32754, 32755, AGC= 73, IDX= 421,-0.33, 1.799,-0.025, 1.857, 1.498, PHS= 0.402,-1.478, 0.315, RAW= 147.6,   8.3, CAL= 147.2,   9.0, ROT=   2.8,  -9.0

2025-08-11T14:49:56.893Z,1754923796.893 [DAT](INFO): DAT read: Bearing 327.2,   2.4 (Local)

2025-08-11T14:49:56.894Z,1754923796.894 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.2,   2.4 (Local)

2025-08-11T14:49:56.895Z,1754923796.895 [DAT](INFO): DAT read: Range 11 to 50 : 271.3 m  (Round-trip  361.8 ms) speed  0.4 m/s

2025-08-11T14:49:56.896Z,1754923796.896 [DAT](INFO): DAT read: user:140>

2025-08-11T14:49:56.897Z,1754923796.897 [DAT](INFO): DAT read: Tx time:14:49:58.2198

2025-08-11T14:49:56.897Z,1754923796.897 [DAT](INFO): Ping request sent.
2025-08-11T14:49:56.897Z,1754923796.897 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:49:56.897Z,1754923796.897 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:49:56.898Z,1754923796.898 [DAT](INFO): direction in FSK: [0.986509,0.048248,0.156434]
2025-08-11T14:49:56.899Z,1754923796.899 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:56.899Z,1754923796.899 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:56.903Z,1754923796.903 [DAT](INFO): publishing transmit ping time
2025-08-11T14:49:56.903Z,1754923796.903 [DAT](INFO): publishing direction and range info
2025-08-11T14:49:57.226Z,1754923797.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 271.299988 m,
      deltaT: 3.780026 s,
      deltaX: -2.000000 m,
      approachRate: -0.529097 m/s,
      rangeRepo size: 4

2025-08-11T14:49:57.237Z,1754923797.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 271.299988 m,
      bearing: 172.895468 deg,
      lat: 36.905862 deg,
      lon: -122.116043 deg,
      deltaT: 3.780026 s,
      deltaX: -2.000000 m,
      approachRate: -0.529097 m/s,
      posRepo size: 4

2025-08-11T14:49:57.237Z,1754923797.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.30 m.
2025-08-11T14:49:57.244Z,1754923797.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.299988 m,
      nav range: 268.019226 m,
      bearing: 172.895468 deg,
      approach rate: -749860487692288.000000 m/s,
      LOS rate: 0.000129 deg/s,
      cmd heading: 168.794765 deg,
      new cmd heading: 168.795033 deg.

2025-08-11T14:49:57.612Z,1754923797.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.30 m.
2025-08-11T14:49:57.619Z,1754923797.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.299988 m,
      nav range: 267.827637 m,
      bearing: 172.896883 deg,
      approach rate: -0.495188 m/s,
      LOS rate: 0.003660 deg/s,
      cmd heading: 168.795039 deg,
      new cmd heading: 168.799287 deg.

2025-08-11T14:49:58.037Z,1754923798.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:49:58.039Z,1754923798.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.30 m.
2025-08-11T14:49:58.050Z,1754923798.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.299988 m,
      nav range: 267.613190 m,
      bearing: 172.898414 deg,
      approach rate: -0.503131 m/s,
      LOS rate: 0.003596 deg/s,
      cmd heading: 168.799287 deg,
      new cmd heading: 168.803885 deg.

2025-08-11T14:49:58.132Z,1754923798.132 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:49:58.132Z,1754923798.132 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:49:58.133Z,1754923798.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:49:58.380Z,1754923798.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483098
2025-08-11T14:49:58.445Z,1754923798.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.30 m.
2025-08-11T14:49:58.448Z,1754923798.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.299988 m,
      nav range: 267.396576 m,
      bearing: 172.901452 deg,
      approach rate: -0.532563 m/s,
      LOS rate: 0.007474 deg/s,
      cmd heading: 168.803891 deg,
      new cmd heading: 168.813010 deg.

2025-08-11T14:49:58.635Z,1754923798.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737846
2025-08-11T14:49:58.812Z,1754923798.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.30 m.
2025-08-11T14:49:58.815Z,1754923798.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.299988 m,
      nav range: 267.216339 m,
      bearing: 172.903915 deg,
      approach rate: -0.491181 m/s,
      LOS rate: 0.006716 deg/s,
      cmd heading: 168.813016 deg,
      new cmd heading: 168.820409 deg.

2025-08-11T14:49:58.885Z,1754923798.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987687
2025-08-11T14:49:59.138Z,1754923799.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241109
2025-08-11T14:49:59.222Z,1754923799.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.30 m.
2025-08-11T14:49:59.229Z,1754923799.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.299988 m,
      nav range: 267.009918 m,
      bearing: 172.905937 deg,
      approach rate: -0.503628 m/s,
      LOS rate: 0.004937 deg/s,
      cmd heading: 168.820406 deg,
      new cmd heading: 168.826477 deg.

2025-08-11T14:49:59.388Z,1754923799.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491097
2025-08-11T14:49:59.596Z,1754923799.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.30 m.
2025-08-11T14:49:59.599Z,1754923799.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.299988 m,
      nav range: 266.821350 m,
      bearing: 172.907769 deg,
      approach rate: -0.504248 m/s,
      LOS rate: 0.004902 deg/s,
      cmd heading: 168.826471 deg,
      new cmd heading: 168.831970 deg.

2025-08-11T14:49:59.642Z,1754923799.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744500
2025-08-11T14:49:59.892Z,1754923799.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995287
2025-08-11T14:50:00.037Z,1754923800.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:00.039Z,1754923800.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.30 m.
2025-08-11T14:50:00.042Z,1754923800.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.299988 m,
      nav range: 266.604095 m,
      bearing: 172.909847 deg,
      approach rate: -0.490510 m/s,
      LOS rate: 0.004696 deg/s,
      cmd heading: 168.831976 deg,
      new cmd heading: 168.838216 deg.

2025-08-11T14:50:00.147Z,1754923800.147 [DAT](INFO): DAT read: Rx Time:14:50:00.9829

2025-08-11T14:50:00.148Z,1754923800.148 [DAT](INFO): Rx dataTimestamp_ set to:1754923800.147597
2025-08-11T14:50:00.151Z,1754923800.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252938
2025-08-11T14:50:00.396Z,1754923800.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499160
2025-08-11T14:50:00.572Z,1754923800.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.30 m.
2025-08-11T14:50:00.576Z,1754923800.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.299988 m,
      nav range: 266.318665 m,
      bearing: 172.911367 deg,
      approach rate: -0.535393 m/s,
      LOS rate: 0.002855 deg/s,
      cmd heading: 168.838219 deg,
      new cmd heading: 168.842786 deg.

2025-08-11T14:50:00.674Z,1754923800.674 [DAT](INFO): DAT read: 14:50:00.9829 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.31,-2.744, 1.787,-2.665,-3.025, PHS= 0.383,-1.426, 0.316, RAW= 148.1,   8.2, CAL= 147.7,   8.9, ROT=   2.3,  -8.9

2025-08-11T14:50:00.675Z,1754923800.675 [DAT](INFO): got valid direction response:
 14:50:00.9829 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.31,-2.744, 1.787,-2.665,-3.025, PHS= 0.383,-1.426, 0.316, RAW= 148.1,   8.2, CAL= 147.7,   8.9, ROT=   2.3,  -8.9

2025-08-11T14:50:00.676Z,1754923800.676 [DAT](INFO): DAT read: Bearing 327.2,   2.4 (Local)

2025-08-11T14:50:00.676Z,1754923800.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.2,   2.4 (Local)

2025-08-11T14:50:00.677Z,1754923800.677 [DAT](INFO): DAT read: Range 11 to 50 : 269.1 m  (Round-trip  358.9 ms) speed  0.4 m/s

2025-08-11T14:50:00.678Z,1754923800.678 [DAT](INFO): DAT read: user:141>

2025-08-11T14:50:00.679Z,1754923800.679 [DAT](INFO): DAT read: Tx time:14:50:02.0698

2025-08-11T14:50:00.680Z,1754923800.680 [DAT](INFO): Ping request sent.
2025-08-11T14:50:00.680Z,1754923800.680 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:00.681Z,1754923800.681 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:50:00.682Z,1754923800.682 [DAT](INFO): direction in FSK: [0.987164,0.039649,0.154710]
2025-08-11T14:50:00.682Z,1754923800.682 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:00.682Z,1754923800.682 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:00.705Z,1754923800.705 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:00.706Z,1754923800.706 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:01.096Z,1754923801.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 269.100006 m,
      deltaT: 3.781618 s,
      deltaX: -2.199982 m,
      approachRate: -0.581757 m/s,
      rangeRepo size: 4

2025-08-11T14:50:01.098Z,1754923801.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 269.100006 m,
      bearing: 172.911037 deg,
      lat: 36.905863 deg,
      lon: -122.116043 deg,
      deltaT: 3.781618 s,
      deltaX: -2.199982 m,
      approachRate: -0.581757 m/s,
      posRepo size: 4

2025-08-11T14:50:01.098Z,1754923801.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m.
2025-08-11T14:50:01.101Z,1754923801.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.100006 m,
      nav range: 265.982391 m,
      bearing: 172.911037 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002855 deg/s,
      cmd heading: 168.842782 deg,
      new cmd heading: 168.847253 deg.

2025-08-11T14:50:01.622Z,1754923801.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m.
2025-08-11T14:50:01.629Z,1754923801.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.100006 m,
      nav range: 265.710449 m,
      bearing: 172.912450 deg,
      approach rate: -0.515405 m/s,
      LOS rate: 0.002682 deg/s,
      cmd heading: 168.847249 deg,
      new cmd heading: 168.851494 deg.

2025-08-11T14:50:02.037Z,1754923802.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m.
2025-08-11T14:50:02.040Z,1754923802.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.100006 m,
      nav range: 265.486938 m,
      bearing: 172.913662 deg,
      approach rate: -0.538134 m/s,
      LOS rate: 0.002920 deg/s,
      cmd heading: 168.851497 deg,
      new cmd heading: 168.855136 deg.

2025-08-11T14:50:02.450Z,1754923802.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:02.452Z,1754923802.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m.
2025-08-11T14:50:02.455Z,1754923802.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.100006 m,
      nav range: 265.269989 m,
      bearing: 172.914887 deg,
      approach rate: -0.522835 m/s,
      LOS rate: 0.002955 deg/s,
      cmd heading: 168.855131 deg,
      new cmd heading: 168.858809 deg.

2025-08-11T14:50:02.665Z,1754923802.665 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:02.665Z,1754923802.665 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:02.666Z,1754923802.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:02.822Z,1754923802.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m.
2025-08-11T14:50:02.826Z,1754923802.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.100006 m,
      nav range: 265.075531 m,
      bearing: 172.916054 deg,
      approach rate: -0.525342 m/s,
      LOS rate: 0.003155 deg/s,
      cmd heading: 168.858805 deg,
      new cmd heading: 168.862309 deg.

2025-08-11T14:50:02.917Z,1754923802.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236137
2025-08-11T14:50:03.171Z,1754923803.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489732
2025-08-11T14:50:03.296Z,1754923803.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m.
2025-08-11T14:50:03.303Z,1754923803.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.100006 m,
      nav range: 264.811127 m,
      bearing: 172.910771 deg,
      approach rate: -0.557816 m/s,
      LOS rate: -0.011157 deg/s,
      cmd heading: 168.862302 deg,
      new cmd heading: 168.846438 deg.

2025-08-11T14:50:03.420Z,1754923803.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739687
2025-08-11T14:50:03.672Z,1754923803.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991782
2025-08-11T14:50:03.680Z,1754923803.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m.
2025-08-11T14:50:03.683Z,1754923803.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.100006 m,
      nav range: 264.580872 m,
      bearing: 172.906162 deg,
      approach rate: -0.599924 m/s,
      LOS rate: -0.012019 deg/s,
      cmd heading: 168.846443 deg,
      new cmd heading: 168.832603 deg.

2025-08-11T14:50:03.924Z,1754923803.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243796
2025-08-11T14:50:04.049Z,1754923804.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m.
2025-08-11T14:50:04.052Z,1754923804.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.100006 m,
      nav range: 264.351776 m,
      bearing: 172.901664 deg,
      approach rate: -0.621304 m/s,
      LOS rate: -0.012210 deg/s,
      cmd heading: 168.832605 deg,
      new cmd heading: 168.819098 deg.

2025-08-11T14:50:04.176Z,1754923804.176 [DAT](INFO): DAT read: Rx Time:14:50:04.8297

2025-08-11T14:50:04.177Z,1754923804.177 [DAT](INFO): Rx dataTimestamp_ set to:1754923804.176510
2025-08-11T14:50:04.177Z,1754923804.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496909
2025-08-11T14:50:04.428Z,1754923804.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747674
2025-08-11T14:50:04.546Z,1754923804.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:04.553Z,1754923804.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.10 m.
2025-08-11T14:50:04.560Z,1754923804.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.100006 m,
      nav range: 264.042267 m,
      bearing: 172.895548 deg,
      approach rate: -0.614331 m/s,
      LOS rate: -0.012152 deg/s,
      cmd heading: 168.819095 deg,
      new cmd heading: 168.800727 deg.

2025-08-11T14:50:04.688Z,1754923804.688 [DAT](INFO): DAT read: 14:50:04.8297 LVL= 21072, 25841, 26018, 32755, AGC= 73, IDX= 408,-0.11,-2.565, 1.839,-2.548,-2.901, PHS= 0.438,-1.498, 0.310, RAW= 146.6,   8.1, CAL= 146.1,   8.7, ROT=   3.9,  -8.7

2025-08-11T14:50:04.690Z,1754923804.690 [DAT](INFO): got valid direction response:
 14:50:04.8297 LVL= 21072, 25841, 26018, 32755, AGC= 73, IDX= 408,-0.11,-2.565, 1.839,-2.548,-2.901, PHS= 0.438,-1.498, 0.310, RAW= 146.6,   8.1, CAL= 146.1,   8.7, ROT=   3.9,  -8.7

2025-08-11T14:50:04.690Z,1754923804.690 [DAT](INFO): DAT read: Bearing 326.6,   2.7 (Local)

2025-08-11T14:50:04.691Z,1754923804.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.6,   2.7 (Local)

2025-08-11T14:50:04.697Z,1754923804.697 [DAT](INFO): DAT read: Range 11 to 50 : 266.8 m  (Round-trip  355.8 ms) speed  0.4 m/s

2025-08-11T14:50:04.698Z,1754923804.698 [DAT](INFO): DAT read: user:142>

2025-08-11T14:50:04.699Z,1754923804.699 [DAT](INFO): DAT read: Tx time:14:50:05.9198

2025-08-11T14:50:04.699Z,1754923804.699 [DAT](INFO): Ping request sent.
2025-08-11T14:50:04.699Z,1754923804.699 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:04.700Z,1754923804.700 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:50:04.701Z,1754923804.701 [DAT](INFO): direction in FSK: [0.986205,0.067233,0.151261]
2025-08-11T14:50:04.701Z,1754923804.701 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:04.701Z,1754923804.701 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:04.709Z,1754923804.709 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:04.709Z,1754923804.709 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:04.947Z,1754923804.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 266.799988 m,
      deltaT: 4.030603 s,
      deltaX: -2.300018 m,
      approachRate: -0.570639 m/s,
      rangeRepo size: 4

2025-08-11T14:50:04.973Z,1754923804.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 266.799988 m,
      bearing: 172.877749 deg,
      lat: 36.905863 deg,
      lon: -122.116042 deg,
      deltaT: 4.030603 s,
      deltaX: -2.300018 m,
      approachRate: -0.570639 m/s,
      posRepo size: 4

2025-08-11T14:50:04.974Z,1754923804.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m.
2025-08-11T14:50:04.980Z,1754923804.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.799988 m,
      nav range: 263.801392 m,
      bearing: 172.877749 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012152 deg/s,
      cmd heading: 168.800721 deg,
      new cmd heading: 168.786383 deg.

2025-08-11T14:50:05.373Z,1754923805.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m.
2025-08-11T14:50:05.376Z,1754923805.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.799988 m,
      nav range: 263.527649 m,
      bearing: 172.871923 deg,
      approach rate: -0.640347 m/s,
      LOS rate: -0.013643 deg/s,
      cmd heading: 168.786378 deg,
      new cmd heading: 168.768882 deg.

2025-08-11T14:50:05.834Z,1754923805.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m.
2025-08-11T14:50:05.837Z,1754923805.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.799988 m,
      nav range: 263.216553 m,
      bearing: 172.865287 deg,
      approach rate: -0.675921 m/s,
      LOS rate: -0.014435 deg/s,
      cmd heading: 168.768879 deg,
      new cmd heading: 168.748947 deg.

2025-08-11T14:50:06.285Z,1754923806.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m.
2025-08-11T14:50:06.292Z,1754923806.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.799988 m,
      nav range: 262.952789 m,
      bearing: 172.859674 deg,
      approach rate: -0.584498 m/s,
      LOS rate: -0.012450 deg/s,
      cmd heading: 168.748949 deg,
      new cmd heading: 168.732094 deg.

2025-08-11T14:50:06.746Z,1754923806.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:06.749Z,1754923806.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m.
2025-08-11T14:50:06.752Z,1754923806.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.799988 m,
      nav range: 262.615509 m,
      bearing: 172.850507 deg,
      approach rate: -0.726492 m/s,
      LOS rate: -0.019772 deg/s,
      cmd heading: 168.732092 deg,
      new cmd heading: 168.704554 deg.

2025-08-11T14:50:06.949Z,1754923806.949 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:06.949Z,1754923806.949 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:06.949Z,1754923806.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:07.079Z,1754923807.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m.
2025-08-11T14:50:07.082Z,1754923807.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.799988 m,
      nav range: 262.399261 m,
      bearing: 172.844575 deg,
      approach rate: -0.655610 m/s,
      LOS rate: -0.017998 deg/s,
      cmd heading: 168.704552 deg,
      new cmd heading: 168.686743 deg.

2025-08-11T14:50:07.202Z,1754923807.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502659
2025-08-11T14:50:07.453Z,1754923807.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753531
2025-08-11T14:50:07.550Z,1754923807.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m.
2025-08-11T14:50:07.557Z,1754923807.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.799988 m,
      nav range: 262.088318 m,
      bearing: 172.837440 deg,
      approach rate: -0.660002 m/s,
      LOS rate: -0.015163 deg/s,
      cmd heading: 168.686739 deg,
      new cmd heading: 168.665308 deg.

2025-08-11T14:50:07.704Z,1754923807.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005105
2025-08-11T14:50:07.918Z,1754923807.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m.
2025-08-11T14:50:07.931Z,1754923807.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.799988 m,
      nav range: 261.850494 m,
      bearing: 172.831890 deg,
      approach rate: -0.646910 m/s,
      LOS rate: -0.015110 deg/s,
      cmd heading: 168.665306 deg,
      new cmd heading: 168.648641 deg.

2025-08-11T14:50:07.956Z,1754923807.956 [DAT](INFO): DAT read: Rx Time:14:50:08.6766

2025-08-11T14:50:07.957Z,1754923807.957 [DAT](INFO): Rx dataTimestamp_ set to:1754923807.956456
2025-08-11T14:50:07.957Z,1754923807.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258253
2025-08-11T14:50:08.208Z,1754923808.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509009
2025-08-11T14:50:08.421Z,1754923808.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.80 m.
2025-08-11T14:50:08.428Z,1754923808.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.799988 m,
      nav range: 261.521362 m,
      bearing: 172.824270 deg,
      approach rate: -0.653955 m/s,
      LOS rate: -0.015160 deg/s,
      cmd heading: 168.648640 deg,
      new cmd heading: 168.625750 deg.

2025-08-11T14:50:08.466Z,1754923808.466 [DAT](INFO): DAT read: 14:50:08.6766 LVL= 27376, 32529, 30834, 32755, AGC= 75, IDX= 408, 0.03, 0.750,-1.067, 0.799, 0.405, PHS= 0.446,-1.427, 0.350, RAW= 147.4,   7.0, CAL= 146.9,   7.5, ROT=   3.1,  -7.5

2025-08-11T14:50:08.467Z,1754923808.467 [DAT](INFO): got valid direction response:
 14:50:08.6766 LVL= 27376, 32529, 30834, 32755, AGC= 75, IDX= 408, 0.03, 0.750,-1.067, 0.799, 0.405, PHS= 0.446,-1.427, 0.350, RAW= 147.4,   7.0, CAL= 146.9,   7.5, ROT=   3.1,  -7.5

2025-08-11T14:50:08.468Z,1754923808.468 [DAT](INFO): DAT read: Bearing 325.2,   1.8 (Local)

2025-08-11T14:50:08.468Z,1754923808.468 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.2,   1.8 (Local)

2025-08-11T14:50:08.470Z,1754923808.470 [DAT](INFO): DAT read: Range 11 to 50 : 264.5 m  (Round-trip  352.7 ms) speed  0.4 m/s

2025-08-11T14:50:08.471Z,1754923808.471 [DAT](INFO): DAT read: user:143>

2025-08-11T14:50:08.471Z,1754923808.471 [DAT](INFO): DAT read: Tx time:14:50:09.7698

2025-08-11T14:50:08.472Z,1754923808.472 [DAT](INFO): Ping request sent.
2025-08-11T14:50:08.472Z,1754923808.472 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:08.472Z,1754923808.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:50:08.473Z,1754923808.473 [DAT](INFO): direction in FSK: [0.989994,0.053616,0.130526]
2025-08-11T14:50:08.473Z,1754923808.473 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:08.474Z,1754923808.474 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:08.485Z,1754923808.485 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:08.485Z,1754923808.485 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:08.834Z,1754923808.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 264.500000 m,
      deltaT: 3.779969 s,
      deltaX: -2.299988 m,
      approachRate: -0.608467 m/s,
      rangeRepo size: 4

2025-08-11T14:50:08.841Z,1754923808.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 264.500000 m,
      bearing: 172.056727 deg,
      lat: 36.905863 deg,
      lon: -122.116003 deg,
      deltaT: 3.779969 s,
      deltaX: -2.299988 m,
      approachRate: -0.608467 m/s,
      posRepo size: 4

2025-08-11T14:50:08.841Z,1754923808.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.50 m.
2025-08-11T14:50:08.848Z,1754923808.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.500000 m,
      nav range: 261.711487 m,
      bearing: 172.056727 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015160 deg/s,
      cmd heading: 168.625746 deg,
      new cmd heading: 168.606981 deg.

2025-08-11T14:50:09.222Z,1754923809.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:09.224Z,1754923809.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.50 m.
2025-08-11T14:50:09.227Z,1754923809.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.500000 m,
      nav range: 261.443878 m,
      bearing: 172.049667 deg,
      approach rate: -0.685336 m/s,
      LOS rate: -0.018100 deg/s,
      cmd heading: 168.606976 deg,
      new cmd heading: 168.585773 deg.

2025-08-11T14:50:09.468Z,1754923809.468 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:09.468Z,1754923809.468 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:09.468Z,1754923809.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:09.648Z,1754923809.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.50 m.
2025-08-11T14:50:09.651Z,1754923809.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.500000 m,
      nav range: 261.181976 m,
      bearing: 172.042736 deg,
      approach rate: -0.617502 m/s,
      LOS rate: -0.016356 deg/s,
      cmd heading: 168.585775 deg,
      new cmd heading: 168.564964 deg.

2025-08-11T14:50:09.721Z,1754923809.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249438
2025-08-11T14:50:09.972Z,1754923809.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500302
2025-08-11T14:50:10.041Z,1754923810.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.50 m.
2025-08-11T14:50:10.044Z,1754923810.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.500000 m,
      nav range: 260.940796 m,
      bearing: 172.036308 deg,
      approach rate: -0.614505 m/s,
      LOS rate: -0.016393 deg/s,
      cmd heading: 168.564971 deg,
      new cmd heading: 168.545669 deg.

2025-08-11T14:50:10.224Z,1754923810.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752143
2025-08-11T14:50:10.460Z,1754923810.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.50 m.
2025-08-11T14:50:10.462Z,1754923810.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.500000 m,
      nav range: 260.693024 m,
      bearing: 172.031917 deg,
      approach rate: -0.591283 m/s,
      LOS rate: -0.010490 deg/s,
      cmd heading: 168.545668 deg,
      new cmd heading: 168.532482 deg.

2025-08-11T14:50:10.478Z,1754923810.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005721
2025-08-11T14:50:10.728Z,1754923810.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256234
2025-08-11T14:50:10.840Z,1754923810.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.50 m.
2025-08-11T14:50:10.843Z,1754923810.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.500000 m,
      nav range: 260.468506 m,
      bearing: 172.027901 deg,
      approach rate: -0.590735 m/s,
      LOS rate: -0.010576 deg/s,
      cmd heading: 168.532486 deg,
      new cmd heading: 168.520427 deg.

2025-08-11T14:50:10.982Z,1754923810.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509635
2025-08-11T14:50:11.232Z,1754923811.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760455
2025-08-11T14:50:11.235Z,1754923811.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:11.237Z,1754923811.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.50 m.
2025-08-11T14:50:11.240Z,1754923811.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.500000 m,
      nav range: 260.234406 m,
      bearing: 172.023668 deg,
      approach rate: -0.588742 m/s,
      LOS rate: -0.010654 deg/s,
      cmd heading: 168.520424 deg,
      new cmd heading: 168.507716 deg.

2025-08-11T14:50:11.485Z,1754923811.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012928
2025-08-11T14:50:11.672Z,1754923811.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.50 m.
2025-08-11T14:50:11.723Z,1754923811.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.500000 m,
      nav range: 259.997833 m,
      bearing: 172.019639 deg,
      approach rate: -0.545423 m/s,
      LOS rate: -0.009299 deg/s,
      cmd heading: 168.507720 deg,
      new cmd heading: 168.495620 deg.

2025-08-11T14:50:11.736Z,1754923811.736 [DAT](INFO): DAT read: Rx Time:14:50:12.5237

2025-08-11T14:50:11.737Z,1754923811.737 [DAT](INFO): Rx dataTimestamp_ set to:1754923811.736384
2025-08-11T14:50:11.737Z,1754923811.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265346
2025-08-11T14:50:11.990Z,1754923811.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517907
2025-08-11T14:50:12.136Z,1754923812.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.50 m.
2025-08-11T14:50:12.148Z,1754923812.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.500000 m,
      nav range: 259.745972 m,
      bearing: 172.015340 deg,
      approach rate: -0.542868 m/s,
      LOS rate: -0.009274 deg/s,
      cmd heading: 168.495617 deg,
      new cmd heading: 168.482709 deg.

2025-08-11T14:50:12.246Z,1754923812.246 [DAT](INFO): DAT read: 14:50:12.5237 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.20, 0.007,-1.726,-0.018,-0.329, PHS= 0.438,-1.352, 0.268, RAW= 145.0,   7.6, CAL= 144.6,   8.3, ROT=   5.4,  -8.3

2025-08-11T14:50:12.247Z,1754923812.247 [DAT](INFO): got valid direction response:
 14:50:12.5237 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.20, 0.007,-1.726,-0.018,-0.329, PHS= 0.438,-1.352, 0.268, RAW= 145.0,   7.6, CAL= 144.6,   8.3, ROT=   5.4,  -8.3

2025-08-11T14:50:12.248Z,1754923812.248 [DAT](INFO): DAT read: Bearing 326.6,   5.2 (Local)

2025-08-11T14:50:12.248Z,1754923812.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.6,   5.2 (Local)

2025-08-11T14:50:12.250Z,1754923812.250 [DAT](INFO): DAT read: Range 11 to 50 : 262.3 m  (Round-trip  349.8 ms) speed  0.5 m/s

2025-08-11T14:50:12.251Z,1754923812.251 [DAT](INFO): DAT read: user:144>

2025-08-11T14:50:12.252Z,1754923812.252 [DAT](INFO): DAT read: Tx time:14:50:13.6198

2025-08-11T14:50:12.252Z,1754923812.252 [DAT](INFO): Ping request sent.
2025-08-11T14:50:12.252Z,1754923812.252 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:12.253Z,1754923812.253 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:50:12.254Z,1754923812.254 [DAT](INFO): direction in FSK: [0.985134,0.093123,0.144356]
2025-08-11T14:50:12.254Z,1754923812.254 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:12.254Z,1754923812.254 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:12.257Z,1754923812.257 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:12.258Z,1754923812.258 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:12.696Z,1754923812.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.299988 m,
      deltaT: 3.779923 s,
      deltaX: -2.200012 m,
      approachRate: -0.582026 m/s,
      rangeRepo size: 4

2025-08-11T14:50:12.698Z,1754923812.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 262.299988 m,
      bearing: 172.036927 deg,
      lat: 36.905856 deg,
      lon: -122.116003 deg,
      deltaT: 3.779923 s,
      deltaX: -2.200012 m,
      approachRate: -0.582026 m/s,
      posRepo size: 4

2025-08-11T14:50:12.703Z,1754923812.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:12.706Z,1754923812.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 260.246521 m,
      bearing: 172.036927 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009274 deg/s,
      cmd heading: 168.482708 deg,
      new cmd heading: 168.467236 deg.

2025-08-11T14:50:13.077Z,1754923813.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:13.084Z,1754923813.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 260.038147 m,
      bearing: 172.034962 deg,
      approach rate: -0.541458 m/s,
      LOS rate: -0.005111 deg/s,
      cmd heading: 168.467231 deg,
      new cmd heading: 168.461330 deg.

2025-08-11T14:50:13.588Z,1754923813.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:13.590Z,1754923813.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:13.593Z,1754923813.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 259.788422 m,
      bearing: 172.034180 deg,
      approach rate: -0.485847 m/s,
      LOS rate: -0.001523 deg/s,
      cmd heading: 168.461329 deg,
      new cmd heading: 168.458981 deg.

2025-08-11T14:50:13.752Z,1754923813.752 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:13.752Z,1754923813.752 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:13.752Z,1754923813.752 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:13.927Z,1754923813.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:13.950Z,1754923813.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 259.606506 m,
      bearing: 172.033583 deg,
      approach rate: -0.540554 m/s,
      LOS rate: -0.001775 deg/s,
      cmd heading: 168.458980 deg,
      new cmd heading: 168.457188 deg.

2025-08-11T14:50:14.004Z,1754923814.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751801
2025-08-11T14:50:14.257Z,1754923814.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004063
2025-08-11T14:50:14.342Z,1754923814.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:14.372Z,1754923814.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 259.400909 m,
      bearing: 172.032850 deg,
      approach rate: -0.496467 m/s,
      LOS rate: -0.001771 deg/s,
      cmd heading: 168.457190 deg,
      new cmd heading: 168.454990 deg.

2025-08-11T14:50:14.508Z,1754923814.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255636
2025-08-11T14:50:14.758Z,1754923814.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:14.760Z,1754923814.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507710
2025-08-11T14:50:14.762Z,1754923814.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 259.185944 m,
      bearing: 172.033039 deg,
      approach rate: -0.515331 m/s,
      LOS rate: 0.000452 deg/s,
      cmd heading: 168.454991 deg,
      new cmd heading: 168.455557 deg.

2025-08-11T14:50:15.012Z,1754923815.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759473
2025-08-11T14:50:15.140Z,1754923815.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:15.143Z,1754923815.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 258.995605 m,
      bearing: 172.033148 deg,
      approach rate: -0.497577 m/s,
      LOS rate: 0.000286 deg/s,
      cmd heading: 168.455551 deg,
      new cmd heading: 168.455880 deg.

2025-08-11T14:50:15.264Z,1754923815.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011702
2025-08-11T14:50:15.519Z,1754923815.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266140
2025-08-11T14:50:15.614Z,1754923815.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:15.616Z,1754923815.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:15.619Z,1754923815.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 258.741943 m,
      bearing: 172.032371 deg,
      approach rate: -0.533363 m/s,
      LOS rate: -0.001636 deg/s,
      cmd heading: 168.455879 deg,
      new cmd heading: 168.453545 deg.

2025-08-11T14:50:15.774Z,1754923815.774 [DAT](INFO): DAT read: 14:50:16.3708 LVL= 30880, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.02,-1.459, 3.023,-1.405,-1.791, PHS= 0.434,-1.424, 0.342, RAW= 147.5,   7.2, CAL= 147.0,   7.8, ROT=   3.0,  -7.8

2025-08-11T14:50:15.775Z,1754923815.775 [DAT](INFO): got valid direction response:
 14:50:16.3708 LVL= 30880, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.02,-1.459, 3.023,-1.405,-1.791, PHS= 0.434,-1.424, 0.342, RAW= 147.5,   7.2, CAL= 147.0,   7.8, ROT=   3.0,  -7.8

2025-08-11T14:50:15.776Z,1754923815.776 [DAT](INFO): DAT read: Rx Time:14:50:16.3708

2025-08-11T14:50:15.776Z,1754923815.776 [DAT](INFO): Rx dataTimestamp_ set to:1754923815.775820
2025-08-11T14:50:15.777Z,1754923815.777 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-11T14:50:15.777Z,1754923815.777 [DAT](INFO): Received low SNR in chirp
2025-08-11T14:50:15.791Z,1754923815.791 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:50:15.792Z,1754923815.792 [DAT](INFO): direction in FSK: [0.989390,0.051852,0.135716]
2025-08-11T14:50:15.796Z,1754923815.796 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:15.797Z,1754923815.797 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:15.797Z,1754923815.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:15.965Z,1754923815.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:15.971Z,1754923815.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 258.556488 m,
      bearing: 172.031772 deg,
      approach rate: -0.532465 m/s,
      LOS rate: -0.001722 deg/s,
      cmd heading: 168.453543 deg,
      new cmd heading: 168.451743 deg.

2025-08-11T14:50:16.020Z,1754923816.020 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:16.020Z,1754923816.020 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:16.020Z,1754923816.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:16.272Z,1754923816.272 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:16.272Z,1754923816.272 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:16.272Z,1754923816.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:16.359Z,1754923816.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:16.362Z,1754923816.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 258.346832 m,
      bearing: 172.031078 deg,
      approach rate: -0.531114 m/s,
      LOS rate: -0.001758 deg/s,
      cmd heading: 168.451740 deg,
      new cmd heading: 168.449658 deg.

2025-08-11T14:50:16.524Z,1754923816.524 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:16.524Z,1754923816.524 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:16.524Z,1754923816.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:16.776Z,1754923816.776 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:16.776Z,1754923816.776 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:16.776Z,1754923816.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:16.799Z,1754923816.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:16.802Z,1754923816.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 258.108612 m,
      bearing: 172.028654 deg,
      approach rate: -0.541556 m/s,
      LOS rate: -0.005517 deg/s,
      cmd heading: 168.449663 deg,
      new cmd heading: 168.442383 deg.

2025-08-11T14:50:17.028Z,1754923817.028 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:17.028Z,1754923817.028 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:17.029Z,1754923817.029 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:17.166Z,1754923817.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:17.169Z,1754923817.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 257.911926 m,
      bearing: 172.026662 deg,
      approach rate: -0.535548 m/s,
      LOS rate: -0.005428 deg/s,
      cmd heading: 168.442382 deg,
      new cmd heading: 168.436402 deg.

2025-08-11T14:50:17.280Z,1754923817.280 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:17.280Z,1754923817.280 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:17.280Z,1754923817.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:17.532Z,1754923817.532 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:17.532Z,1754923817.532 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:17.532Z,1754923817.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:17.621Z,1754923817.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:17.628Z,1754923817.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:17.630Z,1754923817.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 257.652527 m,
      bearing: 172.022359 deg,
      approach rate: -0.567343 m/s,
      LOS rate: -0.009419 deg/s,
      cmd heading: 168.436399 deg,
      new cmd heading: 168.423480 deg.

2025-08-11T14:50:17.784Z,1754923817.784 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:17.784Z,1754923817.784 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:17.784Z,1754923817.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:17.991Z,1754923817.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:17.995Z,1754923817.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 257.440063 m,
      bearing: 172.018870 deg,
      approach rate: -0.578262 m/s,
      LOS rate: -0.009505 deg/s,
      cmd heading: 168.423476 deg,
      new cmd heading: 168.413000 deg.

2025-08-11T14:50:18.036Z,1754923818.036 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:18.037Z,1754923818.037 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:18.037Z,1754923818.037 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:18.288Z,1754923818.288 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:18.288Z,1754923818.288 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:18.288Z,1754923818.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:18.423Z,1754923818.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:18.434Z,1754923818.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 257.198761 m,
      bearing: 172.014900 deg,
      approach rate: -0.561058 m/s,
      LOS rate: -0.009239 deg/s,
      cmd heading: 168.412999 deg,
      new cmd heading: 168.401079 deg.

2025-08-11T14:50:18.541Z,1754923818.541 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:18.541Z,1754923818.541 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:18.541Z,1754923818.541 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:18.792Z,1754923818.792 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:18.792Z,1754923818.792 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:18.792Z,1754923818.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:18.865Z,1754923818.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:18.871Z,1754923818.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 256.913422 m,
      bearing: 172.010275 deg,
      approach rate: -0.643281 m/s,
      LOS rate: -0.010439 deg/s,
      cmd heading: 168.401073 deg,
      new cmd heading: 168.387182 deg.

2025-08-11T14:50:19.044Z,1754923819.044 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:19.044Z,1754923819.044 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:19.044Z,1754923819.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:19.213Z,1754923819.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:19.216Z,1754923819.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 256.690063 m,
      bearing: 172.006709 deg,
      approach rate: -0.641191 m/s,
      LOS rate: -0.010245 deg/s,
      cmd heading: 168.387181 deg,
      new cmd heading: 168.376474 deg.

2025-08-11T14:50:19.296Z,1754923819.296 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:19.296Z,1754923819.296 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:19.296Z,1754923819.296 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:19.548Z,1754923819.548 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:19.548Z,1754923819.548 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:19.548Z,1754923819.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:19.639Z,1754923819.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:19.641Z,1754923819.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:19.644Z,1754923819.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 256.414917 m,
      bearing: 172.000584 deg,
      approach rate: -0.642642 m/s,
      LOS rate: -0.014322 deg/s,
      cmd heading: 168.376471 deg,
      new cmd heading: 168.358075 deg.

2025-08-11T14:50:19.800Z,1754923819.800 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:19.800Z,1754923819.800 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:19.800Z,1754923819.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:20.039Z,1754923820.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:20.042Z,1754923820.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 256.158203 m,
      bearing: 171.994857 deg,
      approach rate: -0.644819 m/s,
      LOS rate: -0.014400 deg/s,
      cmd heading: 168.358071 deg,
      new cmd heading: 168.340872 deg.

2025-08-11T14:50:20.052Z,1754923820.052 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:20.052Z,1754923820.052 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:20.052Z,1754923820.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:20.304Z,1754923820.304 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:20.304Z,1754923820.304 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:20.304Z,1754923820.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:20.494Z,1754923820.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:20.501Z,1754923820.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 255.896942 m,
      bearing: 171.989056 deg,
      approach rate: -0.573790 m/s,
      LOS rate: -0.012753 deg/s,
      cmd heading: 168.340872 deg,
      new cmd heading: 168.323451 deg.

2025-08-11T14:50:20.557Z,1754923820.557 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:20.557Z,1754923820.557 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:20.557Z,1754923820.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:20.808Z,1754923820.808 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:20.808Z,1754923820.808 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:20.808Z,1754923820.808 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:20.887Z,1754923820.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:20.890Z,1754923820.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 255.608658 m,
      bearing: 171.980530 deg,
      approach rate: -0.734634 m/s,
      LOS rate: -0.021750 deg/s,
      cmd heading: 168.323455 deg,
      new cmd heading: 168.297850 deg.

2025-08-11T14:50:21.060Z,1754923821.060 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:21.060Z,1754923821.060 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:21.060Z,1754923821.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:21.244Z,1754923821.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:21.246Z,1754923821.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 255.375381 m,
      bearing: 171.973627 deg,
      approach rate: -0.653624 m/s,
      LOS rate: -0.019360 deg/s,
      cmd heading: 168.297856 deg,
      new cmd heading: 168.277127 deg.

2025-08-11T14:50:21.315Z,1754923821.315 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:21.315Z,1754923821.315 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:21.315Z,1754923821.315 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:21.564Z,1754923821.564 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:21.564Z,1754923821.564 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:21.564Z,1754923821.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:21.658Z,1754923821.658 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +44.37,      +507.0  +0.13,   7.53,  0.00
2025-08-11T14:50:21.712Z,1754923821.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:21.714Z,1754923821.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:21.721Z,1754923821.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 255.095566 m,
      bearing: 171.965336 deg,
      approach rate: -0.594956 m/s,
      LOS rate: -0.017648 deg/s,
      cmd heading: 168.277133 deg,
      new cmd heading: 168.252233 deg.

2025-08-11T14:50:21.816Z,1754923821.816 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:21.816Z,1754923821.816 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:21.816Z,1754923821.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:22.068Z,1754923822.068 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:22.068Z,1754923822.068 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:22.068Z,1754923822.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:50:22.075Z,1754923822.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:22.078Z,1754923822.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 254.833878 m,
      bearing: 171.957565 deg,
      approach rate: -0.725013 m/s,
      LOS rate: -0.021551 deg/s,
      cmd heading: 168.252230 deg,
      new cmd heading: 168.228894 deg.

2025-08-11T14:50:22.320Z,1754923822.320 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:22.320Z,1754923822.320 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:22.320Z,1754923822.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:22.537Z,1754923822.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:22.544Z,1754923822.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 254.543808 m,
      bearing: 171.948872 deg,
      approach rate: -0.627362 m/s,
      LOS rate: -0.018822 deg/s,
      cmd heading: 168.228898 deg,
      new cmd heading: 168.202790 deg.

2025-08-11T14:50:22.572Z,1754923822.572 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:22.572Z,1754923822.572 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:22.572Z,1754923822.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:22.824Z,1754923822.824 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:22.824Z,1754923822.824 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:22.824Z,1754923822.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:22.906Z,1754923822.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:22.926Z,1754923822.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 254.293671 m,
      bearing: 171.941071 deg,
      approach rate: -0.678364 m/s,
      LOS rate: -0.021177 deg/s,
      cmd heading: 168.202793 deg,
      new cmd heading: 168.179366 deg.

2025-08-11T14:50:23.076Z,1754923823.076 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:23.076Z,1754923823.076 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:23.076Z,1754923823.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:23.268Z,1754923823.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:23.271Z,1754923823.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 254.060211 m,
      bearing: 171.933736 deg,
      approach rate: -0.645156 m/s,
      LOS rate: -0.020290 deg/s,
      cmd heading: 168.179365 deg,
      new cmd heading: 168.157338 deg.

2025-08-11T14:50:23.329Z,1754923823.329 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:23.329Z,1754923823.329 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:23.330Z,1754923823.330 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:23.580Z,1754923823.580 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:23.580Z,1754923823.580 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:23.580Z,1754923823.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:23.697Z,1754923823.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:23.700Z,1754923823.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 253.797638 m,
      bearing: 171.924418 deg,
      approach rate: -0.612050 m/s,
      LOS rate: -0.021742 deg/s,
      cmd heading: 168.157345 deg,
      new cmd heading: 168.129362 deg.

2025-08-11T14:50:23.832Z,1754923823.832 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:23.832Z,1754923823.832 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:23.832Z,1754923823.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:24.074Z,1754923824.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:24.077Z,1754923824.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:24.080Z,1754923824.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 253.565430 m,
      bearing: 171.916190 deg,
      approach rate: -0.611652 m/s,
      LOS rate: -0.021693 deg/s,
      cmd heading: 168.129368 deg,
      new cmd heading: 168.104662 deg.

2025-08-11T14:50:24.084Z,1754923824.084 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:24.084Z,1754923824.084 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:24.084Z,1754923824.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:24.336Z,1754923824.336 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:24.336Z,1754923824.336 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:24.336Z,1754923824.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:24.557Z,1754923824.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:24.564Z,1754923824.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 253.301010 m,
      bearing: 171.906858 deg,
      approach rate: -0.550602 m/s,
      LOS rate: -0.019452 deg/s,
      cmd heading: 168.104657 deg,
      new cmd heading: 168.076632 deg.

2025-08-11T14:50:24.588Z,1754923824.588 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:50:24.589Z,1754923824.589 [DAT](INFO): response not received
2025-08-11T14:50:24.589Z,1754923824.589 [DAT](INFO): DAT read: user:146>

2025-08-11T14:50:24.589Z,1754923824.589 [DAT](ERROR): No response from remote modem.
2025-08-11T14:50:24.590Z,1754923824.590 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:24.590Z,1754923824.590 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:24.840Z,1754923824.840 [DAT](INFO): DAT read: Tx time:14:50:26.0697

2025-08-11T14:50:24.840Z,1754923824.840 [DAT](INFO): Ping request sent.
2025-08-11T14:50:24.841Z,1754923824.841 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:24.841Z,1754923824.841 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:24.841Z,1754923824.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-08-11T14:50:24.985Z,1754923824.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:24.988Z,1754923824.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 253.022598 m,
      bearing: 171.898108 deg,
      approach rate: -0.650947 m/s,
      LOS rate: -0.020480 deg/s,
      cmd heading: 168.076626 deg,
      new cmd heading: 168.050348 deg.

2025-08-11T14:50:25.095Z,1754923825.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253956
2025-08-11T14:50:25.340Z,1754923825.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:25.342Z,1754923825.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 252.815094 m,
      bearing: 171.891644 deg,
      approach rate: -0.584934 m/s,
      LOS rate: -0.018237 deg/s,
      cmd heading: 168.050343 deg,
      new cmd heading: 168.030935 deg.

2025-08-11T14:50:25.344Z,1754923825.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503633
2025-08-11T14:50:25.598Z,1754923825.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757106
2025-08-11T14:50:25.773Z,1754923825.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:25.776Z,1754923825.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 252.559067 m,
      bearing: 171.886389 deg,
      approach rate: -0.590939 m/s,
      LOS rate: -0.012142 deg/s,
      cmd heading: 168.030932 deg,
      new cmd heading: 168.015149 deg.

2025-08-11T14:50:25.850Z,1754923825.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008968
2025-08-11T14:50:26.100Z,1754923826.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259510
2025-08-11T14:50:26.163Z,1754923826.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:26.165Z,1754923826.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:26.168Z,1754923826.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 252.327042 m,
      bearing: 171.881759 deg,
      approach rate: -0.590521 m/s,
      LOS rate: -0.011793 deg/s,
      cmd heading: 168.015154 deg,
      new cmd heading: 168.001253 deg.

2025-08-11T14:50:26.353Z,1754923826.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512577
2025-08-11T14:50:26.604Z,1754923826.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763568
2025-08-11T14:50:26.740Z,1754923826.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:26.743Z,1754923826.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 252.023148 m,
      bearing: 171.874983 deg,
      approach rate: -0.529033 m/s,
      LOS rate: -0.011810 deg/s,
      cmd heading: 168.001248 deg,
      new cmd heading: 167.980895 deg.

2025-08-11T14:50:26.856Z,1754923826.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015624
2025-08-11T14:50:27.099Z,1754923827.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:27.102Z,1754923827.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 251.808624 m,
      bearing: 171.870190 deg,
      approach rate: -0.597924 m/s,
      LOS rate: -0.013371 deg/s,
      cmd heading: 167.980894 deg,
      new cmd heading: 167.966502 deg.

2025-08-11T14:50:27.108Z,1754923827.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267631
2025-08-11T14:50:27.360Z,1754923827.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519576
2025-08-11T14:50:27.477Z,1754923827.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:27.480Z,1754923827.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 251.596008 m,
      bearing: 171.865483 deg,
      approach rate: -0.562283 m/s,
      LOS rate: -0.012459 deg/s,
      cmd heading: 167.966496 deg,
      new cmd heading: 167.952363 deg.

2025-08-11T14:50:27.612Z,1754923827.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771615
2025-08-11T14:50:27.864Z,1754923827.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023360
2025-08-11T14:50:27.919Z,1754923827.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:27.944Z,1754923827.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 251.344498 m,
      bearing: 171.861611 deg,
      approach rate: -0.569183 m/s,
      LOS rate: -0.008771 deg/s,
      cmd heading: 167.952357 deg,
      new cmd heading: 167.940730 deg.

2025-08-11T14:50:28.116Z,1754923828.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275556
2025-08-11T14:50:28.260Z,1754923828.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:28.263Z,1754923828.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:28.265Z,1754923828.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 251.145950 m,
      bearing: 171.858546 deg,
      approach rate: -0.577471 m/s,
      LOS rate: -0.008923 deg/s,
      cmd heading: 167.940732 deg,
      new cmd heading: 167.931529 deg.

2025-08-11T14:50:28.368Z,1754923828.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527716
2025-08-11T14:50:28.620Z,1754923828.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779736
2025-08-11T14:50:28.722Z,1754923828.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:28.728Z,1754923828.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 250.897552 m,
      bearing: 171.854986 deg,
      approach rate: -0.541239 m/s,
      LOS rate: -0.007763 deg/s,
      cmd heading: 167.931525 deg,
      new cmd heading: 167.920837 deg.

2025-08-11T14:50:28.872Z,1754923828.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031502
2025-08-11T14:50:29.069Z,1754923829.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:29.072Z,1754923829.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 250.685822 m,
      bearing: 171.851906 deg,
      approach rate: -0.609158 m/s,
      LOS rate: -0.008871 deg/s,
      cmd heading: 167.920843 deg,
      new cmd heading: 167.911592 deg.

2025-08-11T14:50:29.125Z,1754923829.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284341
2025-08-11T14:50:29.376Z,1754923829.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535541
2025-08-11T14:50:29.500Z,1754923829.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:29.502Z,1754923829.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 250.449860 m,
      bearing: 171.848413 deg,
      approach rate: -0.548421 m/s,
      LOS rate: -0.008126 deg/s,
      cmd heading: 167.911595 deg,
      new cmd heading: 167.901106 deg.

2025-08-11T14:50:29.628Z,1754923829.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787684
2025-08-11T14:50:29.880Z,1754923829.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039573
2025-08-11T14:50:29.927Z,1754923829.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:29.932Z,1754923829.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 250.201843 m,
      bearing: 171.843722 deg,
      approach rate: -0.580822 m/s,
      LOS rate: -0.010997 deg/s,
      cmd heading: 167.901104 deg,
      new cmd heading: 167.887016 deg.

2025-08-11T14:50:30.132Z,1754923830.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291499
2025-08-11T14:50:30.303Z,1754923830.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:30.305Z,1754923830.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:30.308Z,1754923830.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 249.988251 m,
      bearing: 171.839609 deg,
      approach rate: -0.563967 m/s,
      LOS rate: -0.010868 deg/s,
      cmd heading: 167.887020 deg,
      new cmd heading: 167.874671 deg.

2025-08-11T14:50:30.384Z,1754923830.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543739
2025-08-11T14:50:30.639Z,1754923830.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797558
2025-08-11T14:50:30.722Z,1754923830.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:30.725Z,1754923830.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 249.743607 m,
      bearing: 171.835983 deg,
      approach rate: -0.586440 m/s,
      LOS rate: -0.008701 deg/s,
      cmd heading: 167.874671 deg,
      new cmd heading: 167.863781 deg.

2025-08-11T14:50:30.888Z,1754923830.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047781
2025-08-11T14:50:31.101Z,1754923831.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:31.109Z,1754923831.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 249.532303 m,
      bearing: 171.832757 deg,
      approach rate: -0.557525 m/s,
      LOS rate: -0.008517 deg/s,
      cmd heading: 167.863783 deg,
      new cmd heading: 167.854099 deg.

2025-08-11T14:50:31.140Z,1754923831.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299699
2025-08-11T14:50:31.392Z,1754923831.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551493
2025-08-11T14:50:31.516Z,1754923831.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:31.519Z,1754923831.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 249.285049 m,
      bearing: 171.828976 deg,
      approach rate: -0.596267 m/s,
      LOS rate: -0.009127 deg/s,
      cmd heading: 167.854098 deg,
      new cmd heading: 167.842744 deg.

2025-08-11T14:50:31.644Z,1754923831.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803617
2025-08-11T14:50:31.900Z,1754923831.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059137
2025-08-11T14:50:31.960Z,1754923831.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:31.962Z,1754923831.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 249.045151 m,
      bearing: 171.823520 deg,
      approach rate: -0.543708 m/s,
      LOS rate: -0.012378 deg/s,
      cmd heading: 167.842746 deg,
      new cmd heading: 167.826362 deg.

2025-08-11T14:50:32.149Z,1754923832.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308029
2025-08-11T14:50:32.317Z,1754923832.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:32.323Z,1754923832.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:32.326Z,1754923832.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 248.827911 m,
      bearing: 171.818565 deg,
      approach rate: -0.600323 m/s,
      LOS rate: -0.013705 deg/s,
      cmd heading: 167.826368 deg,
      new cmd heading: 167.811490 deg.

2025-08-11T14:50:32.401Z,1754923832.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559937
2025-08-11T14:50:32.655Z,1754923832.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813838
2025-08-11T14:50:32.768Z,1754923832.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:32.770Z,1754923832.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 248.559387 m,
      bearing: 171.812159 deg,
      approach rate: -0.604414 m/s,
      LOS rate: -0.014436 deg/s,
      cmd heading: 167.811491 deg,
      new cmd heading: 167.792252 deg.

2025-08-11T14:50:32.904Z,1754923832.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063492
2025-08-11T14:50:33.121Z,1754923833.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:33.123Z,1754923833.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 248.335495 m,
      bearing: 171.806807 deg,
      approach rate: -0.626579 m/s,
      LOS rate: -0.014991 deg/s,
      cmd heading: 167.792258 deg,
      new cmd heading: 167.776188 deg.

2025-08-11T14:50:33.157Z,1754923833.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315848
2025-08-11T14:50:33.408Z,1754923833.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567517
2025-08-11T14:50:33.601Z,1754923833.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:33.607Z,1754923833.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 248.051071 m,
      bearing: 171.799994 deg,
      approach rate: -0.591657 m/s,
      LOS rate: -0.014189 deg/s,
      cmd heading: 167.776193 deg,
      new cmd heading: 167.755730 deg.

2025-08-11T14:50:33.663Z,1754923833.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821561
2025-08-11T14:50:33.913Z,1754923833.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072250
2025-08-11T14:50:34.135Z,1754923834.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:34.138Z,1754923834.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 247.728104 m,
      bearing: 171.792165 deg,
      approach rate: -0.605221 m/s,
      LOS rate: -0.014689 deg/s,
      cmd heading: 167.755730 deg,
      new cmd heading: 167.732213 deg.

2025-08-11T14:50:34.164Z,1754923834.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323659
2025-08-11T14:50:34.416Z,1754923834.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575461
2025-08-11T14:50:34.592Z,1754923834.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:34.595Z,1754923834.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:34.597Z,1754923834.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 247.453156 m,
      bearing: 171.785633 deg,
      approach rate: -0.598253 m/s,
      LOS rate: -0.014229 deg/s,
      cmd heading: 167.732207 deg,
      new cmd heading: 167.712588 deg.

2025-08-11T14:50:34.674Z,1754923834.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832415
2025-08-11T14:50:34.925Z,1754923834.925 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:34.926Z,1754923834.926 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:34.926Z,1754923834.926 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:35.039Z,1754923835.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:35.042Z,1754923835.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 247.177124 m,
      bearing: 171.779831 deg,
      approach rate: -0.620914 m/s,
      LOS rate: -0.013066 deg/s,
      cmd heading: 167.712590 deg,
      new cmd heading: 167.695164 deg.

2025-08-11T14:50:35.176Z,1754923835.176 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:35.176Z,1754923835.176 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:35.176Z,1754923835.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:35.415Z,1754923835.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:35.425Z,1754923835.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 246.953766 m,
      bearing: 171.775417 deg,
      approach rate: -0.620476 m/s,
      LOS rate: -0.012272 deg/s,
      cmd heading: 167.695160 deg,
      new cmd heading: 167.681906 deg.

2025-08-11T14:50:35.429Z,1754923835.429 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:35.429Z,1754923835.429 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:35.429Z,1754923835.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:35.683Z,1754923835.683 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:35.684Z,1754923835.684 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:35.685Z,1754923835.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:35.825Z,1754923835.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:35.832Z,1754923835.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 246.690292 m,
      bearing: 171.770429 deg,
      approach rate: -0.618313 m/s,
      LOS rate: -0.011719 deg/s,
      cmd heading: 167.681909 deg,
      new cmd heading: 167.666928 deg.

2025-08-11T14:50:35.933Z,1754923835.933 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:35.933Z,1754923835.933 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:35.934Z,1754923835.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:36.184Z,1754923836.184 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:36.184Z,1754923836.184 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:36.184Z,1754923836.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:36.221Z,1754923836.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:36.224Z,1754923836.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 246.445618 m,
      bearing: 171.765904 deg,
      approach rate: -0.618514 m/s,
      LOS rate: -0.011449 deg/s,
      cmd heading: 167.666924 deg,
      new cmd heading: 167.653337 deg.

2025-08-11T14:50:36.437Z,1754923836.437 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:36.437Z,1754923836.437 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:36.437Z,1754923836.437 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:36.607Z,1754923836.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:36.609Z,1754923836.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:36.612Z,1754923836.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 246.205582 m,
      bearing: 171.761573 deg,
      approach rate: -0.617737 m/s,
      LOS rate: -0.011157 deg/s,
      cmd heading: 167.653332 deg,
      new cmd heading: 167.640326 deg.

2025-08-11T14:50:36.689Z,1754923836.689 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:36.690Z,1754923836.690 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:36.695Z,1754923836.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:36.941Z,1754923836.941 [DAT](INFO): Reached modem response timeout
2025-08-11T14:50:36.941Z,1754923836.941 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:50:36.942Z,1754923836.942 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:37.021Z,1754923837.021 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,26.   +8.36,        +1.15,  20.00,685.10
2025-08-11T14:50:37.042Z,1754923837.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:37.045Z,1754923837.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 245.941666 m,
      bearing: 171.756868 deg,
      approach rate: -0.610189 m/s,
      LOS rate: -0.010891 deg/s,
      cmd heading: 167.640327 deg,
      new cmd heading: 167.626195 deg.

2025-08-11T14:50:37.192Z,1754923837.192 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:50:37.193Z,1754923837.193 [DAT](INFO): response not received
2025-08-11T14:50:37.193Z,1754923837.193 [DAT](INFO): DAT read: user:147>

2025-08-11T14:50:37.194Z,1754923837.194 [DAT](INFO): DAT read: Tx time:14:50:38.5197

2025-08-11T14:50:37.194Z,1754923837.194 [DAT](INFO): Ping request sent.
2025-08-11T14:50:37.194Z,1754923837.194 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:37.194Z,1754923837.194 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:37.195Z,1754923837.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-11T14:50:37.424Z,1754923837.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:37.429Z,1754923837.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 245.705658 m,
      bearing: 171.752740 deg,
      approach rate: -0.620058 m/s,
      LOS rate: -0.010855 deg/s,
      cmd heading: 167.626188 deg,
      new cmd heading: 167.613793 deg.

2025-08-11T14:50:37.452Z,1754923837.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258284
2025-08-11T14:50:37.708Z,1754923837.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.512922
2025-08-11T14:50:37.871Z,1754923837.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:37.877Z,1754923837.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 245.444794 m,
      bearing: 171.748990 deg,
      approach rate: -0.582262 m/s,
      LOS rate: -0.008378 deg/s,
      cmd heading: 167.613798 deg,
      new cmd heading: 167.602538 deg.

2025-08-11T14:50:37.956Z,1754923837.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762380
2025-08-11T14:50:38.208Z,1754923838.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014127
2025-08-11T14:50:38.232Z,1754923838.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:38.235Z,1754923838.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 245.227829 m,
      bearing: 171.745900 deg,
      approach rate: -0.599895 m/s,
      LOS rate: -0.008551 deg/s,
      cmd heading: 167.602542 deg,
      new cmd heading: 167.593264 deg.

2025-08-11T14:50:38.460Z,1754923838.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266094
2025-08-11T14:50:38.626Z,1754923838.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:38.629Z,1754923838.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:38.632Z,1754923838.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 244.995544 m,
      bearing: 171.742634 deg,
      approach rate: -0.585741 m/s,
      LOS rate: -0.008245 deg/s,
      cmd heading: 167.593267 deg,
      new cmd heading: 167.583458 deg.

2025-08-11T14:50:38.717Z,1754923838.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521888
2025-08-11T14:50:38.965Z,1754923838.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770627
2025-08-11T14:50:39.057Z,1754923839.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:39.061Z,1754923839.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 244.745239 m,
      bearing: 171.738845 deg,
      approach rate: -0.583840 m/s,
      LOS rate: -0.008846 deg/s,
      cmd heading: 167.583459 deg,
      new cmd heading: 167.572082 deg.

2025-08-11T14:50:39.216Z,1754923839.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022335
2025-08-11T14:50:39.468Z,1754923839.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274201
2025-08-11T14:50:39.471Z,1754923839.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:39.474Z,1754923839.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 244.516891 m,
      bearing: 171.735375 deg,
      approach rate: -0.580392 m/s,
      LOS rate: -0.008827 deg/s,
      cmd heading: 167.572080 deg,
      new cmd heading: 167.561661 deg.

2025-08-11T14:50:39.723Z,1754923839.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528163
2025-08-11T14:50:39.876Z,1754923839.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:39.879Z,1754923839.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 244.271133 m,
      bearing: 171.731325 deg,
      approach rate: -0.578279 m/s,
      LOS rate: -0.009540 deg/s,
      cmd heading: 167.561657 deg,
      new cmd heading: 167.549494 deg.

2025-08-11T14:50:39.973Z,1754923839.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779056
2025-08-11T14:50:40.224Z,1754923840.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030012
2025-08-11T14:50:40.266Z,1754923840.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:40.273Z,1754923840.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 244.056030 m,
      bearing: 171.727762 deg,
      approach rate: -0.551665 m/s,
      LOS rate: -0.009146 deg/s,
      cmd heading: 167.549499 deg,
      new cmd heading: 167.538801 deg.

2025-08-11T14:50:40.476Z,1754923840.476 [DAT](INFO): DAT read: Rx Time:14:50:41.2512

2025-08-11T14:50:40.477Z,1754923840.477 [DAT](INFO): Rx dataTimestamp_ set to:1754923840.476329
2025-08-11T14:50:40.477Z,1754923840.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283118
2025-08-11T14:50:40.674Z,1754923840.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:40.676Z,1754923840.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.30 m.
2025-08-11T14:50:40.679Z,1754923840.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 262.299988 m,
      nav range: 243.818207 m,
      bearing: 171.723815 deg,
      approach rate: -0.579090 m/s,
      LOS rate: -0.009620 deg/s,
      cmd heading: 167.538803 deg,
      new cmd heading: 167.526951 deg.

2025-08-11T14:50:40.733Z,1754923840.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538429
2025-08-11T14:50:40.986Z,1754923840.986 [DAT](INFO): DAT read: 14:50:41.2512 LVL= 27424, 30321, 32754, 31843, AGC= 75, IDX= 213, 0.20, 0.643,-1.230, 0.627, 0.279, PHS= 0.466,-1.465, 0.304, RAW= 145.7,   7.5, CAL= 145.2,   8.2, ROT=   4.8,  -8.2

2025-08-11T14:50:40.987Z,1754923840.987 [DAT](INFO): got valid direction response:
 14:50:41.2512 LVL= 27424, 30321, 32754, 31843, AGC= 75, IDX= 213, 0.20, 0.643,-1.230, 0.627, 0.279, PHS= 0.466,-1.465, 0.304, RAW= 145.7,   7.5, CAL= 145.2,   8.2, ROT=   4.8,  -8.2

2025-08-11T14:50:40.988Z,1754923840.988 [DAT](INFO): DAT read: Bearing 326.8,   2.4 (Local)

2025-08-11T14:50:40.988Z,1754923840.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.8,   2.4 (Local)

2025-08-11T14:50:40.990Z,1754923840.990 [DAT](INFO): DAT read: Range 11 to 50 : 245.5 m  (Round-trip  327.4 ms) speed  0.4 m/s

2025-08-11T14:50:40.990Z,1754923840.990 [DAT](INFO): DAT read: user:148>

2025-08-11T14:50:40.991Z,1754923840.991 [DAT](INFO): DAT read: Tx time:14:50:42.3697

2025-08-11T14:50:40.991Z,1754923840.991 [DAT](INFO): Ping request sent.
2025-08-11T14:50:40.992Z,1754923840.992 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:40.992Z,1754923840.992 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:50:40.993Z,1754923840.993 [DAT](INFO): direction in FSK: [0.986305,0.082822,0.142629]
2025-08-11T14:50:40.993Z,1754923840.993 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:40.993Z,1754923840.993 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:40.997Z,1754923840.997 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:40.997Z,1754923840.997 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:41.260Z,1754923841.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 245.500000 m,
      deltaT: 28.739881 s,
      deltaX: -16.799988 m,
      approachRate: -0.584553 m/s,
      rangeRepo size: 4

2025-08-11T14:50:41.262Z,1754923841.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.500000 m,
      bearing: 172.535771 deg,
      lat: 36.905855 deg,
      lon: -122.116042 deg,
      deltaT: 28.739881 s,
      deltaX: -16.799988 m,
      approachRate: -0.584553 m/s,
      posRepo size: 4

2025-08-11T14:50:41.263Z,1754923841.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m.
2025-08-11T14:50:41.276Z,1754923841.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.500000 m,
      nav range: 243.061722 m,
      bearing: 172.535771 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009620 deg/s,
      cmd heading: 167.526946 deg,
      new cmd heading: 167.510248 deg.

2025-08-11T14:50:41.626Z,1754923841.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m.
2025-08-11T14:50:41.633Z,1754923841.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.500000 m,
      nav range: 242.858078 m,
      bearing: 172.531905 deg,
      approach rate: -0.549560 m/s,
      LOS rate: -0.010441 deg/s,
      cmd heading: 167.510253 deg,
      new cmd heading: 167.498646 deg.

2025-08-11T14:50:42.088Z,1754923842.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m.
2025-08-11T14:50:42.091Z,1754923842.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.500000 m,
      nav range: 242.584854 m,
      bearing: 172.526369 deg,
      approach rate: -0.591075 m/s,
      LOS rate: -0.011991 deg/s,
      cmd heading: 167.498641 deg,
      new cmd heading: 167.482013 deg.

2025-08-11T14:50:42.475Z,1754923842.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m.
2025-08-11T14:50:42.478Z,1754923842.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.500000 m,
      nav range: 242.365173 m,
      bearing: 172.521840 deg,
      approach rate: -0.567233 m/s,
      LOS rate: -0.011704 deg/s,
      cmd heading: 167.482017 deg,
      new cmd heading: 167.468418 deg.

2025-08-11T14:50:42.886Z,1754923842.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:42.889Z,1754923842.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m.
2025-08-11T14:50:42.892Z,1754923842.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.500000 m,
      nav range: 242.134552 m,
      bearing: 172.515663 deg,
      approach rate: -0.557603 m/s,
      LOS rate: -0.014949 deg/s,
      cmd heading: 167.468425 deg,
      new cmd heading: 167.449876 deg.

2025-08-11T14:50:42.996Z,1754923842.996 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:42.996Z,1754923842.996 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:42.997Z,1754923842.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:43.248Z,1754923843.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256726
2025-08-11T14:50:43.249Z,1754923843.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m.
2025-08-11T14:50:43.252Z,1754923843.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.500000 m,
      nav range: 241.931702 m,
      bearing: 172.510220 deg,
      approach rate: -0.566017 m/s,
      LOS rate: -0.015201 deg/s,
      cmd heading: 167.449874 deg,
      new cmd heading: 167.433531 deg.

2025-08-11T14:50:43.501Z,1754923843.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508976
2025-08-11T14:50:43.649Z,1754923843.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m.
2025-08-11T14:50:43.667Z,1754923843.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.500000 m,
      nav range: 241.706146 m,
      bearing: 172.504135 deg,
      approach rate: -0.561848 m/s,
      LOS rate: -0.015172 deg/s,
      cmd heading: 167.433536 deg,
      new cmd heading: 167.415263 deg.

2025-08-11T14:50:43.754Z,1754923843.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762405
2025-08-11T14:50:44.004Z,1754923844.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012617
2025-08-11T14:50:44.097Z,1754923844.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m.
2025-08-11T14:50:44.104Z,1754923844.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.500000 m,
      nav range: 241.458450 m,
      bearing: 172.496640 deg,
      approach rate: -0.575261 m/s,
      LOS rate: -0.017422 deg/s,
      cmd heading: 167.415259 deg,
      new cmd heading: 167.392753 deg.

2025-08-11T14:50:44.257Z,1754923844.257 [DAT](INFO): DAT read: Rx Time:14:50:45.0980

2025-08-11T14:50:44.257Z,1754923844.257 [DAT](INFO): Rx dataTimestamp_ set to:1754923844.257170
2025-08-11T14:50:44.258Z,1754923844.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266457
2025-08-11T14:50:44.461Z,1754923844.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.50 m.
2025-08-11T14:50:44.480Z,1754923844.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.500000 m,
      nav range: 241.239029 m,
      bearing: 172.490018 deg,
      approach rate: -0.574895 m/s,
      LOS rate: -0.017366 deg/s,
      cmd heading: 167.392760 deg,
      new cmd heading: 167.372876 deg.

2025-08-11T14:50:44.508Z,1754923844.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516686
2025-08-11T14:50:44.782Z,1754923844.782 [DAT](INFO): DAT read: 14:50:45.0980 LVL= 26064, 32753, 25634, 31955, AGC= 71, IDX= 404,-0.33,-1.974, 2.458,-1.990,-2.306, PHS= 0.434,-1.475, 0.272, RAW= 145.6,   8.4, CAL= 145.2,   9.2, ROT=   4.8,  -9.2

2025-08-11T14:50:44.783Z,1754923844.783 [DAT](INFO): got valid direction response:
 14:50:45.0980 LVL= 26064, 32753, 25634, 31955, AGC= 71, IDX= 404,-0.33,-1.974, 2.458,-1.990,-2.306, PHS= 0.434,-1.475, 0.272, RAW= 145.6,   8.4, CAL= 145.2,   9.2, ROT=   4.8,  -9.2

2025-08-11T14:50:44.786Z,1754923844.786 [DAT](INFO): DAT read: Bearing 328.2,   2.8 (Local)

2025-08-11T14:50:44.792Z,1754923844.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.2,   2.8 (Local)

2025-08-11T14:50:44.798Z,1754923844.798 [DAT](INFO): DAT read: Range 11 to 50 : 243.1 m  (Round-trip  324.2 ms) speed  0.3 m/s

2025-08-11T14:50:44.836Z,1754923844.836 [DAT](INFO): DAT read: user:149>

2025-08-11T14:50:44.852Z,1754923844.852 [DAT](INFO): DAT read: Tx time:14:50:46.2197

2025-08-11T14:50:44.852Z,1754923844.852 [DAT](INFO): Ping request sent.
2025-08-11T14:50:44.852Z,1754923844.852 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:44.853Z,1754923844.853 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:50:44.853Z,1754923844.853 [DAT](INFO): direction in FSK: [0.983674,0.082601,0.159881]
2025-08-11T14:50:44.854Z,1754923844.854 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:44.854Z,1754923844.854 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:44.874Z,1754923844.874 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:44.875Z,1754923844.875 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:45.046Z,1754923845.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 243.100006 m,
      deltaT: 3.781900 s,
      deltaX: -2.399994 m,
      approachRate: -0.634600 m/s,
      rangeRepo size: 4

2025-08-11T14:50:45.052Z,1754923845.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.100006 m,
      bearing: 173.103973 deg,
      lat: 36.905850 deg,
      lon: -122.116071 deg,
      deltaT: 3.781900 s,
      deltaX: -2.399994 m,
      approachRate: -0.634600 m/s,
      posRepo size: 4

2025-08-11T14:50:45.053Z,1754923845.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:45.060Z,1754923845.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 241.205704 m,
      bearing: 173.103973 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.017366 deg/s,
      cmd heading: 167.372870 deg,
      new cmd heading: 167.342421 deg.

2025-08-11T14:50:45.341Z,1754923845.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:45.343Z,1754923845.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:45.346Z,1754923845.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 241.024765 m,
      bearing: 173.099983 deg,
      approach rate: -0.608304 m/s,
      LOS rate: -0.013423 deg/s,
      cmd heading: 167.342421 deg,
      new cmd heading: 167.330443 deg.

2025-08-11T14:50:45.516Z,1754923845.516 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:45.516Z,1754923845.516 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:45.516Z,1754923845.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:45.738Z,1754923845.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:45.741Z,1754923845.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 240.797760 m,
      bearing: 173.095075 deg,
      approach rate: -0.574557 m/s,
      LOS rate: -0.012434 deg/s,
      cmd heading: 167.330441 deg,
      new cmd heading: 167.315703 deg.

2025-08-11T14:50:45.768Z,1754923845.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.916033
2025-08-11T14:50:46.020Z,1754923846.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.167877
2025-08-11T14:50:46.196Z,1754923846.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:46.198Z,1754923846.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 240.534668 m,
      bearing: 173.088673 deg,
      approach rate: -0.575132 m/s,
      LOS rate: -0.014011 deg/s,
      cmd heading: 167.315702 deg,
      new cmd heading: 167.296474 deg.

2025-08-11T14:50:46.273Z,1754923846.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.420744
2025-08-11T14:50:46.524Z,1754923846.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.671840
2025-08-11T14:50:46.595Z,1754923846.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:46.599Z,1754923846.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 240.314056 m,
      bearing: 173.083403 deg,
      approach rate: -0.552187 m/s,
      LOS rate: -0.013204 deg/s,
      cmd heading: 167.296468 deg,
      new cmd heading: 167.280642 deg.

2025-08-11T14:50:46.779Z,1754923846.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.926997
2025-08-11T14:50:47.015Z,1754923847.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:47.018Z,1754923847.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 240.047867 m,
      bearing: 173.080800 deg,
      approach rate: -0.633212 m/s,
      LOS rate: -0.006199 deg/s,
      cmd heading: 167.280649 deg,
      new cmd heading: 167.272831 deg.

2025-08-11T14:50:47.028Z,1754923847.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.176036
2025-08-11T14:50:47.280Z,1754923847.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427883
2025-08-11T14:50:47.404Z,1754923847.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:47.408Z,1754923847.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:47.413Z,1754923847.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 239.820923 m,
      bearing: 173.078729 deg,
      approach rate: -0.579047 m/s,
      LOS rate: -0.005288 deg/s,
      cmd heading: 167.272835 deg,
      new cmd heading: 167.266618 deg.

2025-08-11T14:50:47.532Z,1754923847.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680180
2025-08-11T14:50:47.784Z,1754923847.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.932048
2025-08-11T14:50:47.786Z,1754923847.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:47.789Z,1754923847.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 239.579071 m,
      bearing: 173.076532 deg,
      approach rate: -0.638510 m/s,
      LOS rate: -0.005806 deg/s,
      cmd heading: 167.266620 deg,
      new cmd heading: 167.260022 deg.

2025-08-11T14:50:48.036Z,1754923848.036 [DAT](INFO): DAT read: Rx Time:14:50:48.9450

2025-08-11T14:50:48.037Z,1754923848.037 [DAT](INFO): Rx dataTimestamp_ set to:1754923848.036330
2025-08-11T14:50:48.037Z,1754923848.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.184936
2025-08-11T14:50:48.222Z,1754923848.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:48.225Z,1754923848.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 239.308563 m,
      bearing: 173.074167 deg,
      approach rate: -0.620566 m/s,
      LOS rate: -0.005431 deg/s,
      cmd heading: 167.260022 deg,
      new cmd heading: 167.252919 deg.

2025-08-11T14:50:48.288Z,1754923848.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436162
2025-08-11T14:50:48.540Z,1754923848.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.687978
2025-08-11T14:50:48.648Z,1754923848.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.10 m.
2025-08-11T14:50:48.650Z,1754923848.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.100006 m,
      nav range: 239.045624 m,
      bearing: 173.071767 deg,
      approach rate: -0.617983 m/s,
      LOS rate: -0.005646 deg/s,
      cmd heading: 167.252919 deg,
      new cmd heading: 167.245712 deg.

2025-08-11T14:50:48.798Z,1754923848.798 [DAT](INFO): DAT read: 14:50:48.9450 LVL= 25072, 32753, 25970, 32755, AGC= 72, IDX= 405,-0.32, 2.269, 0.374, 2.229, 1.885, PHS= 0.486,-1.466, 0.299, RAW= 145.0,   7.3, CAL= 144.6,   8.0, ROT=   5.4,  -8.0

2025-08-11T14:50:48.799Z,1754923848.799 [DAT](INFO): got valid direction response:
 14:50:48.9450 LVL= 25072, 32753, 25970, 32755, AGC= 72, IDX= 405,-0.32, 2.269, 0.374, 2.229, 1.885, PHS= 0.486,-1.466, 0.299, RAW= 145.0,   7.3, CAL= 144.6,   8.0, ROT=   5.4,  -8.0

2025-08-11T14:50:48.802Z,1754923848.802 [DAT](INFO): DAT read: Bearing 326.5,   3.4 (Local)

2025-08-11T14:50:48.803Z,1754923848.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.5,   3.4 (Local)

2025-08-11T14:50:48.804Z,1754923848.804 [DAT](INFO): DAT read: Range 11 to 50 : 240.8 m  (Round-trip  321.1 ms) speed  0.5 m/s

2025-08-11T14:50:48.805Z,1754923848.805 [DAT](INFO): DAT read: user:150>

2025-08-11T14:50:48.806Z,1754923848.806 [DAT](INFO): DAT read: Tx time:14:50:50.0697

2025-08-11T14:50:48.806Z,1754923848.806 [DAT](INFO): Ping request sent.
2025-08-11T14:50:48.806Z,1754923848.806 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:48.806Z,1754923848.806 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:50:48.808Z,1754923848.808 [DAT](INFO): direction in FSK: [0.985873,0.093192,0.139173]
2025-08-11T14:50:48.808Z,1754923848.808 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:48.808Z,1754923848.808 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:48.811Z,1754923848.811 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:48.812Z,1754923848.812 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:49.076Z,1754923849.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 240.800003 m,
      deltaT: 4.030027 s,
      deltaX: -2.300003 m,
      approachRate: -0.570717 m/s,
      rangeRepo size: 4

2025-08-11T14:50:49.078Z,1754923849.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.800003 m,
      bearing: 173.304184 deg,
      lat: 36.905849 deg,
      lon: -122.116082 deg,
      deltaT: 4.030027 s,
      deltaX: -2.300003 m,
      approachRate: -0.570717 m/s,
      posRepo size: 4

2025-08-11T14:50:49.079Z,1754923849.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.80 m.
2025-08-11T14:50:49.086Z,1754923849.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.800003 m,
      nav range: 238.716721 m,
      bearing: 173.304184 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005646 deg/s,
      cmd heading: 167.245706 deg,
      new cmd heading: 167.238527 deg.

2025-08-11T14:50:49.443Z,1754923849.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:49.449Z,1754923849.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.80 m.
2025-08-11T14:50:49.456Z,1754923849.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.800003 m,
      nav range: 238.490524 m,
      bearing: 173.303386 deg,
      approach rate: -0.598503 m/s,
      LOS rate: -0.002112 deg/s,
      cmd heading: 167.238521 deg,
      new cmd heading: 167.236126 deg.

2025-08-11T14:50:49.549Z,1754923849.549 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:49.549Z,1754923849.549 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:49.549Z,1754923849.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:49.800Z,1754923849.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994114
2025-08-11T14:50:49.843Z,1754923849.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.80 m.
2025-08-11T14:50:49.865Z,1754923849.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.800003 m,
      nav range: 238.244934 m,
      bearing: 173.302379 deg,
      approach rate: -0.623908 m/s,
      LOS rate: -0.002563 deg/s,
      cmd heading: 167.236130 deg,
      new cmd heading: 167.233104 deg.

2025-08-11T14:50:50.052Z,1754923850.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245877
2025-08-11T14:50:50.270Z,1754923850.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.80 m.
2025-08-11T14:50:50.273Z,1754923850.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.800003 m,
      nav range: 237.973404 m,
      bearing: 173.301561 deg,
      approach rate: -0.634815 m/s,
      LOS rate: -0.001913 deg/s,
      cmd heading: 167.233097 deg,
      new cmd heading: 167.230642 deg.

2025-08-11T14:50:50.305Z,1754923850.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498407
2025-08-11T14:50:50.556Z,1754923850.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749905
2025-08-11T14:50:50.656Z,1754923850.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.80 m.
2025-08-11T14:50:50.658Z,1754923850.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.800003 m,
      nav range: 237.728821 m,
      bearing: 173.300671 deg,
      approach rate: -0.634630 m/s,
      LOS rate: -0.002313 deg/s,
      cmd heading: 167.230639 deg,
      new cmd heading: 167.227965 deg.

2025-08-11T14:50:50.808Z,1754923850.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001887
2025-08-11T14:50:51.060Z,1754923851.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253928
2025-08-11T14:50:51.097Z,1754923851.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.80 m.
2025-08-11T14:50:51.100Z,1754923851.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.800003 m,
      nav range: 237.460922 m,
      bearing: 173.298621 deg,
      approach rate: -0.606777 m/s,
      LOS rate: -0.004647 deg/s,
      cmd heading: 167.227961 deg,
      new cmd heading: 167.221805 deg.

2025-08-11T14:50:51.313Z,1754923851.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506865
2025-08-11T14:50:51.459Z,1754923851.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:51.461Z,1754923851.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.80 m.
2025-08-11T14:50:51.464Z,1754923851.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.800003 m,
      nav range: 237.240280 m,
      bearing: 173.296883 deg,
      approach rate: -0.606525 m/s,
      LOS rate: -0.004782 deg/s,
      cmd heading: 167.221800 deg,
      new cmd heading: 167.216581 deg.

2025-08-11T14:50:51.564Z,1754923851.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758200
2025-08-11T14:50:51.816Z,1754923851.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009822
2025-08-11T14:50:51.946Z,1754923851.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.80 m.
2025-08-11T14:50:51.949Z,1754923851.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.800003 m,
      nav range: 236.987244 m,
      bearing: 173.294871 deg,
      approach rate: -0.521783 m/s,
      LOS rate: -0.004153 deg/s,
      cmd heading: 167.216582 deg,
      new cmd heading: 167.210540 deg.

2025-08-11T14:50:52.068Z,1754923852.068 [DAT](INFO): DAT read: Rx Time:14:50:52.7921

2025-08-11T14:50:52.069Z,1754923852.069 [DAT](INFO): Rx dataTimestamp_ set to:1754923852.068414
2025-08-11T14:50:52.069Z,1754923852.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263034
2025-08-11T14:50:52.322Z,1754923852.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516064
2025-08-11T14:50:52.354Z,1754923852.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.80 m.
2025-08-11T14:50:52.357Z,1754923852.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.800003 m,
      nav range: 236.699402 m,
      bearing: 173.292742 deg,
      approach rate: -0.704921 m/s,
      LOS rate: -0.005221 deg/s,
      cmd heading: 167.210544 deg,
      new cmd heading: 167.204149 deg.

2025-08-11T14:50:52.578Z,1754923852.578 [DAT](INFO): DAT read: 14:50:52.7921 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408, 0.08,-0.346,-2.180,-0.344,-0.720, PHS= 0.476,-1.415, 0.332, RAW= 146.1,   6.7, CAL= 145.6,   7.3, ROT=   4.4,  -7.3

2025-08-11T14:50:52.579Z,1754923852.579 [DAT](INFO): got valid direction response:
 14:50:52.7921 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408, 0.08,-0.346,-2.180,-0.344,-0.720, PHS= 0.476,-1.415, 0.332, RAW= 146.1,   6.7, CAL= 145.6,   7.3, ROT=   4.4,  -7.3

2025-08-11T14:50:52.580Z,1754923852.580 [DAT](INFO): DAT read: Bearing 326.4,   2.1 (Local)

2025-08-11T14:50:52.580Z,1754923852.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.4,   2.1 (Local)

2025-08-11T14:50:52.582Z,1754923852.582 [DAT](INFO): DAT read: Range 11 to 50 : 238.7 m  (Round-trip  318.3 ms) speed  0.6 m/s

2025-08-11T14:50:52.583Z,1754923852.583 [DAT](INFO): DAT read: user:151>

2025-08-11T14:50:52.584Z,1754923852.584 [DAT](INFO): DAT read: Tx time:14:50:53.9197

2025-08-11T14:50:52.584Z,1754923852.584 [DAT](INFO): Ping request sent.
2025-08-11T14:50:52.584Z,1754923852.584 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:52.584Z,1754923852.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:50:52.585Z,1754923852.585 [DAT](INFO): direction in FSK: [0.988971,0.076097,0.127065]
2025-08-11T14:50:52.586Z,1754923852.586 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:52.586Z,1754923852.586 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:52.594Z,1754923852.594 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:52.594Z,1754923852.594 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:52.791Z,1754923852.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 238.699997 m,
      deltaT: 3.780102 s,
      deltaX: -2.100006 m,
      approachRate: -0.555542 m/s,
      rangeRepo size: 4

2025-08-11T14:50:52.793Z,1754923852.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 238.699997 m,
      bearing: 173.314128 deg,
      lat: 36.905842 deg,
      lon: -122.116082 deg,
      deltaT: 3.780102 s,
      deltaX: -2.100006 m,
      approachRate: -0.555542 m/s,
      posRepo size: 4

2025-08-11T14:50:52.794Z,1754923852.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.70 m.
2025-08-11T14:50:52.796Z,1754923852.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.699997 m,
      nav range: 237.249420 m,
      bearing: 173.314128 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005221 deg/s,
      cmd heading: 167.204151 deg,
      new cmd heading: 167.197330 deg.

2025-08-11T14:50:53.208Z,1754923853.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.70 m.
2025-08-11T14:50:53.211Z,1754923853.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.699997 m,
      nav range: 237.009659 m,
      bearing: 173.310963 deg,
      approach rate: -0.573623 m/s,
      LOS rate: -0.007582 deg/s,
      cmd heading: 167.197335 deg,
      new cmd heading: 167.187827 deg.

2025-08-11T14:50:53.590Z,1754923853.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:53.592Z,1754923853.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.70 m.
2025-08-11T14:50:53.595Z,1754923853.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.699997 m,
      nav range: 236.791870 m,
      bearing: 173.308245 deg,
      approach rate: -0.567087 m/s,
      LOS rate: -0.007083 deg/s,
      cmd heading: 167.187827 deg,
      new cmd heading: 167.179667 deg.

2025-08-11T14:50:53.832Z,1754923853.832 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:53.832Z,1754923853.832 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:53.833Z,1754923853.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:54.084Z,1754923854.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500094
2025-08-11T14:50:54.086Z,1754923854.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.70 m.
2025-08-11T14:50:54.089Z,1754923854.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.699997 m,
      nav range: 236.504807 m,
      bearing: 173.304746 deg,
      approach rate: -0.581227 m/s,
      LOS rate: -0.007093 deg/s,
      cmd heading: 167.179672 deg,
      new cmd heading: 167.169163 deg.

2025-08-11T14:50:54.336Z,1754923854.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752301
2025-08-11T14:50:54.447Z,1754923854.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.70 m.
2025-08-11T14:50:54.454Z,1754923854.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.699997 m,
      nav range: 236.298508 m,
      bearing: 173.302227 deg,
      approach rate: -0.571775 m/s,
      LOS rate: -0.006990 deg/s,
      cmd heading: 167.169167 deg,
      new cmd heading: 167.161601 deg.

2025-08-11T14:50:54.589Z,1754923854.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004857
2025-08-11T14:50:54.830Z,1754923854.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.70 m.
2025-08-11T14:50:54.833Z,1754923854.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.699997 m,
      nav range: 236.070999 m,
      bearing: 173.299772 deg,
      approach rate: -0.594158 m/s,
      LOS rate: -0.006416 deg/s,
      cmd heading: 167.161599 deg,
      new cmd heading: 167.154229 deg.

2025-08-11T14:50:54.840Z,1754923854.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256093
2025-08-11T14:50:55.092Z,1754923855.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508174
2025-08-11T14:50:55.262Z,1754923855.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.70 m.
2025-08-11T14:50:55.269Z,1754923855.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.699997 m,
      nav range: 235.834274 m,
      bearing: 173.296683 deg,
      approach rate: -0.547514 m/s,
      LOS rate: -0.007151 deg/s,
      cmd heading: 167.154222 deg,
      new cmd heading: 167.144946 deg.

2025-08-11T14:50:55.344Z,1754923855.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760055
2025-08-11T14:50:55.596Z,1754923855.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012102
2025-08-11T14:50:55.746Z,1754923855.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:55.749Z,1754923855.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.70 m.
2025-08-11T14:50:55.753Z,1754923855.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.699997 m,
      nav range: 235.548630 m,
      bearing: 173.293078 deg,
      approach rate: -0.586421 m/s,
      LOS rate: -0.007411 deg/s,
      cmd heading: 167.144947 deg,
      new cmd heading: 167.134117 deg.

2025-08-11T14:50:55.849Z,1754923855.849 [DAT](INFO): DAT read: Rx Time:14:50:56.6390

2025-08-11T14:50:55.849Z,1754923855.849 [DAT](INFO): Rx dataTimestamp_ set to:1754923855.848703
2025-08-11T14:50:55.850Z,1754923855.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265426
2025-08-11T14:50:56.100Z,1754923856.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516001
2025-08-11T14:50:56.193Z,1754923856.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.70 m.
2025-08-11T14:50:56.204Z,1754923856.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.699997 m,
      nav range: 235.295700 m,
      bearing: 173.289877 deg,
      approach rate: -0.569796 m/s,
      LOS rate: -0.007217 deg/s,
      cmd heading: 167.134114 deg,
      new cmd heading: 167.124503 deg.

2025-08-11T14:50:56.358Z,1754923856.358 [DAT](INFO): DAT read: 14:50:56.6390 LVL= 29824, 32753, 30402, 32755, AGC= 67, IDX= 408, 0.34,-1.203,-2.945,-1.230,-1.506, PHS= 0.405,-1.394, 0.232, RAW= 145.0,   8.9, CAL= 144.6,   9.7, ROT=   5.4,  -9.7

2025-08-11T14:50:56.372Z,1754923856.372 [DAT](INFO): got valid direction response:
 14:50:56.6390 LVL= 29824, 32753, 30402, 32755, AGC= 67, IDX= 408, 0.34,-1.203,-2.945,-1.230,-1.506, PHS= 0.405,-1.394, 0.232, RAW= 145.0,   8.9, CAL= 144.6,   9.7, ROT=   5.4,  -9.7

2025-08-11T14:50:56.373Z,1754923856.373 [DAT](INFO): DAT read: Bearing 327.9,   2.0 (Local)

2025-08-11T14:50:56.374Z,1754923856.374 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.9,   2.0 (Local)

2025-08-11T14:50:56.398Z,1754923856.398 [DAT](INFO): DAT read: Range 11 to 50 : 236.4 m  (Round-trip  315.2 ms) speed  0.4 m/s

2025-08-11T14:50:56.416Z,1754923856.416 [DAT](INFO): DAT read: user:152>

2025-08-11T14:50:56.417Z,1754923856.417 [DAT](INFO): DAT read: Tx time:14:50:57.7697

2025-08-11T14:50:56.418Z,1754923856.418 [DAT](INFO): Ping request sent.
2025-08-11T14:50:56.418Z,1754923856.418 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:50:56.418Z,1754923856.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:50:56.424Z,1754923856.424 [DAT](INFO): direction in FSK: [0.981329,0.092763,0.168489]
2025-08-11T14:50:56.424Z,1754923856.424 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:56.425Z,1754923856.425 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:56.442Z,1754923856.442 [DAT](INFO): publishing transmit ping time
2025-08-11T14:50:56.442Z,1754923856.442 [DAT](INFO): publishing direction and range info
2025-08-11T14:50:56.613Z,1754923856.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 236.399994 m,
      deltaT: 3.780028 s,
      deltaX: -2.300003 m,
      approachRate: -0.608462 m/s,
      rangeRepo size: 4

2025-08-11T14:50:56.615Z,1754923856.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.399994 m,
      bearing: 173.050958 deg,
      lat: 36.905842 deg,
      lon: -122.116071 deg,
      deltaT: 3.780028 s,
      deltaX: -2.300003 m,
      approachRate: -0.608462 m/s,
      posRepo size: 4

2025-08-11T14:50:56.616Z,1754923856.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:50:56.618Z,1754923856.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 235.176453 m,
      bearing: 173.050958 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.007217 deg/s,
      cmd heading: 167.124497 deg,
      new cmd heading: 167.115425 deg.

2025-08-11T14:50:57.081Z,1754923857.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:50:57.084Z,1754923857.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 234.917999 m,
      bearing: 173.044937 deg,
      approach rate: -0.551188 m/s,
      LOS rate: -0.012855 deg/s,
      cmd heading: 167.115427 deg,
      new cmd heading: 167.097343 deg.

2025-08-11T14:50:57.430Z,1754923857.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:50:57.433Z,1754923857.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 234.727646 m,
      bearing: 173.040522 deg,
      approach rate: -0.545394 m/s,
      LOS rate: -0.012659 deg/s,
      cmd heading: 167.097341 deg,
      new cmd heading: 167.084086 deg.

2025-08-11T14:50:57.794Z,1754923857.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:57.797Z,1754923857.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:50:57.800Z,1754923857.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 234.527954 m,
      bearing: 173.035904 deg,
      approach rate: -0.543619 m/s,
      LOS rate: -0.012582 deg/s,
      cmd heading: 167.084090 deg,
      new cmd heading: 167.070224 deg.

2025-08-11T14:50:57.865Z,1754923857.865 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:50:57.865Z,1754923857.865 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:50:57.865Z,1754923857.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:50:58.116Z,1754923858.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.698553
2025-08-11T14:50:58.236Z,1754923858.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:50:58.245Z,1754923858.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 234.296280 m,
      bearing: 173.030577 deg,
      approach rate: -0.527448 m/s,
      LOS rate: -0.012141 deg/s,
      cmd heading: 167.070225 deg,
      new cmd heading: 167.054227 deg.

2025-08-11T14:50:58.368Z,1754923858.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950705
2025-08-11T14:50:58.620Z,1754923858.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202699
2025-08-11T14:50:58.624Z,1754923858.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:50:58.630Z,1754923858.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 234.083710 m,
      bearing: 173.025689 deg,
      approach rate: -0.555128 m/s,
      LOS rate: -0.012776 deg/s,
      cmd heading: 167.054228 deg,
      new cmd heading: 167.039552 deg.

2025-08-11T14:50:58.874Z,1754923858.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455978
2025-08-11T14:50:59.083Z,1754923859.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:50:59.086Z,1754923859.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 233.827866 m,
      bearing: 173.019835 deg,
      approach rate: -0.556691 m/s,
      LOS rate: -0.012752 deg/s,
      cmd heading: 167.039557 deg,
      new cmd heading: 167.021976 deg.

2025-08-11T14:50:59.128Z,1754923859.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710754
2025-08-11T14:50:59.377Z,1754923859.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959545
2025-08-11T14:50:59.479Z,1754923859.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:50:59.482Z,1754923859.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 233.598587 m,
      bearing: 173.014113 deg,
      approach rate: -0.572927 m/s,
      LOS rate: -0.014312 deg/s,
      cmd heading: 167.021976 deg,
      new cmd heading: 167.004793 deg.

2025-08-11T14:50:59.628Z,1754923859.628 [DAT](INFO): DAT read: Rx Time:14:51:00.4861

2025-08-11T14:50:59.629Z,1754923859.629 [DAT](INFO): Rx dataTimestamp_ set to:1754923859.628266
2025-08-11T14:50:59.629Z,1754923859.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211600
2025-08-11T14:50:59.832Z,1754923859.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:50:59.834Z,1754923859.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:50:59.837Z,1754923859.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 233.397446 m,
      bearing: 173.009099 deg,
      approach rate: -0.566856 m/s,
      LOS rate: -0.014142 deg/s,
      cmd heading: 167.004791 deg,
      new cmd heading: 166.989737 deg.

2025-08-11T14:50:59.881Z,1754923859.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463472
2025-08-11T14:51:00.135Z,1754923860.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.716943
2025-08-11T14:51:00.269Z,1754923860.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.40 m.
2025-08-11T14:51:00.284Z,1754923860.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.399994 m,
      nav range: 233.137375 m,
      bearing: 173.004280 deg,
      approach rate: -0.597567 m/s,
      LOS rate: -0.011086 deg/s,
      cmd heading: 166.989738 deg,
      new cmd heading: 166.975263 deg.

2025-08-11T14:51:00.398Z,1754923860.398 [DAT](INFO): DAT read: 14:51:00.4861 LVL= 27280, 32753, 31074, 32755, AGC= 73, IDX= 410,-0.22, 1.661,-0.250, 1.571, 1.284, PHS= 0.479,-1.489, 0.243, RAW= 143.7,   8.3, CAL= 143.3,   9.1, ROT=   6.7,  -9.1

2025-08-11T14:51:00.403Z,1754923860.403 [DAT](INFO): got valid direction response:
 14:51:00.4861 LVL= 27280, 32753, 31074, 32755, AGC= 73, IDX= 410,-0.22, 1.661,-0.250, 1.571, 1.284, PHS= 0.479,-1.489, 0.243, RAW= 143.7,   8.3, CAL= 143.3,   9.1, ROT=   6.7,  -9.1

2025-08-11T14:51:00.404Z,1754923860.404 [DAT](INFO): DAT read: Bearing 327.3,   3.5 (Local)

2025-08-11T14:51:00.405Z,1754923860.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.3,   3.5 (Local)

2025-08-11T14:51:00.406Z,1754923860.406 [DAT](INFO): DAT read: Range 11 to 50 : 234.2 m  (Round-trip  312.3 ms) speed  0.3 m/s

2025-08-11T14:51:00.411Z,1754923860.411 [DAT](INFO): DAT read: user:153>

2025-08-11T14:51:00.412Z,1754923860.412 [DAT](INFO): DAT read: Tx time:14:51:01.5697

2025-08-11T14:51:00.412Z,1754923860.412 [DAT](INFO): Ping request sent.
2025-08-11T14:51:00.412Z,1754923860.412 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:00.413Z,1754923860.413 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:00.414Z,1754923860.414 [DAT](INFO): direction in FSK: [0.980670,0.115202,0.158158]
2025-08-11T14:51:00.414Z,1754923860.414 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:00.414Z,1754923860.414 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:00.417Z,1754923860.417 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:00.417Z,1754923860.417 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:00.702Z,1754923860.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 234.199997 m,
      deltaT: 4.032855 s,
      deltaX: -2.199997 m,
      approachRate: -0.545518 m/s,
      rangeRepo size: 4

2025-08-11T14:51:00.709Z,1754923860.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 234.199997 m,
      bearing: 173.243872 deg,
      lat: 36.905840 deg,
      lon: -122.116082 deg,
      deltaT: 4.032855 s,
      deltaX: -2.199997 m,
      approachRate: -0.545518 m/s,
      posRepo size: 4

2025-08-11T14:51:00.710Z,1754923860.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.20 m.
2025-08-11T14:51:00.717Z,1754923860.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.199997 m,
      nav range: 232.971039 m,
      bearing: 173.243872 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011086 deg/s,
      cmd heading: 166.975258 deg,
      new cmd heading: 166.960875 deg.

2025-08-11T14:51:01.109Z,1754923861.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.20 m.
2025-08-11T14:51:01.116Z,1754923861.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.199997 m,
      nav range: 232.721924 m,
      bearing: 173.239523 deg,
      approach rate: -0.611977 m/s,
      LOS rate: -0.010695 deg/s,
      cmd heading: 166.960873 deg,
      new cmd heading: 166.947812 deg.

2025-08-11T14:51:01.464Z,1754923861.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.20 m.
2025-08-11T14:51:01.467Z,1754923861.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.199997 m,
      nav range: 232.500305 m,
      bearing: 173.236910 deg,
      approach rate: -0.623681 m/s,
      LOS rate: -0.007360 deg/s,
      cmd heading: 166.947814 deg,
      new cmd heading: 166.939968 deg.

2025-08-11T14:51:01.833Z,1754923861.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.20 m.
2025-08-11T14:51:01.836Z,1754923861.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.199997 m,
      nav range: 232.275024 m,
      bearing: 173.234250 deg,
      approach rate: -0.610049 m/s,
      LOS rate: -0.007209 deg/s,
      cmd heading: 166.939973 deg,
      new cmd heading: 166.931986 deg.

2025-08-11T14:51:02.259Z,1754923862.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:02.261Z,1754923862.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.20 m.
2025-08-11T14:51:02.264Z,1754923862.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.199997 m,
      nav range: 232.011581 m,
      bearing: 173.231453 deg,
      approach rate: -0.615838 m/s,
      LOS rate: -0.006547 deg/s,
      cmd heading: 166.931982 deg,
      new cmd heading: 166.923579 deg.

2025-08-11T14:51:02.400Z,1754923862.400 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:02.400Z,1754923862.400 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:02.400Z,1754923862.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:02.652Z,1754923862.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239933
2025-08-11T14:51:02.660Z,1754923862.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.20 m.
2025-08-11T14:51:02.663Z,1754923862.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.199997 m,
      nav range: 231.766724 m,
      bearing: 173.228847 deg,
      approach rate: -0.613953 m/s,
      LOS rate: -0.006541 deg/s,
      cmd heading: 166.923581 deg,
      new cmd heading: 166.915754 deg.

2025-08-11T14:51:02.904Z,1754923862.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491775
2025-08-11T14:51:03.060Z,1754923863.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.20 m.
2025-08-11T14:51:03.072Z,1754923863.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.199997 m,
      nav range: 231.521683 m,
      bearing: 173.226339 deg,
      approach rate: -0.615223 m/s,
      LOS rate: -0.006303 deg/s,
      cmd heading: 166.915753 deg,
      new cmd heading: 166.908222 deg.

2025-08-11T14:51:03.156Z,1754923863.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743951
2025-08-11T14:51:03.408Z,1754923863.408 [DAT](INFO): DAT read: Rx Time:14:51:04.2832

2025-08-11T14:51:03.409Z,1754923863.409 [DAT](INFO): Rx dataTimestamp_ set to:1754923863.408594
2025-08-11T14:51:03.409Z,1754923863.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997034
2025-08-11T14:51:03.525Z,1754923863.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.20 m.
2025-08-11T14:51:03.533Z,1754923863.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.199997 m,
      nav range: 231.258026 m,
      bearing: 173.224050 deg,
      approach rate: -0.576763 m/s,
      LOS rate: -0.005012 deg/s,
      cmd heading: 166.908226 deg,
      new cmd heading: 166.901352 deg.

2025-08-11T14:51:03.660Z,1754923863.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247800
2025-08-11T14:51:03.891Z,1754923863.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.20 m.
2025-08-11T14:51:03.894Z,1754923863.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.199997 m,
      nav range: 231.050217 m,
      bearing: 173.222303 deg,
      approach rate: -0.559729 m/s,
      LOS rate: -0.004711 deg/s,
      cmd heading: 166.901355 deg,
      new cmd heading: 166.896108 deg.

2025-08-11T14:51:03.915Z,1754923863.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502099
2025-08-11T14:51:04.176Z,1754923864.176 [DAT](INFO): DAT read: 14:51:04.2832 LVL= 30512, 32753, 32066, 32755, AGC= 72, IDX= 414,-0.49,-2.478, 1.998,-2.593,-2.850, PHS= 0.475,-1.389, 0.213, RAW= 142.5,   8.1, CAL= 142.1,   8.9, ROT=   7.9,  -8.9

2025-08-11T14:51:04.177Z,1754923864.177 [DAT](INFO): got valid direction response:
 14:51:04.2832 LVL= 30512, 32753, 32066, 32755, AGC= 72, IDX= 414,-0.49,-2.478, 1.998,-2.593,-2.850, PHS= 0.475,-1.389, 0.213, RAW= 142.5,   8.1, CAL= 142.1,   8.9, ROT=   7.9,  -8.9

2025-08-11T14:51:04.178Z,1754923864.178 [DAT](INFO): DAT read: Bearing 326.8,   4.2 (Local)

2025-08-11T14:51:04.178Z,1754923864.178 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.8,   4.2 (Local)

2025-08-11T14:51:04.180Z,1754923864.180 [DAT](INFO): DAT read: Range 11 to 50 : 232.0 m  (Round-trip  309.4 ms) speed  0.4 m/s

2025-08-11T14:51:04.180Z,1754923864.180 [DAT](INFO): DAT read: user:154>

2025-08-11T14:51:04.181Z,1754923864.181 [DAT](INFO): DAT read: Tx time:14:51:05.3696

2025-08-11T14:51:04.181Z,1754923864.181 [DAT](INFO): Ping request sent.
2025-08-11T14:51:04.181Z,1754923864.181 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:04.182Z,1754923864.182 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:04.183Z,1754923864.183 [DAT](INFO): direction in FSK: [0.978584,0.135790,0.154710]
2025-08-11T14:51:04.183Z,1754923864.183 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:04.183Z,1754923864.183 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:04.186Z,1754923864.186 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:04.187Z,1754923864.187 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:04.416Z,1754923864.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 232.000000 m,
      deltaT: 3.779452 s,
      deltaX: -2.199997 m,
      approachRate: -0.582094 m/s,
      rangeRepo size: 4

2025-08-11T14:51:04.419Z,1754923864.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 232.000000 m,
      bearing: 173.428018 deg,
      lat: 36.905839 deg,
      lon: -122.116091 deg,
      deltaT: 3.779452 s,
      deltaX: -2.199997 m,
      approachRate: -0.582094 m/s,
      posRepo size: 4

2025-08-11T14:51:04.431Z,1754923864.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.00 m.
2025-08-11T14:51:04.434Z,1754923864.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.000000 m,
      nav range: 230.776779 m,
      bearing: 173.428018 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004711 deg/s,
      cmd heading: 166.896110 deg,
      new cmd heading: 166.888705 deg.

2025-08-11T14:51:04.698Z,1754923864.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:04.731Z,1754923864.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.00 m.
2025-08-11T14:51:04.754Z,1754923864.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.000000 m,
      nav range: 230.601959 m,
      bearing: 173.426827 deg,
      approach rate: -0.549786 m/s,
      LOS rate: -0.003750 deg/s,
      cmd heading: 166.888706 deg,
      new cmd heading: 166.885129 deg.

2025-08-11T14:51:04.920Z,1754923864.920 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:04.921Z,1754923864.921 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:04.921Z,1754923864.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:05.169Z,1754923865.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.00 m.
2025-08-11T14:51:05.172Z,1754923865.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990788
2025-08-11T14:51:05.174Z,1754923865.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.000000 m,
      nav range: 230.331024 m,
      bearing: 173.425011 deg,
      approach rate: -0.614644 m/s,
      LOS rate: -0.004123 deg/s,
      cmd heading: 166.885127 deg,
      new cmd heading: 166.879674 deg.

2025-08-11T14:51:05.424Z,1754923865.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242575
2025-08-11T14:51:05.546Z,1754923865.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.00 m.
2025-08-11T14:51:05.549Z,1754923865.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.000000 m,
      nav range: 230.113434 m,
      bearing: 173.424635 deg,
      approach rate: -0.577727 m/s,
      LOS rate: -0.000999 deg/s,
      cmd heading: 166.879676 deg,
      new cmd heading: 166.878547 deg.

2025-08-11T14:51:05.676Z,1754923865.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494798
2025-08-11T14:51:05.918Z,1754923865.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.00 m.
2025-08-11T14:51:05.923Z,1754923865.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.000000 m,
      nav range: 229.889938 m,
      bearing: 173.424213 deg,
      approach rate: -0.601252 m/s,
      LOS rate: -0.001138 deg/s,
      cmd heading: 166.878542 deg,
      new cmd heading: 166.877273 deg.

2025-08-11T14:51:05.930Z,1754923865.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748184
2025-08-11T14:51:06.180Z,1754923866.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998587
2025-08-11T14:51:06.388Z,1754923866.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.00 m.
2025-08-11T14:51:06.390Z,1754923866.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.000000 m,
      nav range: 229.628204 m,
      bearing: 173.423140 deg,
      approach rate: -0.562420 m/s,
      LOS rate: -0.002308 deg/s,
      cmd heading: 166.877272 deg,
      new cmd heading: 166.874049 deg.

2025-08-11T14:51:06.432Z,1754923866.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250879
2025-08-11T14:51:06.684Z,1754923866.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502592
2025-08-11T14:51:06.774Z,1754923866.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:06.776Z,1754923866.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.00 m.
2025-08-11T14:51:06.779Z,1754923866.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.000000 m,
      nav range: 229.393982 m,
      bearing: 173.422101 deg,
      approach rate: -0.595508 m/s,
      LOS rate: -0.002645 deg/s,
      cmd heading: 166.874048 deg,
      new cmd heading: 166.870927 deg.

2025-08-11T14:51:06.937Z,1754923866.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755308
2025-08-11T14:51:07.188Z,1754923867.188 [DAT](INFO): DAT read: Rx Time:14:51:08.0802

2025-08-11T14:51:07.189Z,1754923867.189 [DAT](INFO): Rx dataTimestamp_ set to:1754923867.188485
2025-08-11T14:51:07.189Z,1754923867.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007809
2025-08-11T14:51:07.210Z,1754923867.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.00 m.
2025-08-11T14:51:07.217Z,1754923867.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.000000 m,
      nav range: 229.155579 m,
      bearing: 173.420917 deg,
      approach rate: -0.549461 m/s,
      LOS rate: -0.002730 deg/s,
      cmd heading: 166.870933 deg,
      new cmd heading: 166.867379 deg.

2025-08-11T14:51:07.441Z,1754923867.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259093
2025-08-11T14:51:07.588Z,1754923867.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.00 m.
2025-08-11T14:51:07.591Z,1754923867.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.000000 m,
      nav range: 228.936722 m,
      bearing: 173.419747 deg,
      approach rate: -0.580887 m/s,
      LOS rate: -0.003108 deg/s,
      cmd heading: 166.867382 deg,
      new cmd heading: 166.863869 deg.

2025-08-11T14:51:07.692Z,1754923867.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510656
2025-08-11T14:51:07.951Z,1754923867.951 [DAT](INFO): DAT read: 14:51:08.0802 LVL= 32752, 32753, 30994, 32755, AGC= 72, IDX= 415, 0.47,-3.073, 1.319,-3.133, 2.859, PHS= 0.453,-1.495, 0.247, RAW= 144.5,   8.6, CAL= 144.0,   9.4, ROT=   6.0,  -9.4

2025-08-11T14:51:07.952Z,1754923867.952 [DAT](INFO): got valid direction response:
 14:51:08.0802 LVL= 32752, 32753, 30994, 32755, AGC= 72, IDX= 415, 0.47,-3.073, 1.319,-3.133, 2.859, PHS= 0.453,-1.495, 0.247, RAW= 144.5,   8.6, CAL= 144.0,   9.4, ROT=   6.0,  -9.4

2025-08-11T14:51:07.953Z,1754923867.953 [DAT](INFO): DAT read: Bearing 327.1,   1.9 (Local)

2025-08-11T14:51:07.953Z,1754923867.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.1,   1.9 (Local)

2025-08-11T14:51:07.955Z,1754923867.955 [DAT](INFO): DAT read: Range 11 to 50 : 229.8 m  (Round-trip  306.5 ms) speed  0.5 m/s

2025-08-11T14:51:07.955Z,1754923867.955 [DAT](INFO): DAT read: user:155>

2025-08-11T14:51:07.956Z,1754923867.956 [DAT](INFO): DAT read: Tx time:14:51:09.1696

2025-08-11T14:51:07.956Z,1754923867.956 [DAT](INFO): Ping request sent.
2025-08-11T14:51:07.957Z,1754923867.957 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:07.957Z,1754923867.957 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:07.958Z,1754923867.958 [DAT](INFO): direction in FSK: [0.981168,0.103125,0.163326]
2025-08-11T14:51:07.958Z,1754923867.958 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:07.958Z,1754923867.958 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:07.966Z,1754923867.966 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:07.966Z,1754923867.966 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:08.073Z,1754923868.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 229.800003 m,
      deltaT: 3.780111 s,
      deltaX: -2.199997 m,
      approachRate: -0.581993 m/s,
      rangeRepo size: 4

2025-08-11T14:51:08.080Z,1754923868.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 229.800003 m,
      bearing: 173.274337 deg,
      lat: 36.905839 deg,
      lon: -122.116085 deg,
      deltaT: 3.780111 s,
      deltaX: -2.199997 m,
      approachRate: -0.581993 m/s,
      posRepo size: 4

2025-08-11T14:51:08.080Z,1754923868.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:08.083Z,1754923868.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 228.748993 m,
      bearing: 173.274337 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003108 deg/s,
      cmd heading: 166.863871 deg,
      new cmd heading: 166.859343 deg.

2025-08-11T14:51:08.520Z,1754923868.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:08.524Z,1754923868.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 228.493622 m,
      bearing: 173.270914 deg,
      approach rate: -0.570153 m/s,
      LOS rate: -0.007649 deg/s,
      cmd heading: 166.859349 deg,
      new cmd heading: 166.849071 deg.

2025-08-11T14:51:08.884Z,1754923868.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:08.886Z,1754923868.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:08.889Z,1754923868.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 228.295868 m,
      bearing: 173.268050 deg,
      approach rate: -0.540867 m/s,
      LOS rate: -0.007840 deg/s,
      cmd heading: 166.849077 deg,
      new cmd heading: 166.840477 deg.

2025-08-11T14:51:08.953Z,1754923868.953 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:08.953Z,1754923868.953 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:08.953Z,1754923868.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:09.208Z,1754923869.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250388
2025-08-11T14:51:09.294Z,1754923869.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:09.297Z,1754923869.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 228.061615 m,
      bearing: 173.265914 deg,
      approach rate: -0.573716 m/s,
      LOS rate: -0.005237 deg/s,
      cmd heading: 166.840471 deg,
      new cmd heading: 166.834056 deg.

2025-08-11T14:51:09.456Z,1754923869.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499511
2025-08-11T14:51:09.668Z,1754923869.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:09.671Z,1754923869.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 227.848770 m,
      bearing: 173.263774 deg,
      approach rate: -0.569626 m/s,
      LOS rate: -0.005734 deg/s,
      cmd heading: 166.834050 deg,
      new cmd heading: 166.827623 deg.

2025-08-11T14:51:09.711Z,1754923869.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753994
2025-08-11T14:51:09.960Z,1754923869.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003437
2025-08-11T14:51:10.140Z,1754923870.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:10.143Z,1754923870.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 227.582687 m,
      bearing: 173.260897 deg,
      approach rate: -0.563773 m/s,
      LOS rate: -0.006103 deg/s,
      cmd heading: 166.827630 deg,
      new cmd heading: 166.818989 deg.

2025-08-11T14:51:10.212Z,1754923870.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255693
2025-08-11T14:51:10.464Z,1754923870.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507637
2025-08-11T14:51:10.551Z,1754923870.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:10.553Z,1754923870.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 227.342529 m,
      bearing: 173.257992 deg,
      approach rate: -0.585038 m/s,
      LOS rate: -0.007084 deg/s,
      cmd heading: 166.818983 deg,
      new cmd heading: 166.810259 deg.

2025-08-11T14:51:10.716Z,1754923870.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759428
2025-08-11T14:51:10.911Z,1754923870.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:10.934Z,1754923870.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:10.943Z,1754923870.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 227.133972 m,
      bearing: 173.255328 deg,
      approach rate: -0.543980 m/s,
      LOS rate: -0.006956 deg/s,
      cmd heading: 166.810254 deg,
      new cmd heading: 166.802253 deg.

2025-08-11T14:51:10.968Z,1754923870.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011586
2025-08-11T14:51:11.224Z,1754923871.224 [DAT](INFO): DAT read: Rx Time:14:51:11.8772

2025-08-11T14:51:11.225Z,1754923871.225 [DAT](INFO): Rx dataTimestamp_ set to:1754923871.224212
2025-08-11T14:51:11.231Z,1754923871.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269883
2025-08-11T14:51:11.358Z,1754923871.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:11.372Z,1754923871.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 226.878723 m,
      bearing: 173.250524 deg,
      approach rate: -0.601668 m/s,
      LOS rate: -0.011337 deg/s,
      cmd heading: 166.802249 deg,
      new cmd heading: 166.787821 deg.

2025-08-11T14:51:11.472Z,1754923871.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515502
2025-08-11T14:51:11.774Z,1754923871.774 [DAT](INFO): DAT read: 14:51:11.8772 LVL= 32752, 30561, 25426, 32755, AGC= 71, IDX= 416,-0.14, 1.405,-0.455, 1.436, 1.088, PHS= 0.419,-1.498, 0.304, RAW= 146.9,   8.4, CAL= 146.5,   9.1, ROT=   3.5,  -9.1

2025-08-11T14:51:11.775Z,1754923871.775 [DAT](INFO): got valid direction response:
 14:51:11.8772 LVL= 32752, 30561, 25426, 32755, AGC= 71, IDX= 416,-0.14, 1.405,-0.455, 1.436, 1.088, PHS= 0.419,-1.498, 0.304, RAW= 146.9,   8.4, CAL= 146.5,   9.1, ROT=   3.5,  -9.1

2025-08-11T14:51:11.782Z,1754923871.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.80 m.
2025-08-11T14:51:11.784Z,1754923871.784 [DAT](INFO): DAT read: Bearing 328.1,   0.7 (Local)

2025-08-11T14:51:11.784Z,1754923871.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.1,   0.7 (Local)

2025-08-11T14:51:11.786Z,1754923871.786 [DAT](INFO): DAT read: Range 11 to 50 : 227.6 m  (Round-trip  303.5 ms) speed  0.4 m/s

2025-08-11T14:51:11.787Z,1754923871.787 [DAT](INFO): DAT read: user:156>

2025-08-11T14:51:11.793Z,1754923871.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.800003 m,
      nav range: 226.642532 m,
      bearing: 173.245869 deg,
      approach rate: -0.557271 m/s,
      LOS rate: -0.010993 deg/s,
      cmd heading: 166.787824 deg,
      new cmd heading: 166.773846 deg.

2025-08-11T14:51:11.796Z,1754923871.796 [DAT](INFO): DAT read: Tx time:14:51:12.9696

2025-08-11T14:51:11.796Z,1754923871.796 [DAT](INFO): Ping request sent.
2025-08-11T14:51:11.796Z,1754923871.796 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:11.796Z,1754923871.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:11.797Z,1754923871.797 [DAT](INFO): direction in FSK: [0.985572,0.060280,0.158158]
2025-08-11T14:51:11.797Z,1754923871.797 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:11.798Z,1754923871.798 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:11.806Z,1754923871.806 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:11.806Z,1754923871.806 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:12.135Z,1754923872.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 227.600006 m,
      deltaT: 3.783109 s,
      deltaX: -2.199997 m,
      approachRate: -0.581531 m/s,
      rangeRepo size: 4

2025-08-11T14:51:12.137Z,1754923872.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 227.600006 m,
      bearing: 173.237794 deg,
      lat: 36.905840 deg,
      lon: -122.116085 deg,
      deltaT: 3.783109 s,
      deltaX: -2.199997 m,
      approachRate: -0.581531 m/s,
      posRepo size: 4

2025-08-11T14:51:12.138Z,1754923872.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:12.140Z,1754923872.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 226.291229 m,
      bearing: 173.237794 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010993 deg/s,
      cmd heading: 166.773849 deg,
      new cmd heading: 166.762242 deg.

2025-08-11T14:51:12.562Z,1754923872.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:12.581Z,1754923872.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 226.027145 m,
      bearing: 173.233336 deg,
      approach rate: -0.616799 m/s,
      LOS rate: -0.010424 deg/s,
      cmd heading: 166.762238 deg,
      new cmd heading: 166.748848 deg.

2025-08-11T14:51:13.043Z,1754923873.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:13.046Z,1754923873.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:13.048Z,1754923873.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 225.731781 m,
      bearing: 173.228334 deg,
      approach rate: -0.610950 m/s,
      LOS rate: -0.010361 deg/s,
      cmd heading: 166.748851 deg,
      new cmd heading: 166.733823 deg.

2025-08-11T14:51:13.239Z,1754923873.239 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:13.239Z,1754923873.239 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:13.240Z,1754923873.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:13.488Z,1754923873.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692282
2025-08-11T14:51:13.489Z,1754923873.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:13.492Z,1754923873.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 225.456161 m,
      bearing: 173.222274 deg,
      approach rate: -0.620956 m/s,
      LOS rate: -0.013668 deg/s,
      cmd heading: 166.733824 deg,
      new cmd heading: 166.715623 deg.

2025-08-11T14:51:13.740Z,1754923873.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944067
2025-08-11T14:51:13.901Z,1754923873.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:13.904Z,1754923873.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 225.210297 m,
      bearing: 173.216903 deg,
      approach rate: -0.596969 m/s,
      LOS rate: -0.013056 deg/s,
      cmd heading: 166.715629 deg,
      new cmd heading: 166.699497 deg.

2025-08-11T14:51:13.994Z,1754923873.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197632
2025-08-11T14:51:14.247Z,1754923874.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450288
2025-08-11T14:51:14.404Z,1754923874.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:14.407Z,1754923874.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 224.880539 m,
      bearing: 173.209211 deg,
      approach rate: -0.655508 m/s,
      LOS rate: -0.015313 deg/s,
      cmd heading: 166.699496 deg,
      new cmd heading: 166.676386 deg.

2025-08-11T14:51:14.496Z,1754923874.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.700173
2025-08-11T14:51:14.690Z,1754923874.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:14.693Z,1754923874.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 224.699890 m,
      bearing: 173.205027 deg,
      approach rate: -0.632559 m/s,
      LOS rate: -0.014661 deg/s,
      cmd heading: 166.676382 deg,
      new cmd heading: 166.663821 deg.

2025-08-11T14:51:14.749Z,1754923874.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.952918
2025-08-11T14:51:15.000Z,1754923875.000 [DAT](INFO): DAT read: Rx Time:14:51:15.6743

2025-08-11T14:51:15.001Z,1754923875.001 [DAT](INFO): Rx dataTimestamp_ set to:1754923875.000401
2025-08-11T14:51:15.001Z,1754923875.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205250
2025-08-11T14:51:15.110Z,1754923875.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:15.134Z,1754923875.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:15.137Z,1754923875.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 224.432785 m,
      bearing: 173.198889 deg,
      approach rate: -0.600971 m/s,
      LOS rate: -0.013826 deg/s,
      cmd heading: 166.663815 deg,
      new cmd heading: 166.645380 deg.

2025-08-11T14:51:15.255Z,1754923875.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458002
2025-08-11T14:51:15.507Z,1754923875.507 [DAT](INFO): DAT read: 14:51:15.6743 LVL= 25072, 32753, 29490, 32755, AGC= 72, IDX= 418,-0.16, 0.452,-1.358, 0.513, 0.148, PHS= 0.405,-1.461, 0.321, RAW= 147.7,   8.1, CAL= 147.2696

2025-08-11T14:51:15.508Z,1754923875.508 [DAT](INFO): unknown deviceResponse_: 14:51:15.6743 LVL= 25072, 32753, 29490, 32755, AGC= 72, IDX= 418,-0.16, 0.452,-1.358, 0.513, 0.148, PHS= 0.405,-1.461, 0.321, RAW= 147.7,   8.1, CAL= 147.2696

2025-08-11T14:51:15.509Z,1754923875.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.712704
2025-08-11T14:51:15.574Z,1754923875.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:15.576Z,1754923875.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 224.140793 m,
      bearing: 173.190082 deg,
      approach rate: -0.664892 m/s,
      LOS rate: -0.020081 deg/s,
      cmd heading: 166.645373 deg,
      new cmd heading: 166.618917 deg.

2025-08-11T14:51:15.756Z,1754923875.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.960353
2025-08-11T14:51:15.897Z,1754923875.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:15.916Z,1754923875.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 223.936127 m,
      bearing: 173.183875 deg,
      approach rate: -0.633294 m/s,
      LOS rate: -0.019225 deg/s,
      cmd heading: 166.618913 deg,
      new cmd heading: 166.600274 deg.

2025-08-11T14:51:16.009Z,1754923876.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.212559
2025-08-11T14:51:16.264Z,1754923876.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.467738
2025-08-11T14:51:16.389Z,1754923876.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:16.396Z,1754923876.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 223.638351 m,
      bearing: 173.174290 deg,
      approach rate: -0.604295 m/s,
      LOS rate: -0.019478 deg/s,
      cmd heading: 166.600280 deg,
      new cmd heading: 166.571486 deg.

2025-08-11T14:51:16.512Z,1754923876.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.716190
2025-08-11T14:51:16.704Z,1754923876.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:16.706Z,1754923876.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 223.440140 m,
      bearing: 173.167949 deg,
      approach rate: -0.630593 m/s,
      LOS rate: -0.020191 deg/s,
      cmd heading: 166.571484 deg,
      new cmd heading: 166.552445 deg.

2025-08-11T14:51:16.764Z,1754923876.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.968205
2025-08-11T14:51:17.016Z,1754923877.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.220087
2025-08-11T14:51:17.109Z,1754923877.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:17.112Z,1754923877.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 223.190994 m,
      bearing: 173.159991 deg,
      approach rate: -0.614582 m/s,
      LOS rate: -0.019653 deg/s,
      cmd heading: 166.552442 deg,
      new cmd heading: 166.528541 deg.

2025-08-11T14:51:17.271Z,1754923877.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.474267
2025-08-11T14:51:17.521Z,1754923877.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.725177
2025-08-11T14:51:17.560Z,1754923877.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:17.562Z,1754923877.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:17.565Z,1754923877.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 222.935867 m,
      bearing: 173.148912 deg,
      approach rate: -0.563818 m/s,
      LOS rate: -0.024511 deg/s,
      cmd heading: 166.528536 deg,
      new cmd heading: 166.495263 deg.

2025-08-11T14:51:17.773Z,1754923877.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.976854
2025-08-11T14:51:17.930Z,1754923877.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:17.935Z,1754923877.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 222.730347 m,
      bearing: 173.139998 deg,
      approach rate: -0.558208 m/s,
      LOS rate: -0.024235 deg/s,
      cmd heading: 166.495259 deg,
      new cmd heading: 166.468491 deg.

2025-08-11T14:51:18.025Z,1754923878.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.228791
2025-08-11T14:51:18.279Z,1754923878.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.482290
2025-08-11T14:51:18.399Z,1754923878.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:18.402Z,1754923878.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 222.470367 m,
      bearing: 173.129591 deg,
      approach rate: -0.554580 m/s,
      LOS rate: -0.022225 deg/s,
      cmd heading: 166.468485 deg,
      new cmd heading: 166.437229 deg.

2025-08-11T14:51:18.528Z,1754923878.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.732345
2025-08-11T14:51:18.749Z,1754923878.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:18.769Z,1754923878.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 222.280548 m,
      bearing: 173.121978 deg,
      approach rate: -0.542308 m/s,
      LOS rate: -0.021770 deg/s,
      cmd heading: 166.437230 deg,
      new cmd heading: 166.414370 deg.

2025-08-11T14:51:18.780Z,1754923878.780 [DAT](INFO): DAT read: Rx Time:14:51:19.4714

2025-08-11T14:51:18.781Z,1754923878.781 [DAT](INFO): Rx dataTimestamp_ set to:1754923878.780648
2025-08-11T14:51:18.781Z,1754923878.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.985507
2025-08-11T14:51:19.032Z,1754923879.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.236149
2025-08-11T14:51:19.171Z,1754923879.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.60 m.
2025-08-11T14:51:19.173Z,1754923879.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.600006 m,
      nav range: 222.045456 m,
      bearing: 173.112746 deg,
      approach rate: -0.557233 m/s,
      LOS rate: -0.021904 deg/s,
      cmd heading: 166.414376 deg,
      new cmd heading: 166.386653 deg.

2025-08-11T14:51:19.293Z,1754923879.293 [DAT](INFO): DAT read: 14:51:19.4714 LVL= 30064, 32753, 29522, 32755, AGC= 72, IDX= 405,-0.22,-0.137,-1.985,-0.108,-0.422, PHS= 0.388,-1.517, 0.270, RAW= 146.8,   9.3, CAL= 146.4,  10.2, ROT=   3.6, -10.2

2025-08-11T14:51:19.300Z,1754923879.300 [DAT](INFO): got valid direction response:
 14:51:19.4714 LVL= 30064, 32753, 29522, 32755, AGC= 72, IDX= 405,-0.22,-0.137,-1.985,-0.108,-0.422, PHS= 0.388,-1.517, 0.270, RAW= 146.8,   9.3, CAL= 146.4,  10.2, ROT=   3.6, -10.2

2025-08-11T14:51:19.303Z,1754923879.303 [DAT](INFO): DAT read: Bearing 328.9,   1.2 (Local)

2025-08-11T14:51:19.308Z,1754923879.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.9,   1.2 (Local)

2025-08-11T14:51:19.318Z,1754923879.318 [DAT](INFO): DAT read: Range 11 to 50 : 223.2 m  (Round-trip  297.7 ms) speed  0.5 m/s

2025-08-11T14:51:19.321Z,1754923879.321 [DAT](INFO): DAT read: user:158>

2025-08-11T14:51:19.336Z,1754923879.336 [DAT](INFO): DAT read: Tx time:14:51:20.5696

2025-08-11T14:51:19.337Z,1754923879.337 [DAT](INFO): Ping request sent.
2025-08-11T14:51:19.338Z,1754923879.338 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:19.343Z,1754923879.343 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:19.367Z,1754923879.367 [DAT](INFO): direction in FSK: [0.982254,0.061798,0.177085]
2025-08-11T14:51:19.367Z,1754923879.367 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:19.368Z,1754923879.368 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:19.371Z,1754923879.371 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:19.371Z,1754923879.371 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:19.602Z,1754923879.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 223.199997 m,
      deltaT: 7.557109 s,
      deltaX: -4.400009 m,
      approachRate: -0.582234 m/s,
      rangeRepo size: 4

2025-08-11T14:51:19.608Z,1754923879.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 223.199997 m,
      bearing: 173.105151 deg,
      lat: 36.905840 deg,
      lon: -122.116085 deg,
      deltaT: 7.557109 s,
      deltaX: -4.400009 m,
      approachRate: -0.582234 m/s,
      posRepo size: 4

2025-08-11T14:51:19.609Z,1754923879.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-11T14:51:19.616Z,1754923879.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.199997 m,
      nav range: 221.832642 m,
      bearing: 173.105151 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021904 deg/s,
      cmd heading: 166.386659 deg,
      new cmd heading: 166.358348 deg.

2025-08-11T14:51:19.969Z,1754923879.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:19.971Z,1754923879.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-11T14:51:19.974Z,1754923879.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.199997 m,
      nav range: 221.627075 m,
      bearing: 173.097957 deg,
      approach rate: -0.556273 m/s,
      LOS rate: -0.019485 deg/s,
      cmd heading: 166.358355 deg,
      new cmd heading: 166.336754 deg.

2025-08-11T14:51:20.041Z,1754923880.041 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:20.041Z,1754923880.041 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:20.041Z,1754923880.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:20.292Z,1754923880.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.954668
2025-08-11T14:51:20.415Z,1754923880.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-11T14:51:20.418Z,1754923880.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.199997 m,
      nav range: 221.386261 m,
      bearing: 173.091135 deg,
      approach rate: -0.542555 m/s,
      LOS rate: -0.015388 deg/s,
      cmd heading: 166.336758 deg,
      new cmd heading: 166.316268 deg.

2025-08-11T14:51:20.544Z,1754923880.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206654
2025-08-11T14:51:20.790Z,1754923880.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-11T14:51:20.793Z,1754923880.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.199997 m,
      nav range: 221.191071 m,
      bearing: 173.085636 deg,
      approach rate: -0.520658 m/s,
      LOS rate: -0.014681 deg/s,
      cmd heading: 166.316267 deg,
      new cmd heading: 166.299756 deg.

2025-08-11T14:51:20.796Z,1754923880.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458786
2025-08-11T14:51:21.048Z,1754923881.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710768
2025-08-11T14:51:21.176Z,1754923881.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-11T14:51:21.178Z,1754923881.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.199997 m,
      nav range: 220.972626 m,
      bearing: 173.079543 deg,
      approach rate: -0.565670 m/s,
      LOS rate: -0.015794 deg/s,
      cmd heading: 166.299752 deg,
      new cmd heading: 166.281454 deg.

2025-08-11T14:51:21.300Z,1754923881.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962639
2025-08-11T14:51:21.552Z,1754923881.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214556
2025-08-11T14:51:21.610Z,1754923881.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-11T14:51:21.614Z,1754923881.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.199997 m,
      nav range: 220.741409 m,
      bearing: 173.073814 deg,
      approach rate: -0.532002 m/s,
      LOS rate: -0.013194 deg/s,
      cmd heading: 166.281461 deg,
      new cmd heading: 166.264258 deg.

2025-08-11T14:51:21.804Z,1754923881.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466736
2025-08-11T14:51:21.985Z,1754923881.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:21.987Z,1754923881.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-11T14:51:21.990Z,1754923881.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.199997 m,
      nav range: 220.541107 m,
      bearing: 173.068894 deg,
      approach rate: -0.531897 m/s,
      LOS rate: -0.013076 deg/s,
      cmd heading: 166.264262 deg,
      new cmd heading: 166.249489 deg.

2025-08-11T14:51:22.056Z,1754923882.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718872
2025-08-11T14:51:22.309Z,1754923882.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971420
2025-08-11T14:51:22.443Z,1754923882.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-11T14:51:22.446Z,1754923882.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.199997 m,
      nav range: 220.289932 m,
      bearing: 173.065226 deg,
      approach rate: -0.550692 m/s,
      LOS rate: -0.008052 deg/s,
      cmd heading: 166.249495 deg,
      new cmd heading: 166.238478 deg.

2025-08-11T14:51:22.560Z,1754923882.560 [DAT](INFO): DAT read: Rx Time:14:51:23.2686

2025-08-11T14:51:22.561Z,1754923882.561 [DAT](INFO): Rx dataTimestamp_ set to:1754923882.560408
2025-08-11T14:51:22.561Z,1754923882.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223806
2025-08-11T14:51:22.808Z,1754923882.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-11T14:51:22.812Z,1754923882.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474809
2025-08-11T14:51:22.813Z,1754923882.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.199997 m,
      nav range: 220.100021 m,
      bearing: 173.062447 deg,
      approach rate: -0.520136 m/s,
      LOS rate: -0.007617 deg/s,
      cmd heading: 166.238472 deg,
      new cmd heading: 166.230128 deg.

2025-08-11T14:51:23.073Z,1754923883.073 [DAT](INFO): DAT read: 14:51:23.2686 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408,-0.20, 2.911, 1.048, 2.924, 2.603, PHS= 0.410,-1.510, 0.276, RAW= 146.4,   8.9, CAL= 146.0,   9.7, ROT=   4.0,  -9.7

2025-08-11T14:51:23.076Z,1754923883.076 [DAT](INFO): got valid direction response:
 14:51:23.2686 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408,-0.20, 2.911, 1.048, 2.924, 2.603, PHS= 0.410,-1.510, 0.276, RAW= 146.4,   8.9, CAL= 146.0,   9.7, ROT=   4.0,  -9.7

2025-08-11T14:51:23.077Z,1754923883.077 [DAT](INFO): DAT read: Bearing 327.6,   1.6 (Local)

2025-08-11T14:51:23.078Z,1754923883.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.6,   1.6 (Local)

2025-08-11T14:51:23.079Z,1754923883.079 [DAT](INFO): DAT read: Range 11 to 50 : 221.1 m  (Round-trip  294.9 ms) speed  0.8 m/s

2025-08-11T14:51:23.080Z,1754923883.080 [DAT](INFO): DAT read: user:159>

2025-08-11T14:51:23.081Z,1754923883.081 [DAT](INFO): DAT read: Tx time:14:51:24.3696

2025-08-11T14:51:23.081Z,1754923883.081 [DAT](INFO): Ping request sent.
2025-08-11T14:51:23.081Z,1754923883.081 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:23.081Z,1754923883.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:23.082Z,1754923883.082 [DAT](INFO): direction in FSK: [0.983302,0.068759,0.168489]
2025-08-11T14:51:23.083Z,1754923883.083 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:23.083Z,1754923883.083 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:23.086Z,1754923883.086 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:23.086Z,1754923883.086 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:23.257Z,1754923883.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.100006 m,
      deltaT: 3.780453 s,
      deltaX: -2.099991 m,
      approachRate: -0.555487 m/s,
      rangeRepo size: 4

2025-08-11T14:51:23.259Z,1754923883.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 221.100006 m,
      bearing: 172.166031 deg,
      lat: 36.905846 deg,
      lon: -122.116047 deg,
      deltaT: 3.780453 s,
      deltaX: -2.099991 m,
      approachRate: -0.555487 m/s,
      posRepo size: 4

2025-08-11T14:51:23.264Z,1754923883.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-11T14:51:23.266Z,1754923883.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 219.583801 m,
      bearing: 172.166031 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007617 deg/s,
      cmd heading: 166.230125 deg,
      new cmd heading: 166.219895 deg.

2025-08-11T14:51:23.654Z,1754923883.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-11T14:51:23.668Z,1754923883.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 219.347061 m,
      bearing: 172.162128 deg,
      approach rate: -0.594278 m/s,
      LOS rate: -0.009808 deg/s,
      cmd heading: 166.219893 deg,
      new cmd heading: 166.208172 deg.

2025-08-11T14:51:24.010Z,1754923884.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:24.012Z,1754923884.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-11T14:51:24.014Z,1754923884.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 219.128082 m,
      bearing: 172.158540 deg,
      approach rate: -0.612576 m/s,
      LOS rate: -0.010048 deg/s,
      cmd heading: 166.208173 deg,
      new cmd heading: 166.197397 deg.

2025-08-11T14:51:24.073Z,1754923884.073 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:24.073Z,1754923884.073 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:24.073Z,1754923884.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:24.325Z,1754923884.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243688
2025-08-11T14:51:24.550Z,1754923884.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-11T14:51:24.557Z,1754923884.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 218.816696 m,
      bearing: 172.153706 deg,
      approach rate: -0.578930 m/s,
      LOS rate: -0.009001 deg/s,
      cmd heading: 166.197395 deg,
      new cmd heading: 166.182871 deg.

2025-08-11T14:51:24.577Z,1754923884.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495556
2025-08-11T14:51:24.829Z,1754923884.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748076
2025-08-11T14:51:24.895Z,1754923884.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-11T14:51:24.898Z,1754923884.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 218.604172 m,
      bearing: 172.150440 deg,
      approach rate: -0.622330 m/s,
      LOS rate: -0.009571 deg/s,
      cmd heading: 166.182874 deg,
      new cmd heading: 166.173069 deg.

2025-08-11T14:51:25.080Z,1754923885.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999058
2025-08-11T14:51:25.271Z,1754923885.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-11T14:51:25.273Z,1754923885.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 218.371689 m,
      bearing: 172.146861 deg,
      approach rate: -0.612776 m/s,
      LOS rate: -0.009444 deg/s,
      cmd heading: 166.173066 deg,
      new cmd heading: 166.162317 deg.

2025-08-11T14:51:25.334Z,1754923885.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253064
2025-08-11T14:51:25.584Z,1754923885.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503183
2025-08-11T14:51:25.691Z,1754923885.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-11T14:51:25.694Z,1754923885.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 218.103073 m,
      bearing: 172.142036 deg,
      approach rate: -0.639275 m/s,
      LOS rate: -0.011498 deg/s,
      cmd heading: 166.162315 deg,
      new cmd heading: 166.147821 deg.

2025-08-11T14:51:25.837Z,1754923885.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755767
2025-08-11T14:51:26.058Z,1754923886.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:26.061Z,1754923886.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-11T14:51:26.064Z,1754923886.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 217.866913 m,
      bearing: 172.137800 deg,
      approach rate: -0.638369 m/s,
      LOS rate: -0.011461 deg/s,
      cmd heading: 166.147821 deg,
      new cmd heading: 166.135101 deg.

2025-08-11T14:51:26.088Z,1754923886.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007096
2025-08-11T14:51:26.342Z,1754923886.342 [DAT](INFO): DAT read: Rx Time:14:51:27.0655

2025-08-11T14:51:26.342Z,1754923886.342 [DAT](INFO): Rx dataTimestamp_ set to:1754923886.342094
2025-08-11T14:51:26.343Z,1754923886.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261958
2025-08-11T14:51:26.509Z,1754923886.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.10 m.
2025-08-11T14:51:26.512Z,1754923886.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 221.100006 m,
      nav range: 217.582260 m,
      bearing: 172.132108 deg,
      approach rate: -0.635113 m/s,
      LOS rate: -0.012717 deg/s,
      cmd heading: 166.135103 deg,
      new cmd heading: 166.118004 deg.

2025-08-11T14:51:26.593Z,1754923886.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512175
2025-08-11T14:51:26.850Z,1754923886.850 [DAT](INFO): DAT read: 14:51:27.0655 LVL= 27440, 32753, 23778, 32755, AGC= 69, IDX= 408,-0.42, 0.868,-0.909, 0.894, 0.574, PHS= 0.397,-1.438, 0.276, RAW= 146.6,   8.7, CAL= 146.2,   9.4, ROT=   3.8,  -9.4

2025-08-11T14:51:26.851Z,1754923886.851 [DAT](INFO): got valid direction response:
 14:51:27.0655 LVL= 27440, 32753, 23778, 32755, AGC= 69, IDX= 408,-0.42, 0.868,-0.909, 0.894, 0.574, PHS= 0.397,-1.438, 0.276, RAW= 146.6,   8.7, CAL= 146.2,   9.4, ROT=   3.8,  -9.4

2025-08-11T14:51:26.852Z,1754923886.852 [DAT](INFO): DAT read: Bearing 326.7,   1.9 (Local)

2025-08-11T14:51:26.852Z,1754923886.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.7,   1.9 (Local)

2025-08-11T14:51:26.854Z,1754923886.854 [DAT](INFO): DAT read: Range 11 to 50 : 218.7 m  (Round-trip  291.7 ms) speed  0.3 m/s

2025-08-11T14:51:26.854Z,1754923886.854 [DAT](INFO): DAT read: user:160>

2025-08-11T14:51:26.855Z,1754923886.855 [DAT](INFO): DAT read: Tx time:14:51:28.1696

2025-08-11T14:51:26.856Z,1754923886.856 [DAT](INFO): Ping request sent.
2025-08-11T14:51:26.856Z,1754923886.856 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:26.856Z,1754923886.856 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:26.857Z,1754923886.857 [DAT](INFO): direction in FSK: [0.984403,0.065384,0.163326]
2025-08-11T14:51:26.857Z,1754923886.857 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:26.857Z,1754923886.857 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:26.865Z,1754923886.865 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:26.865Z,1754923886.865 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:26.965Z,1754923886.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 218.699997 m,
      deltaT: 3.779029 s,
      deltaX: -2.400009 m,
      approachRate: -0.635086 m/s,
      rangeRepo size: 4

2025-08-11T14:51:26.971Z,1754923886.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 218.699997 m,
      bearing: 172.044730 deg,
      lat: 36.905851 deg,
      lon: -122.116044 deg,
      deltaT: 3.779029 s,
      deltaX: -2.400009 m,
      approachRate: -0.635086 m/s,
      posRepo size: 4

2025-08-11T14:51:26.972Z,1754923886.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:26.974Z,1754923886.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 216.813309 m,
      bearing: 172.044730 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012717 deg/s,
      cmd heading: 166.118001 deg,
      new cmd heading: 166.100632 deg.

2025-08-11T14:51:27.282Z,1754923887.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:27.286Z,1754923887.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 216.580399 m,
      bearing: 172.039985 deg,
      approach rate: -0.732585 m/s,
      LOS rate: -0.014941 deg/s,
      cmd heading: 166.100638 deg,
      new cmd heading: 166.086388 deg.

2025-08-11T14:51:27.695Z,1754923887.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:27.713Z,1754923887.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 216.315155 m,
      bearing: 172.033401 deg,
      approach rate: -0.642960 m/s,
      LOS rate: -0.015979 deg/s,
      cmd heading: 166.086391 deg,
      new cmd heading: 166.066615 deg.

2025-08-11T14:51:28.095Z,1754923888.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:28.097Z,1754923888.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:28.100Z,1754923888.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 216.056061 m,
      bearing: 172.026954 deg,
      approach rate: -0.643746 m/s,
      LOS rate: -0.016037 deg/s,
      cmd heading: 166.066610 deg,
      new cmd heading: 166.047247 deg.

2025-08-11T14:51:28.104Z,1754923888.104 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:28.104Z,1754923888.104 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:28.104Z,1754923888.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:28.358Z,1754923888.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502015
2025-08-11T14:51:28.604Z,1754923888.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:28.606Z,1754923888.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 215.743088 m,
      bearing: 172.017666 deg,
      approach rate: -0.617728 m/s,
      LOS rate: -0.018358 deg/s,
      cmd heading: 166.047240 deg,
      new cmd heading: 166.019336 deg.

2025-08-11T14:51:28.608Z,1754923888.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752605
2025-08-11T14:51:28.861Z,1754923888.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005045
2025-08-11T14:51:28.969Z,1754923888.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:28.991Z,1754923888.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 215.509369 m,
      bearing: 172.010811 deg,
      approach rate: -0.640238 m/s,
      LOS rate: -0.018799 deg/s,
      cmd heading: 166.019332 deg,
      new cmd heading: 165.998744 deg.

2025-08-11T14:51:29.112Z,1754923889.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256348
2025-08-11T14:51:29.351Z,1754923889.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:29.354Z,1754923889.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 215.262711 m,
      bearing: 172.003616 deg,
      approach rate: -0.645800 m/s,
      LOS rate: -0.018861 deg/s,
      cmd heading: 165.998746 deg,
      new cmd heading: 165.977134 deg.

2025-08-11T14:51:29.364Z,1754923889.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508581
2025-08-11T14:51:29.616Z,1754923889.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760448
2025-08-11T14:51:29.775Z,1754923889.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:29.778Z,1754923889.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 215.008911 m,
      bearing: 171.995995 deg,
      approach rate: -0.598448 m/s,
      LOS rate: -0.017990 deg/s,
      cmd heading: 165.977135 deg,
      new cmd heading: 165.954247 deg.

2025-08-11T14:51:29.869Z,1754923889.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012960
2025-08-11T14:51:30.120Z,1754923890.120 [DAT](INFO): DAT read: Rx Time:14:51:30.8625

2025-08-11T14:51:30.121Z,1754923890.121 [DAT](INFO): Rx dataTimestamp_ set to:1754923890.120457
2025-08-11T14:51:30.121Z,1754923890.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265588
2025-08-11T14:51:30.130Z,1754923890.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:30.132Z,1754923890.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:30.135Z,1754923890.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 214.795761 m,
      bearing: 171.989651 deg,
      approach rate: -0.596623 m/s,
      LOS rate: -0.017774 deg/s,
      cmd heading: 165.954240 deg,
      new cmd heading: 165.935190 deg.

2025-08-11T14:51:30.373Z,1754923890.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517509
2025-08-11T14:51:30.588Z,1754923890.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.70 m.
2025-08-11T14:51:30.591Z,1754923890.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 218.699997 m,
      nav range: 214.529861 m,
      bearing: 171.982575 deg,
      approach rate: -0.583219 m/s,
      LOS rate: -0.015541 deg/s,
      cmd heading: 165.935184 deg,
      new cmd heading: 165.913928 deg.

2025-08-11T14:51:30.630Z,1754923890.630 [DAT](INFO): DAT read: 14:51:30.8624 LVL= 28272, 32753, 27810, 32755, AGC= 73, IDX= 408, 0.48, 0.932,-0.910, 0.894, 0.575, PHS= 0.459,-1.440, 0.275, RAW= 145.0,   7.8, CAL= 144.5,   8.5, ROT=   5.5,  -8.5

2025-08-11T14:51:30.631Z,1754923890.631 [DAT](INFO): got valid direction response:
 14:51:30.8624 LVL= 28272, 32753, 27810, 32755, AGC= 73, IDX= 408, 0.48, 0.932,-0.910, 0.894, 0.575, PHS= 0.459,-1.440, 0.275, RAW= 145.0,   7.8, CAL= 144.5,   8.5, ROT=   5.5,  -8.5

2025-08-11T14:51:30.632Z,1754923890.632 [DAT](INFO): DAT read: Bearing 325.4,   4.0 (Local)

2025-08-11T14:51:30.632Z,1754923890.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.4,   4.0 (Local)

2025-08-11T14:51:30.634Z,1754923890.634 [DAT](INFO): DAT read: Range 11 to 50 : 216.5 m  (Round-trip  288.7 ms) speed  0.5 m/s

2025-08-11T14:51:30.635Z,1754923890.635 [DAT](INFO): DAT read: user:161>

2025-08-11T14:51:30.635Z,1754923890.635 [DAT](INFO): DAT read: Tx time:14:51:31.9695

2025-08-11T14:51:30.636Z,1754923890.636 [DAT](INFO): Ping request sent.
2025-08-11T14:51:30.636Z,1754923890.636 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:30.636Z,1754923890.636 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:30.637Z,1754923890.637 [DAT](INFO): direction in FSK: [0.984463,0.094793,0.147809]
2025-08-11T14:51:30.637Z,1754923890.637 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:30.638Z,1754923890.638 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:30.660Z,1754923890.660 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:30.661Z,1754923890.661 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:30.957Z,1754923890.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 216.500000 m,
      deltaT: 3.779922 s,
      deltaX: -2.199997 m,
      approachRate: -0.582022 m/s,
      rangeRepo size: 4

2025-08-11T14:51:30.960Z,1754923890.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 216.500000 m,
      bearing: 171.977000 deg,
      lat: 36.905851 deg,
      lon: -122.116044 deg,
      deltaT: 3.779922 s,
      deltaX: -2.199997 m,
      approachRate: -0.582022 m/s,
      posRepo size: 4

2025-08-11T14:51:30.961Z,1754923890.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.50 m.
2025-08-11T14:51:30.964Z,1754923890.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.500000 m,
      nav range: 214.317642 m,
      bearing: 171.977000 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015541 deg/s,
      cmd heading: 165.913928 deg,
      new cmd heading: 165.896734 deg.

2025-08-11T14:51:31.351Z,1754923891.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.50 m.
2025-08-11T14:51:31.370Z,1754923891.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.500000 m,
      nav range: 214.085983 m,
      bearing: 171.970988 deg,
      approach rate: -0.588113 m/s,
      LOS rate: -0.015279 deg/s,
      cmd heading: 165.896730 deg,
      new cmd heading: 165.878674 deg.

2025-08-11T14:51:31.817Z,1754923891.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.50 m.
2025-08-11T14:51:31.823Z,1754923891.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.500000 m,
      nav range: 213.830582 m,
      bearing: 171.963538 deg,
      approach rate: -0.547637 m/s,
      LOS rate: -0.015993 deg/s,
      cmd heading: 165.878671 deg,
      new cmd heading: 165.856295 deg.

2025-08-11T14:51:32.188Z,1754923892.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:32.190Z,1754923892.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.50 m.
2025-08-11T14:51:32.193Z,1754923892.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.500000 m,
      nav range: 213.610794 m,
      bearing: 171.957259 deg,
      approach rate: -0.589273 m/s,
      LOS rate: -0.016852 deg/s,
      cmd heading: 165.856295 deg,
      new cmd heading: 165.837439 deg.

2025-08-11T14:51:32.388Z,1754923892.388 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:32.388Z,1754923892.388 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:32.389Z,1754923892.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:32.594Z,1754923892.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.50 m.
2025-08-11T14:51:32.597Z,1754923892.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.500000 m,
      nav range: 213.389252 m,
      bearing: 171.951362 deg,
      approach rate: -0.548969 m/s,
      LOS rate: -0.014628 deg/s,
      cmd heading: 165.837444 deg,
      new cmd heading: 165.819734 deg.

2025-08-11T14:51:32.643Z,1754923892.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006888
2025-08-11T14:51:32.892Z,1754923892.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256282
2025-08-11T14:51:32.981Z,1754923892.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.50 m.
2025-08-11T14:51:32.984Z,1754923892.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.500000 m,
      nav range: 213.176178 m,
      bearing: 171.945702 deg,
      approach rate: -0.549356 m/s,
      LOS rate: -0.014607 deg/s,
      cmd heading: 165.819740 deg,
      new cmd heading: 165.802743 deg.

2025-08-11T14:51:33.144Z,1754923893.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508330
2025-08-11T14:51:33.396Z,1754923893.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760383
2025-08-11T14:51:33.400Z,1754923893.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.50 m.
2025-08-11T14:51:33.403Z,1754923893.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.500000 m,
      nav range: 212.947495 m,
      bearing: 171.939615 deg,
      approach rate: -0.546436 m/s,
      LOS rate: -0.014561 deg/s,
      cmd heading: 165.802746 deg,
      new cmd heading: 165.784465 deg.

2025-08-11T14:51:33.649Z,1754923893.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012967
2025-08-11T14:51:33.853Z,1754923893.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.50 m.
2025-08-11T14:51:33.856Z,1754923893.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.500000 m,
      nav range: 212.704102 m,
      bearing: 171.933001 deg,
      approach rate: -0.537715 m/s,
      LOS rate: -0.014628 deg/s,
      cmd heading: 165.784469 deg,
      new cmd heading: 165.764605 deg.

2025-08-11T14:51:33.901Z,1754923893.901 [DAT](INFO): DAT read: Rx Time:14:51:34.6595

2025-08-11T14:51:33.902Z,1754923893.902 [DAT](INFO): Rx dataTimestamp_ set to:1754923893.901533
2025-08-11T14:51:33.903Z,1754923893.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266891
2025-08-11T14:51:34.152Z,1754923894.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516210
2025-08-11T14:51:34.197Z,1754923894.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:34.199Z,1754923894.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.50 m.
2025-08-11T14:51:34.202Z,1754923894.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 216.500000 m,
      nav range: 212.496735 m,
      bearing: 171.927449 deg,
      approach rate: -0.598691 m/s,
      LOS rate: -0.016046 deg/s,
      cmd heading: 165.764607 deg,
      new cmd heading: 165.747933 deg.

2025-08-11T14:51:34.410Z,1754923894.410 [DAT](INFO): DAT read: 14:51:34.6595 LVL= 27104, 32753, 28322, 32755, AGC= 71, IDX= 412,-0.38, 1.386,-0.507, 1.335, 1.043, PHS= 0.445,-1.505, 0.248, RAW= 144.7,   8.8, CAL= 144.3,   9.6, ROT=   5.7,  -9.6

2025-08-11T14:51:34.412Z,1754923894.412 [DAT](INFO): got valid direction response:
 14:51:34.6595 LVL= 27104, 32753, 28322, 32755, AGC= 71, IDX= 412,-0.38, 1.386,-0.507, 1.335, 1.043, PHS= 0.445,-1.505, 0.248, RAW= 144.7,   8.8, CAL= 144.3,   9.6, ROT=   5.7,  -9.6

2025-08-11T14:51:34.413Z,1754923894.413 [DAT](INFO): DAT read: Bearing 325.9,   4.4 (Local)

2025-08-11T14:51:34.413Z,1754923894.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.9,   4.4 (Local)

2025-08-11T14:51:34.415Z,1754923894.415 [DAT](INFO): DAT read: Range 11 to 50 : 214.4 m  (Round-trip  285.9 ms) speed  0.7 m/s

2025-08-11T14:51:34.416Z,1754923894.416 [DAT](INFO): DAT read: user:162>

2025-08-11T14:51:34.416Z,1754923894.416 [DAT](INFO): DAT read: Tx time:14:51:35.7695

2025-08-11T14:51:34.417Z,1754923894.417 [DAT](INFO): Ping request sent.
2025-08-11T14:51:34.417Z,1754923894.417 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:34.417Z,1754923894.417 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:34.418Z,1754923894.418 [DAT](INFO): direction in FSK: [0.981121,0.097929,0.166769]
2025-08-11T14:51:34.418Z,1754923894.418 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:34.419Z,1754923894.419 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:34.422Z,1754923894.422 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:34.422Z,1754923894.422 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:34.708Z,1754923894.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 214.399994 m,
      deltaT: 3.780169 s,
      deltaX: -2.100006 m,
      approachRate: -0.555532 m/s,
      rangeRepo size: 4

2025-08-11T14:51:34.710Z,1754923894.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.399994 m,
      bearing: 171.920344 deg,
      lat: 36.905851 deg,
      lon: -122.116044 deg,
      deltaT: 3.780169 s,
      deltaX: -2.100006 m,
      approachRate: -0.555532 m/s,
      posRepo size: 4

2025-08-11T14:51:34.711Z,1754923894.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.40 m.
2025-08-11T14:51:34.717Z,1754923894.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.399994 m,
      nav range: 212.216049 m,
      bearing: 171.920344 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016046 deg/s,
      cmd heading: 165.747927 deg,
      new cmd heading: 165.723475 deg.

2025-08-11T14:51:35.101Z,1754923895.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.40 m.
2025-08-11T14:51:35.108Z,1754923895.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.399994 m,
      nav range: 211.990952 m,
      bearing: 171.914636 deg,
      approach rate: -0.571246 m/s,
      LOS rate: -0.014500 deg/s,
      cmd heading: 165.723475 deg,
      new cmd heading: 165.706334 deg.

2025-08-11T14:51:35.454Z,1754923895.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.40 m.
2025-08-11T14:51:35.457Z,1754923895.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.399994 m,
      nav range: 211.783844 m,
      bearing: 171.909330 deg,
      approach rate: -0.587109 m/s,
      LOS rate: -0.015057 deg/s,
      cmd heading: 165.706332 deg,
      new cmd heading: 165.690397 deg.

2025-08-11T14:51:35.892Z,1754923895.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.40 m.
2025-08-11T14:51:35.895Z,1754923895.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.399994 m,
      nav range: 211.535431 m,
      bearing: 171.901817 deg,
      approach rate: -0.566833 m/s,
      LOS rate: -0.017162 deg/s,
      cmd heading: 165.690404 deg,
      new cmd heading: 165.667840 deg.

2025-08-11T14:51:36.276Z,1754923896.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:36.278Z,1754923896.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.40 m.
2025-08-11T14:51:36.286Z,1754923896.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.399994 m,
      nav range: 211.324768 m,
      bearing: 171.895462 deg,
      approach rate: -0.545219 m/s,
      LOS rate: -0.016464 deg/s,
      cmd heading: 165.667837 deg,
      new cmd heading: 165.648753 deg.

2025-08-11T14:51:36.420Z,1754923896.420 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:36.420Z,1754923896.420 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:36.420Z,1754923896.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:36.672Z,1754923896.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255396
2025-08-11T14:51:36.713Z,1754923896.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.40 m.
2025-08-11T14:51:36.720Z,1754923896.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.399994 m,
      nav range: 211.077087 m,
      bearing: 171.887650 deg,
      approach rate: -0.570534 m/s,
      LOS rate: -0.018017 deg/s,
      cmd heading: 165.648753 deg,
      new cmd heading: 165.625288 deg.

2025-08-11T14:51:36.925Z,1754923896.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508002
2025-08-11T14:51:37.109Z,1754923897.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.40 m.
2025-08-11T14:51:37.112Z,1754923897.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.399994 m,
      nav range: 210.843231 m,
      bearing: 171.880257 deg,
      approach rate: -0.589682 m/s,
      LOS rate: -0.018662 deg/s,
      cmd heading: 165.625285 deg,
      new cmd heading: 165.603081 deg.

2025-08-11T14:51:37.176Z,1754923897.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759401
2025-08-11T14:51:37.428Z,1754923897.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011304
2025-08-11T14:51:37.484Z,1754923897.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.40 m.
2025-08-11T14:51:37.486Z,1754923897.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.399994 m,
      nav range: 210.615250 m,
      bearing: 171.873113 deg,
      approach rate: -0.609119 m/s,
      LOS rate: -0.019109 deg/s,
      cmd heading: 165.603086 deg,
      new cmd heading: 165.581630 deg.

2025-08-11T14:51:37.680Z,1754923897.680 [DAT](INFO): DAT read: Rx Time:14:51:38.4565

2025-08-11T14:51:37.681Z,1754923897.681 [DAT](INFO): Rx dataTimestamp_ set to:1754923897.680375
2025-08-11T14:51:37.681Z,1754923897.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264397
2025-08-11T14:51:37.902Z,1754923897.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.40 m.
2025-08-11T14:51:37.905Z,1754923897.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.399994 m,
      nav range: 210.365631 m,
      bearing: 171.866748 deg,
      approach rate: -0.595666 m/s,
      LOS rate: -0.015205 deg/s,
      cmd heading: 165.581626 deg,
      new cmd heading: 165.562511 deg.

2025-08-11T14:51:37.933Z,1754923897.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515874
2025-08-11T14:51:38.190Z,1754923898.190 [DAT](INFO): DAT read: 14:51:38.4565 LVL= 26096, 32753, 28434, 32755, AGC= 71, IDX= 413, 0.03,-3.130, 1.255, 3.121, 2.731, PHS= 0.524,-1.431, 0.346, RAW= 145.3,   6.0, CAL= 144.8,   6.6, ROT=   5.2,  -6.6

2025-08-11T14:51:38.191Z,1754923898.191 [DAT](INFO): got valid direction response:
 14:51:38.4565 LVL= 26096, 32753, 28434, 32755, AGC= 71, IDX= 413, 0.03,-3.130, 1.255, 3.121, 2.731, PHS= 0.524,-1.431, 0.346, RAW= 145.3,   6.0, CAL= 144.8,   6.6, ROT=   5.2,  -6.6

2025-08-11T14:51:38.192Z,1754923898.192 [DAT](INFO): DAT read: Bearing 322.9,   4.6 (Local)

2025-08-11T14:51:38.193Z,1754923898.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.9,   4.6 (Local)

2025-08-11T14:51:38.194Z,1754923898.194 [DAT](INFO): DAT read: Range 11 to 50 : 212.1 m  (Round-trip  282.9 ms) speed  0.6 m/s

2025-08-11T14:51:38.195Z,1754923898.195 [DAT](INFO): DAT read: user:163>

2025-08-11T14:51:38.196Z,1754923898.196 [DAT](INFO): DAT read: Tx time:14:51:39.5695

2025-08-11T14:51:38.196Z,1754923898.196 [DAT](INFO): Ping request sent.
2025-08-11T14:51:38.196Z,1754923898.196 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:38.196Z,1754923898.196 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:38.197Z,1754923898.197 [DAT](INFO): direction in FSK: [0.989284,0.090032,0.114937]
2025-08-11T14:51:38.198Z,1754923898.198 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:38.198Z,1754923898.198 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:38.201Z,1754923898.201 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:38.201Z,1754923898.201 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:38.381Z,1754923898.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 212.100006 m,
      deltaT: 3.779701 s,
      deltaX: -2.299988 m,
      approachRate: -0.608510 m/s,
      rangeRepo size: 4

2025-08-11T14:51:38.387Z,1754923898.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 212.100006 m,
      bearing: 171.692138 deg,
      lat: 36.905850 deg,
      lon: -122.116037 deg,
      deltaT: 3.779701 s,
      deltaX: -2.299988 m,
      approachRate: -0.608510 m/s,
      posRepo size: 4

2025-08-11T14:51:38.388Z,1754923898.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.10 m.
2025-08-11T14:51:38.391Z,1754923898.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.100006 m,
      nav range: 210.311188 m,
      bearing: 171.692138 deg,
      approach rate: 128138017486875394048.000000 m/s,
      LOS rate: -0.015205 deg/s,
      cmd heading: 165.562515 deg,
      new cmd heading: 165.540708 deg.

2025-08-11T14:51:38.800Z,1754923898.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:38.804Z,1754923898.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.10 m.
2025-08-11T14:51:38.809Z,1754923898.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.100006 m,
      nav range: 210.035797 m,
      bearing: 171.685362 deg,
      approach rate: -0.652008 m/s,
      LOS rate: -0.016064 deg/s,
      cmd heading: 165.540713 deg,
      new cmd heading: 165.520358 deg.

2025-08-11T14:51:38.941Z,1754923898.941 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:38.941Z,1754923898.941 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:38.941Z,1754923898.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:39.125Z,1754923899.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.10 m.
2025-08-11T14:51:39.132Z,1754923899.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.100006 m,
      nav range: 209.848450 m,
      bearing: 171.680771 deg,
      approach rate: -0.581304 m/s,
      LOS rate: -0.014256 deg/s,
      cmd heading: 165.520359 deg,
      new cmd heading: 165.506575 deg.

2025-08-11T14:51:39.194Z,1754923899.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997241
2025-08-11T14:51:39.444Z,1754923899.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247972
2025-08-11T14:51:39.523Z,1754923899.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.10 m.
2025-08-11T14:51:39.542Z,1754923899.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.100006 m,
      nav range: 209.591400 m,
      bearing: 171.674487 deg,
      approach rate: -0.646451 m/s,
      LOS rate: -0.015823 deg/s,
      cmd heading: 165.506576 deg,
      new cmd heading: 165.487700 deg.

2025-08-11T14:51:39.697Z,1754923899.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501279
2025-08-11T14:51:39.948Z,1754923899.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752133
2025-08-11T14:51:39.962Z,1754923899.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.10 m.
2025-08-11T14:51:39.970Z,1754923899.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.100006 m,
      nav range: 209.324661 m,
      bearing: 171.668299 deg,
      approach rate: -0.606694 m/s,
      LOS rate: -0.014092 deg/s,
      cmd heading: 165.487697 deg,
      new cmd heading: 165.469110 deg.

2025-08-11T14:51:40.201Z,1754923900.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005108
2025-08-11T14:51:40.330Z,1754923900.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.10 m.
2025-08-11T14:51:40.333Z,1754923900.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.100006 m,
      nav range: 209.101532 m,
      bearing: 171.663157 deg,
      approach rate: -0.606981 m/s,
      LOS rate: -0.014002 deg/s,
      cmd heading: 165.469105 deg,
      new cmd heading: 165.453664 deg.

2025-08-11T14:51:40.452Z,1754923900.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256107
2025-08-11T14:51:40.704Z,1754923900.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508167
2025-08-11T14:51:40.731Z,1754923900.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.10 m.
2025-08-11T14:51:40.734Z,1754923900.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.100006 m,
      nav range: 208.867645 m,
      bearing: 171.658120 deg,
      approach rate: -0.583825 m/s,
      LOS rate: -0.012588 deg/s,
      cmd heading: 165.453669 deg,
      new cmd heading: 165.438540 deg.

2025-08-11T14:51:40.956Z,1754923900.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760028
2025-08-11T14:51:41.131Z,1754923901.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:41.133Z,1754923901.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.10 m.
2025-08-11T14:51:41.140Z,1754923901.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.100006 m,
      nav range: 208.643234 m,
      bearing: 171.653341 deg,
      approach rate: -0.557652 m/s,
      LOS rate: -0.011888 deg/s,
      cmd heading: 165.438547 deg,
      new cmd heading: 165.424195 deg.

2025-08-11T14:51:41.210Z,1754923901.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013382
2025-08-11T14:51:41.460Z,1754923901.460 [DAT](INFO): DAT read: Rx Time:14:51:42.2534

2025-08-11T14:51:41.461Z,1754923901.461 [DAT](INFO): Rx dataTimestamp_ set to:1754923901.460385
2025-08-11T14:51:41.461Z,1754923901.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265113
2025-08-11T14:51:41.518Z,1754923901.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.10 m.
2025-08-11T14:51:41.544Z,1754923901.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.100006 m,
      nav range: 208.403015 m,
      bearing: 171.648253 deg,
      approach rate: -0.624431 m/s,
      LOS rate: -0.013243 deg/s,
      cmd heading: 165.424190 deg,
      new cmd heading: 165.408907 deg.

2025-08-11T14:51:41.712Z,1754923901.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515988
2025-08-11T14:51:41.974Z,1754923901.974 [DAT](INFO): DAT read: 14:51:42.2534 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413, 0.00, 1.882, 0.037, 1.867, 1.514, PHS= 0.470,-1.432, 0.309, RAW= 145.6,   7.2, CAL= 145.2,   7.8, ROT=   4.8,  -7.8

2025-08-11T14:51:41.975Z,1754923901.975 [DAT](INFO): got valid direction response:
 14:51:42.2534 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413, 0.00, 1.882, 0.037, 1.867, 1.514, PHS= 0.470,-1.432, 0.309, RAW= 145.6,   7.2, CAL= 145.2,   7.8, ROT=   4.8,  -7.8

2025-08-11T14:51:41.976Z,1754923901.976 [DAT](INFO): DAT read: Bearing 323.4,   4.5 (Local)

2025-08-11T14:51:41.977Z,1754923901.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.4,   4.5 (Local)

2025-08-11T14:51:41.978Z,1754923901.978 [DAT](INFO): DAT read: Range 11 to 50 : 209.7 m  (Round-trip  279.7 ms) speed  0.5 m/s

2025-08-11T14:51:41.979Z,1754923901.979 [DAT](INFO): DAT read: user:164>

2025-08-11T14:51:41.984Z,1754923901.984 [DAT](INFO): DAT read: Tx time:14:51:43.3695

2025-08-11T14:51:41.984Z,1754923901.984 [DAT](INFO): Ping request sent.
2025-08-11T14:51:41.984Z,1754923901.984 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:41.984Z,1754923901.984 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:41.985Z,1754923901.985 [DAT](INFO): direction in FSK: [0.987273,0.082904,0.135716]
2025-08-11T14:51:41.986Z,1754923901.986 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:41.986Z,1754923901.986 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:41.993Z,1754923901.993 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:41.993Z,1754923901.993 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:42.078Z,1754923902.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 209.699997 m,
      deltaT: 3.780096 s,
      deltaX: -2.400009 m,
      approachRate: -0.634907 m/s,
      rangeRepo size: 4

2025-08-11T14:51:42.084Z,1754923902.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 209.699997 m,
      bearing: 171.333603 deg,
      lat: 36.905850 deg,
      lon: -122.116024 deg,
      deltaT: 3.780096 s,
      deltaX: -2.400009 m,
      approachRate: -0.634907 m/s,
      posRepo size: 4

2025-08-11T14:51:42.085Z,1754923902.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.70 m.
2025-08-11T14:51:42.096Z,1754923902.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.699997 m,
      nav range: 208.259979 m,
      bearing: 171.333603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013243 deg/s,
      cmd heading: 165.408904 deg,
      new cmd heading: 165.386694 deg.

2025-08-11T14:51:42.418Z,1754923902.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.70 m.
2025-08-11T14:51:42.421Z,1754923902.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.699997 m,
      nav range: 208.042908 m,
      bearing: 171.329618 deg,
      approach rate: -0.635673 m/s,
      LOS rate: -0.011683 deg/s,
      cmd heading: 165.386692 deg,
      new cmd heading: 165.374724 deg.

2025-08-11T14:51:42.934Z,1754923902.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.70 m.
2025-08-11T14:51:42.947Z,1754923902.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.699997 m,
      nav range: 207.749527 m,
      bearing: 171.325908 deg,
      approach rate: -0.569707 m/s,
      LOS rate: -0.007213 deg/s,
      cmd heading: 165.374726 deg,
      new cmd heading: 165.363582 deg.

2025-08-11T14:51:43.284Z,1754923903.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:43.292Z,1754923903.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.70 m.
2025-08-11T14:51:43.302Z,1754923903.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.699997 m,
      nav range: 207.539276 m,
      bearing: 171.323356 deg,
      approach rate: -0.594846 m/s,
      LOS rate: -0.007227 deg/s,
      cmd heading: 165.363579 deg,
      new cmd heading: 165.355916 deg.

2025-08-11T14:51:43.476Z,1754923903.476 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:43.476Z,1754923903.476 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:43.476Z,1754923903.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:43.728Z,1754923903.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744057
2025-08-11T14:51:43.740Z,1754923903.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.70 m.
2025-08-11T14:51:43.748Z,1754923903.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.699997 m,
      nav range: 207.264771 m,
      bearing: 171.320174 deg,
      approach rate: -0.605270 m/s,
      LOS rate: -0.007026 deg/s,
      cmd heading: 165.355916 deg,
      new cmd heading: 165.346356 deg.

2025-08-11T14:51:43.981Z,1754923903.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996307
2025-08-11T14:51:44.126Z,1754923904.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.70 m.
2025-08-11T14:51:44.129Z,1754923904.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.699997 m,
      nav range: 207.046844 m,
      bearing: 171.315784 deg,
      approach rate: -0.565082 m/s,
      LOS rate: -0.011395 deg/s,
      cmd heading: 165.346353 deg,
      new cmd heading: 165.333169 deg.

2025-08-11T14:51:44.233Z,1754923904.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248535
2025-08-11T14:51:44.484Z,1754923904.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499869
2025-08-11T14:51:44.495Z,1754923904.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.70 m.
2025-08-11T14:51:44.498Z,1754923904.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.699997 m,
      nav range: 206.845810 m,
      bearing: 171.311897 deg,
      approach rate: -0.544656 m/s,
      LOS rate: -0.010541 deg/s,
      cmd heading: 165.333171 deg,
      new cmd heading: 165.321499 deg.

2025-08-11T14:51:44.737Z,1754923904.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752360
2025-08-11T14:51:44.912Z,1754923904.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.70 m.
2025-08-11T14:51:44.933Z,1754923904.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.699997 m,
      nav range: 206.601318 m,
      bearing: 171.309542 deg,
      approach rate: -0.586142 m/s,
      LOS rate: -0.005654 deg/s,
      cmd heading: 165.321505 deg,
      new cmd heading: 165.314430 deg.

2025-08-11T14:51:44.989Z,1754923904.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004619
2025-08-11T14:51:45.240Z,1754923905.240 [DAT](INFO): DAT read: Rx Time:14:51:46.0504

2025-08-11T14:51:45.241Z,1754923905.241 [DAT](INFO): Rx dataTimestamp_ set to:1754923905.240437
2025-08-11T14:51:45.241Z,1754923905.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257064
2025-08-11T14:51:45.333Z,1754923905.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:45.335Z,1754923905.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.70 m.
2025-08-11T14:51:45.342Z,1754923905.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.699997 m,
      nav range: 206.363007 m,
      bearing: 171.307363 deg,
      approach rate: -0.563821 m/s,
      LOS rate: -0.005161 deg/s,
      cmd heading: 165.314429 deg,
      new cmd heading: 165.307885 deg.

2025-08-11T14:51:45.492Z,1754923905.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507845
2025-08-11T14:51:45.757Z,1754923905.757 [DAT](INFO): DAT read: 14:51:46.0504 LVL= 24976, 31521, 25186, 32755, AGC= 69, IDX= 415, 0.31,-0.038,-1.909,-0.123,-0.439, PHS= 0.503,-1.425, 0.272, RAW= 143.7,   7.2, CAL= 143.3,   7.9, ROT=   6.7,  -7.9

2025-08-11T14:51:45.758Z,1754923905.758 [DAT](INFO): got valid direction response:
 14:51:46.0504 LVL= 24976, 31521, 25186, 32755, AGC= 69, IDX= 415, 0.31,-0.038,-1.909,-0.123,-0.439, PHS= 0.503,-1.425, 0.272, RAW= 143.7,   7.2, CAL= 143.3,   7.9, ROT=   6.7,  -7.9

2025-08-11T14:51:45.759Z,1754923905.759 [DAT](INFO): DAT read: Bearing 322.6,   5.7 (Local)

2025-08-11T14:51:45.760Z,1754923905.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.6,   5.7 (Local)

2025-08-11T14:51:45.761Z,1754923905.761 [DAT](INFO): DAT read: Range 11 to 50 : 207.6 m  (Round-trip  276.8 ms) speed  0.4 m/s

2025-08-11T14:51:45.762Z,1754923905.762 [DAT](INFO): DAT read: user:165>

2025-08-11T14:51:45.763Z,1754923905.763 [DAT](INFO): DAT read: Tx time:14:51:47.1695

2025-08-11T14:51:45.788Z,1754923905.788 [DAT](INFO): Ping request sent.
2025-08-11T14:51:45.788Z,1754923905.788 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:45.789Z,1754923905.789 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:45.790Z,1754923905.790 [DAT](INFO): direction in FSK: [0.983745,0.115563,0.137445]
2025-08-11T14:51:45.791Z,1754923905.791 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:45.791Z,1754923905.791 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:45.807Z,1754923905.807 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:45.807Z,1754923905.807 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:45.927Z,1754923905.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 207.600006 m,
      deltaT: 3.781717 s,
      deltaX: -2.099991 m,
      approachRate: -0.555301 m/s,
      rangeRepo size: 4

2025-08-11T14:51:45.934Z,1754923905.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 207.600006 m,
      bearing: 171.465023 deg,
      lat: 36.905847 deg,
      lon: -122.116030 deg,
      deltaT: 3.781717 s,
      deltaX: -2.099991 m,
      approachRate: -0.555301 m/s,
      posRepo size: 4

2025-08-11T14:51:45.939Z,1754923905.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.60 m.
2025-08-11T14:51:45.954Z,1754923905.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.600006 m,
      nav range: 206.297119 m,
      bearing: 171.465023 deg,
      approach rate: 779104043837423616.000000 m/s,
      LOS rate: -0.005161 deg/s,
      cmd heading: 165.307886 deg,
      new cmd heading: 165.298740 deg.

2025-08-11T14:51:46.318Z,1754923906.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.60 m.
2025-08-11T14:51:46.321Z,1754923906.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.600006 m,
      nav range: 206.059540 m,
      bearing: 171.461624 deg,
      approach rate: -0.605353 m/s,
      LOS rate: -0.008670 deg/s,
      cmd heading: 165.298747 deg,
      new cmd heading: 165.288539 deg.

2025-08-11T14:51:46.813Z,1754923906.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.60 m.
2025-08-11T14:51:46.820Z,1754923906.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.600006 m,
      nav range: 205.827927 m,
      bearing: 171.458277 deg,
      approach rate: -0.467739 m/s,
      LOS rate: -0.006766 deg/s,
      cmd heading: 165.288543 deg,
      new cmd heading: 165.278492 deg.

2025-08-11T14:51:47.184Z,1754923907.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.60 m.
2025-08-11T14:51:47.191Z,1754923907.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.600006 m,
      nav range: 205.583572 m,
      bearing: 171.457208 deg,
      approach rate: -0.658163 m/s,
      LOS rate: -0.002884 deg/s,
      cmd heading: 165.278488 deg,
      new cmd heading: 165.275276 deg.

2025-08-11T14:51:47.548Z,1754923907.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:47.550Z,1754923907.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.60 m.
2025-08-11T14:51:47.553Z,1754923907.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.600006 m,
      nav range: 205.360107 m,
      bearing: 171.456180 deg,
      approach rate: -0.610623 m/s,
      LOS rate: -0.002813 deg/s,
      cmd heading: 165.275278 deg,
      new cmd heading: 165.272190 deg.

2025-08-11T14:51:47.768Z,1754923907.768 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:47.768Z,1754923907.768 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:47.768Z,1754923907.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:47.955Z,1754923907.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.60 m.
2025-08-11T14:51:47.957Z,1754923907.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.600006 m,
      nav range: 205.129105 m,
      bearing: 171.454997 deg,
      approach rate: -0.571467 m/s,
      LOS rate: -0.002928 deg/s,
      cmd heading: 165.272191 deg,
      new cmd heading: 165.268640 deg.

2025-08-11T14:51:48.020Z,1754923908.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232847
2025-08-11T14:51:48.273Z,1754923908.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485433
2025-08-11T14:51:48.366Z,1754923908.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.60 m.
2025-08-11T14:51:48.385Z,1754923908.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.600006 m,
      nav range: 204.902725 m,
      bearing: 171.453648 deg,
      approach rate: -0.549781 m/s,
      LOS rate: -0.003281 deg/s,
      cmd heading: 165.268639 deg,
      new cmd heading: 165.264586 deg.

2025-08-11T14:51:48.524Z,1754923908.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736688
2025-08-11T14:51:48.780Z,1754923908.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992372
2025-08-11T14:51:48.871Z,1754923908.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.60 m.
2025-08-11T14:51:48.890Z,1754923908.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.600006 m,
      nav range: 204.606125 m,
      bearing: 171.451875 deg,
      approach rate: -0.588210 m/s,
      LOS rate: -0.003521 deg/s,
      cmd heading: 165.264582 deg,
      new cmd heading: 165.259256 deg.

2025-08-11T14:51:49.028Z,1754923909.028 [DAT](INFO): DAT read: Rx Time:14:51:49.8478

2025-08-11T14:51:49.029Z,1754923909.029 [DAT](INFO): Rx dataTimestamp_ set to:1754923909.028393
2025-08-11T14:51:49.029Z,1754923909.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241853
2025-08-11T14:51:49.256Z,1754923909.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.60 m.
2025-08-11T14:51:49.258Z,1754923909.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.600006 m,
      nav range: 204.386856 m,
      bearing: 171.449949 deg,
      approach rate: -0.569449 m/s,
      LOS rate: -0.005008 deg/s,
      cmd heading: 165.259255 deg,
      new cmd heading: 165.253470 deg.

2025-08-11T14:51:49.281Z,1754923909.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493258
2025-08-11T14:51:49.541Z,1754923909.541 [DAT](INFO): DAT read: 14:51:49.8478 LVL= 27360, 32753, 31218, 32755, AGC= 71, IDX= 420,-0.14, 2.895, 1.050, 2.832, 2.537, PHS= 0.460,-1.442, 0.251, RAW= 144.3,   8.1, CAL= 143.8,   8.9, ROT=   6.2,  -8.9

2025-08-11T14:51:49.543Z,1754923909.543 [DAT](INFO): got valid direction response:
 14:51:49.8478 LVL= 27360, 32753, 31218, 32755, AGC= 71, IDX= 420,-0.14, 2.895, 1.050, 2.832, 2.537, PHS= 0.460,-1.442, 0.251, RAW= 144.3,   8.1, CAL= 143.8,   8.9, ROT=   6.2,  -8.9

2025-08-11T14:51:49.544Z,1754923909.544 [DAT](INFO): DAT read: Bearing 323.8,   5.2 (Local)

2025-08-11T14:51:49.544Z,1754923909.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.8,   5.2 (Local)

2025-08-11T14:51:49.545Z,1754923909.545 [DAT](INFO): DAT read: Range 11 to 50 : 205.6 m  (Round-trip  274.2 ms) speed  0.6 m/s

2025-08-11T14:51:49.546Z,1754923909.546 [DAT](INFO): DAT read: user:166>

2025-08-11T14:51:49.547Z,1754923909.547 [DAT](INFO): DAT read: Tx time:14:51:50.9695

2025-08-11T14:51:49.549Z,1754923909.549 [DAT](INFO): Ping request sent.
2025-08-11T14:51:49.549Z,1754923909.549 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:49.551Z,1754923909.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:49.553Z,1754923909.553 [DAT](INFO): direction in FSK: [0.982181,0.106699,0.154710]
2025-08-11T14:51:49.553Z,1754923909.553 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:49.554Z,1754923909.554 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:49.559Z,1754923909.559 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:49.560Z,1754923909.560 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:49.694Z,1754923909.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 205.600006 m,
      deltaT: 3.787436 s,
      deltaX: -2.000000 m,
      approachRate: -0.528062 m/s,
      rangeRepo size: 4

2025-08-11T14:51:49.697Z,1754923909.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 205.600006 m,
      bearing: 171.441004 deg,
      lat: 36.905849 deg,
      lon: -122.116030 deg,
      deltaT: 3.787436 s,
      deltaX: -2.000000 m,
      approachRate: -0.528062 m/s,
      posRepo size: 4

2025-08-11T14:51:49.697Z,1754923909.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.60 m.
2025-08-11T14:51:49.708Z,1754923909.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.600006 m,
      nav range: 203.990219 m,
      bearing: 171.441004 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005008 deg/s,
      cmd heading: 165.253476 deg,
      new cmd heading: 165.246903 deg.

2025-08-11T14:51:50.082Z,1754923910.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:50.085Z,1754923910.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.60 m.
2025-08-11T14:51:50.088Z,1754923910.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.600006 m,
      nav range: 203.741699 m,
      bearing: 171.436842 deg,
      approach rate: -0.633780 m/s,
      LOS rate: -0.010628 deg/s,
      cmd heading: 165.246906 deg,
      new cmd heading: 165.234404 deg.

2025-08-11T14:51:50.290Z,1754923910.290 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:50.290Z,1754923910.290 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:50.291Z,1754923910.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:50.463Z,1754923910.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.60 m.
2025-08-11T14:51:50.466Z,1754923910.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.600006 m,
      nav range: 203.510391 m,
      bearing: 171.432791 deg,
      approach rate: -0.612530 m/s,
      LOS rate: -0.010741 deg/s,
      cmd heading: 165.234406 deg,
      new cmd heading: 165.222238 deg.

2025-08-11T14:51:50.541Z,1754923910.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992290
2025-08-11T14:51:50.794Z,1754923910.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245210
2025-08-11T14:51:50.909Z,1754923910.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.60 m.
2025-08-11T14:51:50.913Z,1754923910.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.600006 m,
      nav range: 203.235275 m,
      bearing: 171.426873 deg,
      approach rate: -0.617201 m/s,
      LOS rate: -0.013294 deg/s,
      cmd heading: 165.222235 deg,
      new cmd heading: 165.204458 deg.

2025-08-11T14:51:51.044Z,1754923911.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495566
2025-08-11T14:51:51.288Z,1754923911.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.60 m.
2025-08-11T14:51:51.291Z,1754923911.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.600006 m,
      nav range: 203.005508 m,
      bearing: 171.421780 deg,
      approach rate: -0.607939 m/s,
      LOS rate: -0.013490 deg/s,
      cmd heading: 165.204463 deg,
      new cmd heading: 165.189168 deg.

2025-08-11T14:51:51.296Z,1754923911.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747703
2025-08-11T14:51:51.548Z,1754923911.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999518
2025-08-11T14:51:51.695Z,1754923911.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.60 m.
2025-08-11T14:51:51.703Z,1754923911.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.600006 m,
      nav range: 202.758865 m,
      bearing: 171.416170 deg,
      approach rate: -0.604408 m/s,
      LOS rate: -0.013765 deg/s,
      cmd heading: 165.189163 deg,
      new cmd heading: 165.172311 deg.

2025-08-11T14:51:51.804Z,1754923911.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254144
2025-08-11T14:51:52.052Z,1754923912.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503683
2025-08-11T14:51:52.131Z,1754923912.131 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000216135.0, +10.1,   0.0,1490.2,  0
2025-08-11T14:51:52.145Z,1754923912.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:52.147Z,1754923912.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.60 m.
2025-08-11T14:51:52.150Z,1754923912.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.600006 m,
      nav range: 202.470001 m,
      bearing: 171.409460 deg,
      approach rate: -0.639203 m/s,
      LOS rate: -0.014870 deg/s,
      cmd heading: 165.172306 deg,
      new cmd heading: 165.152147 deg.

2025-08-11T14:51:52.304Z,1754923912.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755440
2025-08-11T14:51:52.520Z,1754923912.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.60 m.
2025-08-11T14:51:52.527Z,1754923912.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.600006 m,
      nav range: 202.251099 m,
      bearing: 171.404310 deg,
      approach rate: -0.585609 m/s,
      LOS rate: -0.013790 deg/s,
      cmd heading: 165.152144 deg,
      new cmd heading: 165.136679 deg.

2025-08-11T14:51:52.556Z,1754923912.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007739
2025-08-11T14:51:52.814Z,1754923912.814 [DAT](INFO): DAT read: Rx Time:14:51:53.6444

2025-08-11T14:51:52.822Z,1754923912.822 [DAT](INFO): Rx dataTimestamp_ set to:1754923912.821151
2025-08-11T14:51:52.834Z,1754923912.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285380
2025-08-11T14:51:52.985Z,1754923912.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.60 m.
2025-08-11T14:51:52.993Z,1754923912.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.600006 m,
      nav range: 201.972092 m,
      bearing: 171.395149 deg,
      approach rate: -0.600081 m/s,
      LOS rate: -0.019732 deg/s,
      cmd heading: 165.136680 deg,
      new cmd heading: 165.109157 deg.

2025-08-11T14:51:53.061Z,1754923913.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512354
2025-08-11T14:51:53.324Z,1754923913.324 [DAT](INFO): DAT read: 14:51:53.6444 LVL= 29936, 32753, 31922, 32755, AGC= 71, IDX= 401, 0.09, 1.955, 0.040, 1.880, 1.600, PHS= 0.458,-1.514, 0.237, RAW= 144.1,   8.8, CAL= 143.7,   9.6, ROT=   6.3,  -9.6

2025-08-11T14:51:53.325Z,1754923913.325 [DAT](INFO): got valid direction response:
 14:51:53.6444 LVL= 29936, 32753, 31922, 32755, AGC= 71, IDX= 401, 0.09, 1.955, 0.040, 1.880, 1.600, PHS= 0.458,-1.514, 0.237, RAW= 144.1,   8.8, CAL= 143.7,   9.6, ROT=   6.3,  -9.6

2025-08-11T14:51:53.326Z,1754923913.326 [DAT](INFO): DAT read: Bearing 325.7,   5.4 (Local)

2025-08-11T14:51:53.326Z,1754923913.326 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.7,   5.4 (Local)

2025-08-11T14:51:53.332Z,1754923913.332 [DAT](INFO): DAT read: Range 11 to 50 : 203.1 m  (Round-trip  270.8 ms) speed  0.5 m/s

2025-08-11T14:51:53.333Z,1754923913.333 [DAT](INFO): DAT read: user:167>

2025-08-11T14:51:53.339Z,1754923913.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:53.340Z,1754923913.340 [DAT](INFO): direction in FSK: [0.980042,0.108198,0.166769]
2025-08-11T14:51:53.340Z,1754923913.340 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:53.376Z,1754923913.376 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:53.376Z,1754923913.376 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:53.376Z,1754923913.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:53.476Z,1754923913.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 203.100006 m,
      deltaT: 3.783419 s,
      deltaX: -2.500000 m,
      approachRate: -0.660778 m/s,
      rangeRepo size: 4

2025-08-11T14:51:53.478Z,1754923913.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 203.100006 m,
      bearing: 171.385539 deg,
      lat: 36.905849 deg,
      lon: -122.116030 deg,
      deltaT: 3.783419 s,
      deltaX: -2.500000 m,
      approachRate: -0.660778 m/s,
      posRepo size: 4

2025-08-11T14:51:53.479Z,1754923913.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:53.485Z,1754923913.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 201.680252 m,
      bearing: 171.385539 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019732 deg/s,
      cmd heading: 165.109154 deg,
      new cmd heading: 165.080409 deg.

2025-08-11T14:51:53.565Z,1754923913.565 [DAT](INFO): DAT read: Tx time:14:51:54.7695

2025-08-11T14:51:53.565Z,1754923913.565 [DAT](INFO): Ping request sent.
2025-08-11T14:51:53.565Z,1754923913.565 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:53.565Z,1754923913.565 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:53.566Z,1754923913.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770
2025-08-11T14:51:53.788Z,1754923913.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:53.801Z,1754923913.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 201.495331 m,
      bearing: 171.379499 deg,
      approach rate: -0.583655 m/s,
      LOS rate: -0.019080 deg/s,
      cmd heading: 165.080413 deg,
      new cmd heading: 165.062277 deg.

2025-08-11T14:51:53.819Z,1754923913.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253661
2025-08-11T14:51:54.068Z,1754923914.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986
2025-08-11T14:51:54.203Z,1754923914.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:54.205Z,1754923914.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:54.208Z,1754923914.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 201.226166 m,
      bearing: 171.367485 deg,
      approach rate: -0.645537 m/s,
      LOS rate: -0.028853 deg/s,
      cmd heading: 165.062272 deg,
      new cmd heading: 165.026181 deg.

2025-08-11T14:51:54.320Z,1754923914.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755181
2025-08-11T14:51:54.565Z,1754923914.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:54.572Z,1754923914.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007127
2025-08-11T14:51:54.580Z,1754923914.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 201.008560 m,
      bearing: 171.357805 deg,
      approach rate: -0.604289 m/s,
      LOS rate: -0.026910 deg/s,
      cmd heading: 165.026181 deg,
      new cmd heading: 164.997111 deg.

2025-08-11T14:51:54.828Z,1754923914.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261915
2025-08-11T14:51:54.996Z,1754923914.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:54.999Z,1754923914.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 200.746964 m,
      bearing: 171.346677 deg,
      approach rate: -0.606953 m/s,
      LOS rate: -0.025854 deg/s,
      cmd heading: 164.997112 deg,
      new cmd heading: 164.963683 deg.

2025-08-11T14:51:55.077Z,1754923915.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511860
2025-08-11T14:51:55.328Z,1754923915.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763048
2025-08-11T14:51:55.392Z,1754923915.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:55.395Z,1754923915.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 200.516953 m,
      bearing: 171.336964 deg,
      approach rate: -0.606281 m/s,
      LOS rate: -0.025632 deg/s,
      cmd heading: 164.963685 deg,
      new cmd heading: 164.934512 deg.

2025-08-11T14:51:55.585Z,1754923915.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019412
2025-08-11T14:51:55.813Z,1754923915.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:55.816Z,1754923915.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 200.262375 m,
      bearing: 171.326283 deg,
      approach rate: -0.606165 m/s,
      LOS rate: -0.025464 deg/s,
      cmd heading: 164.934506 deg,
      new cmd heading: 164.902423 deg.

2025-08-11T14:51:55.832Z,1754923915.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267215
2025-08-11T14:51:56.085Z,1754923916.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519638
2025-08-11T14:51:56.221Z,1754923916.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:56.228Z,1754923916.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:56.230Z,1754923916.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 200.022949 m,
      bearing: 171.317000 deg,
      approach rate: -0.559276 m/s,
      LOS rate: -0.021709 deg/s,
      cmd heading: 164.902418 deg,
      new cmd heading: 164.874537 deg.

2025-08-11T14:51:56.336Z,1754923916.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771064
2025-08-11T14:51:56.588Z,1754923916.588 [DAT](INFO): DAT read: Rx Time:14:51:57.4413

2025-08-11T14:51:56.589Z,1754923916.589 [DAT](INFO): Rx dataTimestamp_ set to:1754923916.588541
2025-08-11T14:51:56.589Z,1754923916.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024316
2025-08-11T14:51:56.608Z,1754923916.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:56.611Z,1754923916.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 199.784760 m,
      bearing: 171.307743 deg,
      approach rate: -0.618588 m/s,
      LOS rate: -0.024071 deg/s,
      cmd heading: 164.874537 deg,
      new cmd heading: 164.846732 deg.

2025-08-11T14:51:56.843Z,1754923916.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277207
2025-08-11T14:51:57.096Z,1754923917.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530256
2025-08-11T14:51:57.148Z,1754923917.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.10 m.
2025-08-11T14:51:57.150Z,1754923917.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 203.100006 m,
      nav range: 199.468704 m,
      bearing: 171.297093 deg,
      approach rate: -0.586458 m/s,
      LOS rate: -0.019791 deg/s,
      cmd heading: 164.846739 deg,
      new cmd heading: 164.814740 deg.

2025-08-11T14:51:57.352Z,1754923917.352 [DAT](INFO): DAT read: 14:51:57.4413 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418,-0.48, 2.589, 0.742, 2.575, 2.262, PHS= 0.428,-1.475, 0.269, RAW= 145.7,   8.5, CAL= 145.2,   9.3, ROT=   4.8,  -9.3

2025-08-11T14:51:57.353Z,1754923917.353 [DAT](INFO): got valid direction response:
 14:51:57.4413 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418,-0.48, 2.589, 0.742, 2.575, 2.262, PHS= 0.428,-1.475, 0.269, RAW= 145.7,   8.5, CAL= 145.2,   9.3, ROT=   4.8,  -9.3

2025-08-11T14:51:57.354Z,1754923917.354 [DAT](INFO): DAT read: Bearing 325.2,   3.9 (Local)

2025-08-11T14:51:57.354Z,1754923917.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.2,   3.9 (Local)

2025-08-11T14:51:57.356Z,1754923917.356 [DAT](INFO): DAT read: Range 11 to 50 : 200.7 m  (Round-trip  267.6 ms) speed  0.5 m/s

2025-08-11T14:51:57.357Z,1754923917.357 [DAT](INFO): DAT read: user:168>

2025-08-11T14:51:57.358Z,1754923917.358 [DAT](INFO): DAT read: Tx time:14:51:58.5695

2025-08-11T14:51:57.358Z,1754923917.358 [DAT](INFO): Ping request sent.
2025-08-11T14:51:57.358Z,1754923917.358 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:51:57.358Z,1754923917.358 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:51:57.362Z,1754923917.362 [DAT](INFO): direction in FSK: [0.983395,0.082578,0.161604]
2025-08-11T14:51:57.363Z,1754923917.363 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:57.364Z,1754923917.364 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:57.370Z,1754923917.370 [DAT](INFO): publishing transmit ping time
2025-08-11T14:51:57.370Z,1754923917.370 [DAT](INFO): publishing direction and range info
2025-08-11T14:51:57.533Z,1754923917.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 200.699997 m,
      deltaT: 4.027501 s,
      deltaX: -2.400009 m,
      approachRate: -0.595905 m/s,
      rangeRepo size: 4

2025-08-11T14:51:57.539Z,1754923917.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 200.699997 m,
      bearing: 171.283879 deg,
      lat: 36.905850 deg,
      lon: -122.116030 deg,
      deltaT: 4.027501 s,
      deltaX: -2.400009 m,
      approachRate: -0.595905 m/s,
      posRepo size: 4

2025-08-11T14:51:57.540Z,1754923917.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-08-11T14:51:57.543Z,1754923917.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 199.117523 m,
      bearing: 171.283879 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019791 deg/s,
      cmd heading: 164.814746 deg,
      new cmd heading: 164.791890 deg.

2025-08-11T14:51:57.957Z,1754923917.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-08-11T14:51:57.964Z,1754923917.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 198.863785 m,
      bearing: 171.275392 deg,
      approach rate: -0.597252 m/s,
      LOS rate: -0.020002 deg/s,
      cmd heading: 164.791892 deg,
      new cmd heading: 164.766399 deg.

2025-08-11T14:51:58.339Z,1754923918.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:51:58.341Z,1754923918.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-08-11T14:51:58.344Z,1754923918.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 198.637222 m,
      bearing: 171.269547 deg,
      approach rate: -0.590305 m/s,
      LOS rate: -0.015246 deg/s,
      cmd heading: 164.766402 deg,
      new cmd heading: 164.748847 deg.

2025-08-11T14:51:58.368Z,1754923918.368 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:51:58.368Z,1754923918.368 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:51:58.368Z,1754923918.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:51:58.621Z,1754923918.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263218
2025-08-11T14:51:58.710Z,1754923918.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-08-11T14:51:58.713Z,1754923918.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 198.423416 m,
      bearing: 171.264038 deg,
      approach rate: -0.578984 m/s,
      LOS rate: -0.014936 deg/s,
      cmd heading: 164.748848 deg,
      new cmd heading: 164.732301 deg.

2025-08-11T14:51:58.900Z,1754923918.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517026
2025-08-11T14:51:59.124Z,1754923919.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766273
2025-08-11T14:51:59.143Z,1754923919.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-08-11T14:51:59.146Z,1754923919.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 198.187897 m,
      bearing: 171.260316 deg,
      approach rate: -0.549082 m/s,
      LOS rate: -0.008686 deg/s,
      cmd heading: 164.732306 deg,
      new cmd heading: 164.721129 deg.

2025-08-11T14:51:59.376Z,1754923919.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018550
2025-08-11T14:51:59.505Z,1754923919.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-08-11T14:51:59.508Z,1754923919.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 197.965042 m,
      bearing: 171.256773 deg,
      approach rate: -0.609534 m/s,
      LOS rate: -0.009702 deg/s,
      cmd heading: 164.721131 deg,
      new cmd heading: 164.710489 deg.

2025-08-11T14:51:59.628Z,1754923919.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270333
2025-08-11T14:51:59.883Z,1754923919.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524894
2025-08-11T14:52:00.003Z,1754923920.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-08-11T14:52:00.006Z,1754923920.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 197.679581 m,
      bearing: 171.254605 deg,
      approach rate: -0.572959 m/s,
      LOS rate: -0.004359 deg/s,
      cmd heading: 164.710490 deg,
      new cmd heading: 164.703975 deg.

2025-08-11T14:52:00.133Z,1754923920.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774777
2025-08-11T14:52:00.353Z,1754923920.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:00.356Z,1754923920.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-08-11T14:52:00.358Z,1754923920.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 197.477890 m,
      bearing: 171.253069 deg,
      approach rate: -0.572487 m/s,
      LOS rate: -0.004364 deg/s,
      cmd heading: 164.703974 deg,
      new cmd heading: 164.699361 deg.

2025-08-11T14:52:00.388Z,1754923920.388 [DAT](INFO): DAT read: Rx Time:14:52:01.2386

2025-08-11T14:52:00.389Z,1754923920.389 [DAT](INFO): Rx dataTimestamp_ set to:1754923920.388880
2025-08-11T14:52:00.390Z,1754923920.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032019
2025-08-11T14:52:00.636Z,1754923920.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278180
2025-08-11T14:52:00.741Z,1754923920.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-08-11T14:52:00.746Z,1754923920.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 197.259033 m,
      bearing: 171.251376 deg,
      approach rate: -0.568118 m/s,
      LOS rate: -0.004398 deg/s,
      cmd heading: 164.699357 deg,
      new cmd heading: 164.694275 deg.

2025-08-11T14:52:00.953Z,1754923920.953 [DAT](INFO): DAT read: 14:52:01.2386 LVL= 32752, 32753, 29218, 32755, AGC= 73, IDX= 422, 0.36,-1.995, 2.498,-1.957,-2.312, PHS= 0.419,-1.428, 0.311, RAW= 147.0,   7.8, CAL= 146.5,   8.5, ROT=   3.5,  -8.5

2025-08-11T14:52:00.961Z,1754923920.961 [DAT](INFO): got valid direction response:
 14:52:01.2386 LVL= 32752, 32753, 29218, 32755, AGC= 73, IDX= 422, 0.36,-1.995, 2.498,-1.957,-2.312, PHS= 0.419,-1.428, 0.311, RAW= 147.0,   7.8, CAL= 146.5,   8.5, ROT=   3.5,  -8.5

2025-08-11T14:52:00.962Z,1754923920.962 [DAT](INFO): DAT read: Bearing 324.1,   3.1 (Local)

2025-08-11T14:52:00.962Z,1754923920.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.1,   3.1 (Local)

2025-08-11T14:52:00.968Z,1754923920.968 [DAT](INFO): DAT read: Range 11 to 50 : 198.7 m  (Round-trip  265.0 ms) speed  0.4 m/s

2025-08-11T14:52:00.968Z,1754923920.968 [DAT](INFO): DAT read: user:169>

2025-08-11T14:52:00.969Z,1754923920.969 [DAT](INFO): DAT read: Tx time:14:52:02.3695

2025-08-11T14:52:00.969Z,1754923920.969 [DAT](INFO): Ping request sent.
2025-08-11T14:52:00.970Z,1754923920.970 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:00.970Z,1754923920.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:00.971Z,1754923920.971 [DAT](INFO): direction in FSK: [0.987171,0.060378,0.147809]
2025-08-11T14:52:00.975Z,1754923920.975 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:00.976Z,1754923920.976 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:00.978Z,1754923920.978 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:00.979Z,1754923920.979 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:01.181Z,1754923921.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.699997 m,
      deltaT: 3.546360 s,
      deltaX: -2.000000 m,
      approachRate: -0.563959 m/s,
      rangeRepo size: 4

2025-08-11T14:52:01.183Z,1754923921.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.699997 m,
      bearing: 171.249778 deg,
      lat: 36.905850 deg,
      lon: -122.116030 deg,
      deltaT: 3.546360 s,
      deltaX: -2.000000 m,
      approachRate: -0.563959 m/s,
      posRepo size: 4

2025-08-11T14:52:01.186Z,1754923921.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.70 m.
2025-08-11T14:52:01.192Z,1754923921.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.699997 m,
      nav range: 197.007462 m,
      bearing: 171.249778 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004398 deg/s,
      cmd heading: 164.694275 deg,
      new cmd heading: 164.688473 deg.

2025-08-11T14:52:01.702Z,1754923921.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.70 m.
2025-08-11T14:52:01.758Z,1754923921.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.699997 m,
      nav range: 196.709290 m,
      bearing: 171.247839 deg,
      approach rate: -0.571887 m/s,
      LOS rate: -0.003725 deg/s,
      cmd heading: 164.688469 deg,
      new cmd heading: 164.682642 deg.

2025-08-11T14:52:02.119Z,1754923922.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.70 m.
2025-08-11T14:52:02.121Z,1754923922.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.699997 m,
      nav range: 196.468506 m,
      bearing: 171.247491 deg,
      approach rate: -0.577690 m/s,
      LOS rate: -0.000834 deg/s,
      cmd heading: 164.682636 deg,
      new cmd heading: 164.681593 deg.

2025-08-11T14:52:02.501Z,1754923922.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:02.504Z,1754923922.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.70 m.
2025-08-11T14:52:02.506Z,1754923922.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.699997 m,
      nav range: 196.248703 m,
      bearing: 171.247176 deg,
      approach rate: -0.571054 m/s,
      LOS rate: -0.000821 deg/s,
      cmd heading: 164.681598 deg,
      new cmd heading: 164.680650 deg.

2025-08-11T14:52:02.652Z,1754923922.652 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:02.652Z,1754923922.652 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:02.652Z,1754923922.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:02.904Z,1754923922.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.934567
2025-08-11T14:52:02.912Z,1754923922.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.70 m.
2025-08-11T14:52:02.930Z,1754923922.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.699997 m,
      nav range: 196.024612 m,
      bearing: 171.246873 deg,
      approach rate: -0.572112 m/s,
      LOS rate: -0.000774 deg/s,
      cmd heading: 164.680656 deg,
      new cmd heading: 164.679746 deg.

2025-08-11T14:52:03.156Z,1754923923.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186563
2025-08-11T14:52:03.345Z,1754923923.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.70 m.
2025-08-11T14:52:03.352Z,1754923923.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.699997 m,
      nav range: 195.776566 m,
      bearing: 171.245402 deg,
      approach rate: -0.551639 m/s,
      LOS rate: -0.003276 deg/s,
      cmd heading: 164.679740 deg,
      new cmd heading: 164.675321 deg.

2025-08-11T14:52:03.409Z,1754923923.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439696
2025-08-11T14:52:03.660Z,1754923923.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690530
2025-08-11T14:52:03.717Z,1754923923.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.70 m.
2025-08-11T14:52:03.720Z,1754923923.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.699997 m,
      nav range: 195.549652 m,
      bearing: 171.244039 deg,
      approach rate: -0.608853 m/s,
      LOS rate: -0.003660 deg/s,
      cmd heading: 164.675328 deg,
      new cmd heading: 164.671236 deg.

2025-08-11T14:52:03.912Z,1754923923.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.942922
2025-08-11T14:52:04.154Z,1754923924.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.70 m.
2025-08-11T14:52:04.157Z,1754923924.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.699997 m,
      nav range: 195.292465 m,
      bearing: 171.241669 deg,
      approach rate: -0.588608 m/s,
      LOS rate: -0.005432 deg/s,
      cmd heading: 164.671230 deg,
      new cmd heading: 164.664109 deg.

2025-08-11T14:52:04.164Z,1754923924.164 [DAT](INFO): DAT read: Rx Time:14:52:05.0358

2025-08-11T14:52:04.165Z,1754923924.165 [DAT](INFO): Rx dataTimestamp_ set to:1754923924.164532
2025-08-11T14:52:04.165Z,1754923924.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195829
2025-08-11T14:52:04.416Z,1754923924.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.446854
2025-08-11T14:52:04.514Z,1754923924.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:04.516Z,1754923924.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.70 m.
2025-08-11T14:52:04.519Z,1754923924.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.699997 m,
      nav range: 195.079437 m,
      bearing: 171.239709 deg,
      approach rate: -0.589080 m/s,
      LOS rate: -0.005425 deg/s,
      cmd heading: 164.664113 deg,
      new cmd heading: 164.658228 deg.

2025-08-11T14:52:04.671Z,1754923924.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.701149
2025-08-11T14:52:04.929Z,1754923924.929 [DAT](INFO): DAT read: 14:52:05.0358 LVL= 20576, 24433, 23314, 28659, AGC= 70, IDX= 409, 0.28,-0.420,-2.268,-0.390,-0.751, PHS= 0.433,-1.471, 0.318, RAW= 146.9,   7.8, CAL= 146.4,   8.5, ROT=   3.6,  -8.5

2025-08-11T14:52:04.930Z,1754923924.930 [DAT](INFO): got valid direction response:
 14:52:05.0358 LVL= 20576, 24433, 23314, 28659, AGC= 70, IDX= 409, 0.28,-0.420,-2.268,-0.390,-0.751, PHS= 0.433,-1.471, 0.318, RAW= 146.9,   7.8, CAL= 146.4,   8.5, ROT=   3.6,  -8.5

2025-08-11T14:52:04.932Z,1754923924.932 [DAT](INFO): DAT read: Bearing 324.1,   3.3 (Local)

2025-08-11T14:52:04.932Z,1754923924.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.1,   3.3 (Local)

2025-08-11T14:52:04.934Z,1754923924.934 [DAT](INFO): DAT read: Range 11 to 50 : 196.6 m  (Round-trip  262.2 ms) speed  0.4 m/s

2025-08-11T14:52:04.946Z,1754923924.946 [DAT](INFO): DAT read: user:170>

2025-08-11T14:52:04.947Z,1754923924.947 [DAT](INFO): DAT read: Tx time:14:52:06.1195

2025-08-11T14:52:04.951Z,1754923924.951 [DAT](INFO): Ping request sent.
2025-08-11T14:52:04.951Z,1754923924.951 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:04.952Z,1754923924.952 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:04.953Z,1754923924.953 [DAT](INFO): direction in FSK: [0.987064,0.062101,0.147809]
2025-08-11T14:52:04.953Z,1754923924.953 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:04.953Z,1754923924.953 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:05.002Z,1754923925.002 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:05.003Z,1754923925.003 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:05.050Z,1754923925.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 196.600006 m,
      deltaT: 4.030001 s,
      deltaX: -2.099991 m,
      approachRate: -0.521089 m/s,
      rangeRepo size: 4

2025-08-11T14:52:05.056Z,1754923925.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 196.600006 m,
      bearing: 171.088482 deg,
      lat: 36.905857 deg,
      lon: -122.116026 deg,
      deltaT: 4.030001 s,
      deltaX: -2.099991 m,
      approachRate: -0.521089 m/s,
      posRepo size: 4

2025-08-11T14:52:05.057Z,1754923925.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.60 m.
2025-08-11T14:52:05.064Z,1754923925.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.600006 m,
      nav range: 194.122238 m,
      bearing: 171.088482 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005425 deg/s,
      cmd heading: 164.658225 deg,
      new cmd heading: 164.649545 deg.

2025-08-11T14:52:05.490Z,1754923925.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.60 m.
2025-08-11T14:52:05.493Z,1754923925.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.600006 m,
      nav range: 193.823517 m,
      bearing: 171.084848 deg,
      approach rate: -0.677508 m/s,
      LOS rate: -0.008255 deg/s,
      cmd heading: 164.649551 deg,
      new cmd heading: 164.638632 deg.

2025-08-11T14:52:05.818Z,1754923925.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.60 m.
2025-08-11T14:52:05.821Z,1754923925.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.600006 m,
      nav range: 193.621719 m,
      bearing: 171.082402 deg,
      approach rate: -0.615525 m/s,
      LOS rate: -0.007471 deg/s,
      cmd heading: 164.638636 deg,
      new cmd heading: 164.631288 deg.

2025-08-11T14:52:06.290Z,1754923926.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.60 m.
2025-08-11T14:52:06.293Z,1754923926.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.600006 m,
      nav range: 193.343185 m,
      bearing: 171.075883 deg,
      approach rate: -0.589721 m/s,
      LOS rate: -0.013822 deg/s,
      cmd heading: 164.631287 deg,
      new cmd heading: 164.611702 deg.

2025-08-11T14:52:06.656Z,1754923926.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:06.658Z,1754923926.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.60 m.
2025-08-11T14:52:06.660Z,1754923926.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.600006 m,
      nav range: 193.125534 m,
      bearing: 171.070760 deg,
      approach rate: -0.592889 m/s,
      LOS rate: -0.013970 deg/s,
      cmd heading: 164.611698 deg,
      new cmd heading: 164.596313 deg.

2025-08-11T14:52:06.692Z,1754923926.692 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:06.692Z,1754923926.692 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:06.692Z,1754923926.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:06.945Z,1754923926.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998099
2025-08-11T14:52:07.093Z,1754923927.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.60 m.
2025-08-11T14:52:07.096Z,1754923927.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.600006 m,
      nav range: 192.849213 m,
      bearing: 171.062035 deg,
      approach rate: -0.634064 m/s,
      LOS rate: -0.020051 deg/s,
      cmd heading: 164.596317 deg,
      new cmd heading: 164.570103 deg.

2025-08-11T14:52:07.197Z,1754923927.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249823
2025-08-11T14:52:07.426Z,1754923927.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.60 m.
2025-08-11T14:52:07.429Z,1754923927.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.600006 m,
      nav range: 192.646667 m,
      bearing: 171.055569 deg,
      approach rate: -0.608333 m/s,
      LOS rate: -0.019438 deg/s,
      cmd heading: 164.570102 deg,
      new cmd heading: 164.550686 deg.

2025-08-11T14:52:07.448Z,1754923927.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501255
2025-08-11T14:52:07.700Z,1754923927.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753106
2025-08-11T14:52:07.853Z,1754923927.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.60 m.
2025-08-11T14:52:07.856Z,1754923927.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.600006 m,
      nav range: 192.397659 m,
      bearing: 171.047519 deg,
      approach rate: -0.583825 m/s,
      LOS rate: -0.018901 deg/s,
      cmd heading: 164.550691 deg,
      new cmd heading: 164.526507 deg.

2025-08-11T14:52:07.953Z,1754923927.953 [DAT](INFO): DAT read: Rx Time:14:52:08.7825

2025-08-11T14:52:07.953Z,1754923927.953 [DAT](INFO): Rx dataTimestamp_ set to:1754923927.952851
2025-08-11T14:52:07.954Z,1754923927.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006687
2025-08-11T14:52:08.204Z,1754923928.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257144
2025-08-11T14:52:08.286Z,1754923928.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.60 m.
2025-08-11T14:52:08.289Z,1754923928.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.600006 m,
      nav range: 192.119904 m,
      bearing: 171.036848 deg,
      approach rate: -0.640545 m/s,
      LOS rate: -0.024642 deg/s,
      cmd heading: 164.526512 deg,
      new cmd heading: 164.494456 deg.

2025-08-11T14:52:08.476Z,1754923928.476 [DAT](INFO): DAT read: 14:52:08.7825 LVL= 29136, 32753, 29010, 32755, AGC= 70, IDX= 409,-0.48,-2.714, 1.776,-2.695,-3.050, PHS= 0.438,-1.413, 0.311, RAW= 146.5,   7.5, CAL= 146.0,   8.1, ROT=   4.0,  -8.1

2025-08-11T14:52:08.477Z,1754923928.477 [DAT](INFO): got valid direction response:
 14:52:08.7825 LVL= 29136, 32753, 29010, 32755, AGC= 70, IDX= 409,-0.48,-2.714, 1.776,-2.695,-3.050, PHS= 0.438,-1.413, 0.311, RAW= 146.5,   7.5, CAL= 146.0,   8.1, ROT=   4.0,  -8.1

2025-08-11T14:52:08.478Z,1754923928.478 [DAT](INFO): DAT read: Bearing 324.0,   4.3 (Local)

2025-08-11T14:52:08.478Z,1754923928.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.0,   4.3 (Local)

2025-08-11T14:52:08.480Z,1754923928.480 [DAT](INFO): DAT read: Range 11 to 50 : 194.1 m  (Round-trip  258.9 ms) speed  0.4 m/s

2025-08-11T14:52:08.480Z,1754923928.480 [DAT](INFO): DAT read: user:171>

2025-08-11T14:52:08.481Z,1754923928.481 [DAT](INFO): DAT read: Tx time:14:52:09.8694

2025-08-11T14:52:08.481Z,1754923928.481 [DAT](INFO): Ping request sent.
2025-08-11T14:52:08.481Z,1754923928.481 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:08.482Z,1754923928.482 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:08.483Z,1754923928.483 [DAT](INFO): direction in FSK: [0.987612,0.069061,0.140901]
2025-08-11T14:52:08.483Z,1754923928.483 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:08.483Z,1754923928.483 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:08.486Z,1754923928.486 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:08.487Z,1754923928.487 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:08.672Z,1754923928.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 194.100006 m,
      deltaT: 3.537440 s,
      deltaX: -2.500000 m,
      approachRate: -0.706726 m/s,
      rangeRepo size: 4

2025-08-11T14:52:08.674Z,1754923928.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 194.100006 m,
      bearing: 170.409606 deg,
      lat: 36.905859 deg,
      lon: -122.116003 deg,
      deltaT: 3.537440 s,
      deltaX: -2.500000 m,
      approachRate: -0.706726 m/s,
      posRepo size: 4

2025-08-11T14:52:08.675Z,1754923928.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.10 m.
2025-08-11T14:52:08.681Z,1754923928.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.100006 m,
      nav range: 191.951141 m,
      bearing: 170.409606 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024642 deg/s,
      cmd heading: 164.494451 deg,
      new cmd heading: 164.466621 deg.

2025-08-11T14:52:09.116Z,1754923929.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:09.119Z,1754923929.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.10 m.
2025-08-11T14:52:09.121Z,1754923929.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.100006 m,
      nav range: 191.653183 m,
      bearing: 170.395405 deg,
      approach rate: -0.653925 m/s,
      LOS rate: -0.031215 deg/s,
      cmd heading: 164.466625 deg,
      new cmd heading: 164.423956 deg.

2025-08-11T14:52:09.213Z,1754923929.213 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:09.213Z,1754923929.213 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:09.213Z,1754923929.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:09.446Z,1754923929.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.10 m.
2025-08-11T14:52:09.449Z,1754923929.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.100006 m,
      nav range: 191.442963 m,
      bearing: 170.385323 deg,
      approach rate: -0.642216 m/s,
      LOS rate: -0.030837 deg/s,
      cmd heading: 164.423950 deg,
      new cmd heading: 164.393668 deg.

2025-08-11T14:52:09.467Z,1754923929.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985562
2025-08-11T14:52:09.717Z,1754923929.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235887
2025-08-11T14:52:09.847Z,1754923929.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.10 m.
2025-08-11T14:52:09.850Z,1754923929.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.100006 m,
      nav range: 191.185760 m,
      bearing: 170.372964 deg,
      approach rate: -0.641036 m/s,
      LOS rate: -0.030844 deg/s,
      cmd heading: 164.393665 deg,
      new cmd heading: 164.356538 deg.

2025-08-11T14:52:09.968Z,1754923929.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486841
2025-08-11T14:52:10.222Z,1754923930.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739954
2025-08-11T14:52:10.317Z,1754923930.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.10 m.
2025-08-11T14:52:10.320Z,1754923930.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.100006 m,
      nav range: 190.888855 m,
      bearing: 170.357831 deg,
      approach rate: -0.631730 m/s,
      LOS rate: -0.032248 deg/s,
      cmd heading: 164.356536 deg,
      new cmd heading: 164.311068 deg.

2025-08-11T14:52:10.472Z,1754923930.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990570
2025-08-11T14:52:10.657Z,1754923930.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.10 m.
2025-08-11T14:52:10.659Z,1754923930.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.100006 m,
      nav range: 190.673233 m,
      bearing: 170.346833 deg,
      approach rate: -0.635258 m/s,
      LOS rate: -0.032438 deg/s,
      cmd heading: 164.311074 deg,
      new cmd heading: 164.278044 deg.

2025-08-11T14:52:10.726Z,1754923930.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244180
2025-08-11T14:52:10.976Z,1754923930.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494669
2025-08-11T14:52:11.128Z,1754923931.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:11.130Z,1754923931.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.10 m.
2025-08-11T14:52:11.137Z,1754923931.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.100006 m,
      nav range: 190.378540 m,
      bearing: 170.331817 deg,
      approach rate: -0.622483 m/s,
      LOS rate: -0.031769 deg/s,
      cmd heading: 164.278043 deg,
      new cmd heading: 164.232923 deg.

2025-08-11T14:52:11.229Z,1754923931.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747376
2025-08-11T14:52:11.480Z,1754923931.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998638
2025-08-11T14:52:11.584Z,1754923931.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.10 m.
2025-08-11T14:52:11.586Z,1754923931.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.100006 m,
      nav range: 190.109222 m,
      bearing: 170.319038 deg,
      approach rate: -0.593373 m/s,
      LOS rate: -0.028195 deg/s,
      cmd heading: 164.232923 deg,
      new cmd heading: 164.194532 deg.

2025-08-11T14:52:11.734Z,1754923931.734 [DAT](INFO): DAT read: Rx Time:14:52:12.5295

2025-08-11T14:52:11.734Z,1754923931.734 [DAT](INFO): Rx dataTimestamp_ set to:1754923931.733921
2025-08-11T14:52:11.735Z,1754923931.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253275
2025-08-11T14:52:11.929Z,1754923931.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.10 m.
2025-08-11T14:52:11.937Z,1754923931.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.100006 m,
      nav range: 189.896454 m,
      bearing: 170.308948 deg,
      approach rate: -0.616844 m/s,
      LOS rate: -0.029285 deg/s,
      cmd heading: 164.194537 deg,
      new cmd heading: 164.164233 deg.

2025-08-11T14:52:11.984Z,1754923931.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502780
2025-08-11T14:52:12.245Z,1754923932.245 [DAT](INFO): DAT read: 14:52:12.5295 LVL= 20720, 31553, 23282, 30627, AGC= 69, IDX= 410,-0.15, 2.248, 0.379, 2.293, 1.892, PHS= 0.458,-1.468, 0.357, RAW= 147.3,   7.0, CAL= 146.8,   7.6, ROT=   3.2,  -7.6

2025-08-11T14:52:12.246Z,1754923932.246 [DAT](INFO): got valid direction response:
 14:52:12.5295 LVL= 20720, 31553, 23282, 30627, AGC= 69, IDX= 410,-0.15, 2.248, 0.379, 2.293, 1.892, PHS= 0.458,-1.468, 0.357, RAW= 147.3,   7.0, CAL= 146.8,   7.6, ROT=   3.2,  -7.6

2025-08-11T14:52:12.252Z,1754923932.252 [DAT](INFO): DAT read: Bearing 323.7,   4.1 (Local)

2025-08-11T14:52:12.252Z,1754923932.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.7,   4.1 (Local)

2025-08-11T14:52:12.253Z,1754923932.253 [DAT](INFO): DAT read: Range 11 to 50 : 192.0 m  (Round-trip  256.0 ms) speed  0.9 m/s

2025-08-11T14:52:12.254Z,1754923932.254 [DAT](INFO): DAT read: user:172>

2025-08-11T14:52:12.255Z,1754923932.255 [DAT](INFO): DAT read: Tx time:14:52:13.6194

2025-08-11T14:52:12.255Z,1754923932.255 [DAT](INFO): Ping request sent.
2025-08-11T14:52:12.255Z,1754923932.255 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:12.256Z,1754923932.256 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:12.257Z,1754923932.257 [DAT](INFO): direction in FSK: [0.989670,0.055331,0.132256]
2025-08-11T14:52:12.257Z,1754923932.257 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:12.257Z,1754923932.257 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:12.297Z,1754923932.297 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:12.297Z,1754923932.297 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:12.443Z,1754923932.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 192.000000 m,
      deltaT: 3.778688 s,
      deltaX: -2.100006 m,
      approachRate: -0.555750 m/s,
      rangeRepo size: 4

2025-08-11T14:52:12.445Z,1754923932.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 192.000000 m,
      bearing: 169.617482 deg,
      lat: 36.905860 deg,
      lon: -122.115977 deg,
      deltaT: 3.778688 s,
      deltaX: -2.100006 m,
      approachRate: -0.555750 m/s,
      posRepo size: 4

2025-08-11T14:52:12.446Z,1754923932.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:12.453Z,1754923932.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 189.890915 m,
      bearing: 169.617482 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029285 deg/s,
      cmd heading: 164.164239 deg,
      new cmd heading: 164.119476 deg.

2025-08-11T14:52:12.754Z,1754923932.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:12.757Z,1754923932.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 189.686554 m,
      bearing: 169.608228 deg,
      approach rate: -0.646497 m/s,
      LOS rate: -0.029309 deg/s,
      cmd heading: 164.119474 deg,
      new cmd heading: 164.091679 deg.

2025-08-11T14:52:13.182Z,1754923933.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:13.185Z,1754923933.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:13.188Z,1754923933.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 189.435349 m,
      bearing: 169.597974 deg,
      approach rate: -0.583675 m/s,
      LOS rate: -0.023857 deg/s,
      cmd heading: 164.091675 deg,
      new cmd heading: 164.060872 deg.

2025-08-11T14:52:13.249Z,1754923933.249 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:13.249Z,1754923933.249 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:13.249Z,1754923933.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:13.500Z,1754923933.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244671
2025-08-11T14:52:13.552Z,1754923933.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:13.560Z,1754923933.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 189.225403 m,
      bearing: 169.589397 deg,
      approach rate: -0.570984 m/s,
      LOS rate: -0.023352 deg/s,
      cmd heading: 164.060871 deg,
      new cmd heading: 164.035112 deg.

2025-08-11T14:52:13.753Z,1754923933.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497687
2025-08-11T14:52:13.951Z,1754923933.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:13.954Z,1754923933.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 189.001434 m,
      bearing: 169.580238 deg,
      approach rate: -0.562231 m/s,
      LOS rate: -0.023017 deg/s,
      cmd heading: 164.035107 deg,
      new cmd heading: 164.007600 deg.

2025-08-11T14:52:14.005Z,1754923934.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749817
2025-08-11T14:52:14.256Z,1754923934.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000743
2025-08-11T14:52:14.359Z,1754923934.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:14.362Z,1754923934.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 188.754166 m,
      bearing: 169.572155 deg,
      approach rate: -0.605502 m/s,
      LOS rate: -0.019822 deg/s,
      cmd heading: 164.007595 deg,
      new cmd heading: 163.983312 deg.

2025-08-11T14:52:14.508Z,1754923934.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252805
2025-08-11T14:52:14.760Z,1754923934.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504809
2025-08-11T14:52:14.796Z,1754923934.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:14.804Z,1754923934.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 188.503830 m,
      bearing: 169.564001 deg,
      approach rate: -0.574017 m/s,
      LOS rate: -0.018720 deg/s,
      cmd heading: 163.983307 deg,
      new cmd heading: 163.958815 deg.

2025-08-11T14:52:15.013Z,1754923935.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757477
2025-08-11T14:52:15.249Z,1754923935.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:15.265Z,1754923935.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009310
2025-08-11T14:52:15.272Z,1754923935.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:15.274Z,1754923935.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 188.252625 m,
      bearing: 169.556691 deg,
      approach rate: -0.527264 m/s,
      LOS rate: -0.015363 deg/s,
      cmd heading: 163.958814 deg,
      new cmd heading: 163.936855 deg.

2025-08-11T14:52:15.516Z,1754923935.516 [DAT](INFO): DAT read: Rx Time:14:52:16.2767

2025-08-11T14:52:15.517Z,1754923935.517 [DAT](INFO): Rx dataTimestamp_ set to:1754923935.516523
2025-08-11T14:52:15.517Z,1754923935.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262057
2025-08-11T14:52:15.547Z,1754923935.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:15.550Z,1754923935.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 188.089417 m,
      bearing: 169.551973 deg,
      approach rate: -0.592846 m/s,
      LOS rate: -0.017153 deg/s,
      cmd heading: 163.936862 deg,
      new cmd heading: 163.922695 deg.

2025-08-11T14:52:15.768Z,1754923935.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512778
2025-08-11T14:52:16.009Z,1754923936.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.00 m.
2025-08-11T14:52:16.012Z,1754923936.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.000000 m,
      nav range: 187.844406 m,
      bearing: 169.544875 deg,
      approach rate: -0.530228 m/s,
      LOS rate: -0.015381 deg/s,
      cmd heading: 163.922696 deg,
      new cmd heading: 163.901374 deg.

2025-08-11T14:52:16.029Z,1754923936.029 [DAT](INFO): DAT read: 14:52:16.2767 LVL= 30016, 32753, 31282, 32755, AGC= 70, IDX= 413, 0.20, 2.614, 0.783, 2.648, 2.268, PHS= 0.448,-1.441, 0.335, RAW= 147.0,   7.2, CAL= 146.5,   7.8, ROT=   3.5,  -7.8

2025-08-11T14:52:16.030Z,1754923936.030 [DAT](INFO): got valid direction response:
 14:52:16.2767 LVL= 30016, 32753, 31282, 32755, AGC= 70, IDX= 413, 0.20, 2.614, 0.783, 2.648, 2.268, PHS= 0.448,-1.441, 0.335, RAW= 147.0,   7.2, CAL= 146.5,   7.8, ROT=   3.5,  -7.8

2025-08-11T14:52:16.031Z,1754923936.031 [DAT](INFO): DAT read: Bearing 323.7,   4.2 (Local)

2025-08-11T14:52:16.031Z,1754923936.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.7,   4.2 (Local)

2025-08-11T14:52:16.033Z,1754923936.033 [DAT](INFO): DAT read: Range 11 to 50 : 189.9 m  (Round-trip  253.2 ms) speed  0.7 m/s

2025-08-11T14:52:16.034Z,1754923936.034 [DAT](INFO): DAT read: user:173>

2025-08-11T14:52:16.034Z,1754923936.034 [DAT](INFO): DAT read: Tx time:14:52:17.3694

2025-08-11T14:52:16.035Z,1754923936.035 [DAT](INFO): Ping request sent.
2025-08-11T14:52:16.035Z,1754923936.035 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:16.035Z,1754923936.035 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:16.036Z,1754923936.036 [DAT](INFO): direction in FSK: [0.988900,0.060484,0.135716]
2025-08-11T14:52:16.036Z,1754923936.036 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:16.037Z,1754923936.037 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:16.056Z,1754923936.056 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:16.056Z,1754923936.056 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:16.414Z,1754923936.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 189.899994 m,
      deltaT: 3.783496 s,
      deltaX: -2.100006 m,
      approachRate: -0.555044 m/s,
      rangeRepo size: 4

2025-08-11T14:52:16.421Z,1754923936.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 189.899994 m,
      bearing: 169.501857 deg,
      lat: 36.905860 deg,
      lon: -122.115976 deg,
      deltaT: 3.783496 s,
      deltaX: -2.100006 m,
      approachRate: -0.555044 m/s,
      posRepo size: 4

2025-08-11T14:52:16.421Z,1754923936.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-08-11T14:52:16.428Z,1754923936.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.899994 m,
      nav range: 187.654282 m,
      bearing: 169.501857 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015381 deg/s,
      cmd heading: 163.901372 deg,
      new cmd heading: 163.882704 deg.

2025-08-11T14:52:16.758Z,1754923936.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-08-11T14:52:16.760Z,1754923936.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.899994 m,
      nav range: 187.459412 m,
      bearing: 169.496532 deg,
      approach rate: -0.566698 m/s,
      LOS rate: -0.015501 deg/s,
      cmd heading: 163.882698 deg,
      new cmd heading: 163.866707 deg.

2025-08-11T14:52:17.238Z,1754923937.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-08-11T14:52:17.245Z,1754923937.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.899994 m,
      nav range: 187.214905 m,
      bearing: 169.489835 deg,
      approach rate: -0.509209 m/s,
      LOS rate: -0.013966 deg/s,
      cmd heading: 163.866702 deg,
      new cmd heading: 163.846583 deg.

2025-08-11T14:52:17.628Z,1754923937.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:17.630Z,1754923937.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-08-11T14:52:17.633Z,1754923937.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.899994 m,
      nav range: 187.001556 m,
      bearing: 169.485483 deg,
      approach rate: -0.543350 m/s,
      LOS rate: -0.011096 deg/s,
      cmd heading: 163.846580 deg,
      new cmd heading: 163.833510 deg.

2025-08-11T14:52:17.788Z,1754923937.788 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:17.788Z,1754923937.788 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:17.788Z,1754923937.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:18.009Z,1754923938.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-08-11T14:52:18.011Z,1754923938.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.899994 m,
      nav range: 186.808548 m,
      bearing: 169.481647 deg,
      approach rate: -0.510395 m/s,
      LOS rate: -0.010153 deg/s,
      cmd heading: 163.833507 deg,
      new cmd heading: 163.821989 deg.

2025-08-11T14:52:18.040Z,1754923938.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005355
2025-08-11T14:52:18.292Z,1754923938.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257385
2025-08-11T14:52:18.484Z,1754923938.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-08-11T14:52:18.487Z,1754923938.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.899994 m,
      nav range: 186.546967 m,
      bearing: 169.476042 deg,
      approach rate: -0.549630 m/s,
      LOS rate: -0.011795 deg/s,
      cmd heading: 163.821992 deg,
      new cmd heading: 163.805152 deg.

2025-08-11T14:52:18.545Z,1754923938.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510196
2025-08-11T14:52:18.796Z,1754923938.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761427
2025-08-11T14:52:18.861Z,1754923938.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-08-11T14:52:18.864Z,1754923938.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.899994 m,
      nav range: 186.347092 m,
      bearing: 169.471837 deg,
      approach rate: -0.531225 m/s,
      LOS rate: -0.011187 deg/s,
      cmd heading: 163.805148 deg,
      new cmd heading: 163.792521 deg.

2025-08-11T14:52:19.051Z,1754923939.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015999
2025-08-11T14:52:19.304Z,1754923939.304 [DAT](INFO): DAT read: Rx Time:14:52:20.0240

2025-08-11T14:52:19.305Z,1754923939.305 [DAT](INFO): Rx dataTimestamp_ set to:1754923939.304676
2025-08-11T14:52:19.306Z,1754923939.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270760
2025-08-11T14:52:19.307Z,1754923939.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-08-11T14:52:19.310Z,1754923939.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.899994 m,
      nav range: 186.091934 m,
      bearing: 169.467283 deg,
      approach rate: -0.571938 m/s,
      LOS rate: -0.010221 deg/s,
      cmd heading: 163.792526 deg,
      new cmd heading: 163.778847 deg.

2025-08-11T14:52:19.556Z,1754923939.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521396
2025-08-11T14:52:19.700Z,1754923939.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:19.710Z,1754923939.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.90 m.
2025-08-11T14:52:19.724Z,1754923939.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.899994 m,
      nav range: 185.894241 m,
      bearing: 169.463746 deg,
      approach rate: -0.489789 m/s,
      LOS rate: -0.008772 deg/s,
      cmd heading: 163.778852 deg,
      new cmd heading: 163.768230 deg.

2025-08-11T14:52:19.817Z,1754923939.817 [DAT](INFO): DAT read: 14:52:20.0240 LVL= 32368, 32753, 32754, 32755, AGC= 69, IDX= 417,-0.39,-1.513, 2.899,-1.501,-1.878, PHS= 0.467,-1.462, 0.333, RAW= 146.4,   7.2, CAL= 145.9,   7.8, ROT=   4.1,  -7.8

2025-08-11T14:52:19.818Z,1754923939.818 [DAT](INFO): got valid direction response:
 14:52:20.0240 LVL= 32368, 32753, 32754, 32755, AGC= 69, IDX= 417,-0.39,-1.513, 2.899,-1.501,-1.878, PHS= 0.467,-1.462, 0.333, RAW= 146.4,   7.2, CAL= 145.9,   7.8, ROT=   4.1,  -7.8

2025-08-11T14:52:19.820Z,1754923939.820 [DAT](INFO): DAT read: Bearing 323.1,   4.3 (Local)

2025-08-11T14:52:19.820Z,1754923939.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.1,   4.3 (Local)

2025-08-11T14:52:19.821Z,1754923939.821 [DAT](INFO): DAT read: Range 11 to 50 : 187.8 m  (Round-trip  250.4 ms) speed  0.4 m/s

2025-08-11T14:52:19.822Z,1754923939.822 [DAT](INFO): DAT read: user:174>

2025-08-11T14:52:19.823Z,1754923939.823 [DAT](INFO): DAT read: Tx time:14:52:21.1194

2025-08-11T14:52:19.824Z,1754923939.824 [DAT](INFO): Ping request sent.
2025-08-11T14:52:19.824Z,1754923939.824 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:19.824Z,1754923939.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:19.825Z,1754923939.825 [DAT](INFO): direction in FSK: [0.988212,0.070836,0.135716]
2025-08-11T14:52:19.825Z,1754923939.825 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:19.826Z,1754923939.826 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:19.829Z,1754923939.829 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:19.830Z,1754923939.830 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:20.099Z,1754923940.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.800003 m,
      deltaT: 3.788568 s,
      deltaX: -2.099991 m,
      approachRate: -0.554297 m/s,
      rangeRepo size: 4

2025-08-11T14:52:20.105Z,1754923940.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 187.800003 m,
      bearing: 169.462143 deg,
      lat: 36.905860 deg,
      lon: -122.115976 deg,
      deltaT: 3.788568 s,
      deltaX: -2.099991 m,
      approachRate: -0.554297 m/s,
      posRepo size: 4

2025-08-11T14:52:20.106Z,1754923940.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-11T14:52:20.113Z,1754923940.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 187.800003 m,
      nav range: 185.694550 m,
      bearing: 169.462143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008772 deg/s,
      cmd heading: 163.768224 deg,
      new cmd heading: 163.758028 deg.

2025-08-11T14:52:20.504Z,1754923940.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-11T14:52:20.506Z,1754923940.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 187.800003 m,
      nav range: 185.442215 m,
      bearing: 169.455641 deg,
      approach rate: -0.621805 m/s,
      LOS rate: -0.016044 deg/s,
      cmd heading: 163.758034 deg,
      new cmd heading: 163.738501 deg.

2025-08-11T14:52:20.882Z,1754923940.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-11T14:52:20.885Z,1754923940.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 187.800003 m,
      nav range: 185.216232 m,
      bearing: 169.449861 deg,
      approach rate: -0.598062 m/s,
      LOS rate: -0.015313 deg/s,
      cmd heading: 163.738499 deg,
      new cmd heading: 163.721141 deg.

2025-08-11T14:52:21.327Z,1754923941.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-11T14:52:21.330Z,1754923941.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 187.800003 m,
      nav range: 184.946426 m,
      bearing: 169.441440 deg,
      approach rate: -0.605788 m/s,
      LOS rate: -0.018937 deg/s,
      cmd heading: 163.721137 deg,
      new cmd heading: 163.695835 deg.

2025-08-11T14:52:21.696Z,1754923941.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-11T14:52:21.701Z,1754923941.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 187.800003 m,
      nav range: 184.724762 m,
      bearing: 169.434552 deg,
      approach rate: -0.601966 m/s,
      LOS rate: -0.018726 deg/s,
      cmd heading: 163.695838 deg,
      new cmd heading: 163.675151 deg.

2025-08-11T14:52:22.116Z,1754923942.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:22.118Z,1754923942.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-11T14:52:22.125Z,1754923942.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 187.800003 m,
      nav range: 184.478622 m,
      bearing: 169.426964 deg,
      approach rate: -0.582444 m/s,
      LOS rate: -0.017981 deg/s,
      cmd heading: 163.675156 deg,
      new cmd heading: 163.652360 deg.

2025-08-11T14:52:22.328Z,1754923942.328 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:22.328Z,1754923942.328 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:22.328Z,1754923942.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:22.524Z,1754923942.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-11T14:52:22.526Z,1754923942.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 187.800003 m,
      nav range: 184.219482 m,
      bearing: 169.417066 deg,
      approach rate: -0.638408 m/s,
      LOS rate: -0.024419 deg/s,
      cmd heading: 163.652357 deg,
      new cmd heading: 163.622621 deg.

2025-08-11T14:52:22.581Z,1754923942.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757240
2025-08-11T14:52:22.832Z,1754923942.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008738
2025-08-11T14:52:22.914Z,1754923942.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-11T14:52:22.937Z,1754923942.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 187.800003 m,
      nav range: 183.983734 m,
      bearing: 169.408141 deg,
      approach rate: -0.604120 m/s,
      LOS rate: -0.022900 deg/s,
      cmd heading: 163.622618 deg,
      new cmd heading: 163.595809 deg.

2025-08-11T14:52:23.084Z,1754923943.084 [DAT](INFO): DAT read: Rx Time:14:52:23.7710

2025-08-11T14:52:23.085Z,1754923943.085 [DAT](INFO): Rx dataTimestamp_ set to:1754923943.084385
2025-08-11T14:52:23.085Z,1754923943.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261563
2025-08-11T14:52:23.336Z,1754923943.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512528
2025-08-11T14:52:23.351Z,1754923943.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-11T14:52:23.354Z,1754923943.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 187.800003 m,
      nav range: 183.713058 m,
      bearing: 169.397049 deg,
      approach rate: -0.619894 m/s,
      LOS rate: -0.025440 deg/s,
      cmd heading: 163.595803 deg,
      new cmd heading: 163.562479 deg.

2025-08-11T14:52:23.594Z,1754923943.594 [DAT](INFO): DAT read: 14:52:23.7710 LVL= 32304, 32753, 25250, 32755, AGC= 72, IDX= 419,-0.10, 3.035, 1.199, 3.037, 2.697, PHS= 0.440,-1.453, 0.296, RAW= 146.1,   7.9, CAL= 145.6,   8.6, ROT=   4.4,  -8.6

2025-08-11T14:52:23.599Z,1754923943.599 [DAT](INFO): got valid direction response:
 14:52:23.7710 LVL= 32304, 32753, 25250, 32755, AGC= 72, IDX= 419,-0.10, 3.035, 1.199, 3.037, 2.697, PHS= 0.440,-1.453, 0.296, RAW= 146.1,   7.9, CAL= 145.6,   8.6, ROT=   4.4,  -8.6

2025-08-11T14:52:23.600Z,1754923943.600 [DAT](INFO): DAT read: Bearing 323.1,   4.1 (Local)

2025-08-11T14:52:23.600Z,1754923943.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.1,   4.1 (Local)

2025-08-11T14:52:23.602Z,1754923943.602 [DAT](INFO): DAT read: Range 11 to 50 : 185.6 m  (Round-trip  247.5 ms) speed  0.0 m/s

2025-08-11T14:52:23.603Z,1754923943.603 [DAT](INFO): DAT read: user:175>

2025-08-11T14:52:23.605Z,1754923943.605 [DAT](INFO): DAT read: Tx time:14:52:24.8694

2025-08-11T14:52:23.611Z,1754923943.611 [DAT](INFO): Ping request sent.
2025-08-11T14:52:23.612Z,1754923943.612 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:23.612Z,1754923943.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:23.613Z,1754923943.613 [DAT](INFO): direction in FSK: [0.985842,0.075856,0.149535]
2025-08-11T14:52:23.613Z,1754923943.613 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:23.613Z,1754923943.613 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:23.623Z,1754923943.623 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:23.623Z,1754923943.623 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:23.805Z,1754923943.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.600006 m,
      deltaT: 3.779417 s,
      deltaX: -2.199997 m,
      approachRate: -0.582100 m/s,
      rangeRepo size: 4

2025-08-11T14:52:23.807Z,1754923943.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 185.600006 m,
      bearing: 169.295231 deg,
      lat: 36.905860 deg,
      lon: -122.115973 deg,
      deltaT: 3.779417 s,
      deltaX: -2.199997 m,
      approachRate: -0.582100 m/s,
      posRepo size: 4

2025-08-11T14:52:23.812Z,1754923943.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.60 m.
2025-08-11T14:52:23.814Z,1754923943.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.600006 m,
      nav range: 183.505768 m,
      bearing: 169.295231 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025440 deg/s,
      cmd heading: 163.562485 deg,
      new cmd heading: 163.527892 deg.

2025-08-11T14:52:24.139Z,1754923944.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:24.141Z,1754923944.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.60 m.
2025-08-11T14:52:24.145Z,1754923944.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.600006 m,
      nav range: 183.280884 m,
      bearing: 169.286117 deg,
      approach rate: -0.666858 m/s,
      LOS rate: -0.027057 deg/s,
      cmd heading: 163.527897 deg,
      new cmd heading: 163.500524 deg.

2025-08-11T14:52:24.344Z,1754923944.344 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:24.344Z,1754923944.344 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:24.344Z,1754923944.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:24.564Z,1754923944.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.60 m.
2025-08-11T14:52:24.567Z,1754923944.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.600006 m,
      nav range: 183.021545 m,
      bearing: 169.275203 deg,
      approach rate: -0.612864 m/s,
      LOS rate: -0.025829 deg/s,
      cmd heading: 163.500522 deg,
      new cmd heading: 163.467733 deg.

2025-08-11T14:52:24.596Z,1754923944.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989560
2025-08-11T14:52:24.848Z,1754923944.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241395
2025-08-11T14:52:24.956Z,1754923944.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.60 m.
2025-08-11T14:52:24.959Z,1754923944.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.600006 m,
      nav range: 182.781509 m,
      bearing: 169.265168 deg,
      approach rate: -0.613036 m/s,
      LOS rate: -0.025663 deg/s,
      cmd heading: 163.467737 deg,
      new cmd heading: 163.437592 deg.

2025-08-11T14:52:25.101Z,1754923945.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494148
2025-08-11T14:52:25.352Z,1754923945.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745434
2025-08-11T14:52:25.412Z,1754923945.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.60 m.
2025-08-11T14:52:25.415Z,1754923945.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.600006 m,
      nav range: 182.511261 m,
      bearing: 169.252729 deg,
      approach rate: -0.591998 m/s,
      LOS rate: -0.027288 deg/s,
      cmd heading: 163.437589 deg,
      new cmd heading: 163.400217 deg.

2025-08-11T14:52:25.604Z,1754923945.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997555
2025-08-11T14:52:25.821Z,1754923945.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.60 m.
2025-08-11T14:52:25.824Z,1754923945.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.600006 m,
      nav range: 182.269257 m,
      bearing: 169.241771 deg,
      approach rate: -0.592409 m/s,
      LOS rate: -0.026861 deg/s,
      cmd heading: 163.400214 deg,
      new cmd heading: 163.367295 deg.

2025-08-11T14:52:25.857Z,1754923945.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249904
2025-08-11T14:52:26.108Z,1754923946.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501503
2025-08-11T14:52:26.170Z,1754923946.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:26.190Z,1754923946.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.60 m.
2025-08-11T14:52:26.204Z,1754923946.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.600006 m,
      nav range: 182.061066 m,
      bearing: 169.232426 deg,
      approach rate: -0.564289 m/s,
      LOS rate: -0.025358 deg/s,
      cmd heading: 163.367292 deg,
      new cmd heading: 163.339225 deg.

2025-08-11T14:52:26.360Z,1754923946.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753391
2025-08-11T14:52:26.612Z,1754923946.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005488
2025-08-11T14:52:26.620Z,1754923946.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.60 m.
2025-08-11T14:52:26.623Z,1754923946.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.600006 m,
      nav range: 181.816971 m,
      bearing: 169.221981 deg,
      approach rate: -0.567433 m/s,
      LOS rate: -0.024314 deg/s,
      cmd heading: 163.339220 deg,
      new cmd heading: 163.307843 deg.

2025-08-11T14:52:26.865Z,1754923946.865 [DAT](INFO): DAT read: Rx Time:14:52:27.5182

2025-08-11T14:52:26.866Z,1754923946.866 [DAT](INFO): Rx dataTimestamp_ set to:1754923946.865063
2025-08-11T14:52:26.866Z,1754923946.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259503
2025-08-11T14:52:26.992Z,1754923946.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.60 m.
2025-08-11T14:52:26.994Z,1754923946.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.600006 m,
      nav range: 181.608902 m,
      bearing: 169.213173 deg,
      approach rate: -0.559654 m/s,
      LOS rate: -0.023719 deg/s,
      cmd heading: 163.307842 deg,
      new cmd heading: 163.281387 deg.

2025-08-11T14:52:27.117Z,1754923947.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509931
2025-08-11T14:52:27.374Z,1754923947.374 [DAT](INFO): DAT read: 14:52:27.5182 LVL= 29344, 32753, 32754, 32755, AGC= 71, IDX= 406,-0.10,-2.518, 1.935,-2.519,-2.839, PHS= 0.423,-1.464, 0.276, RAW= 146.0,   8.5, CAL= 145.5,   9.2, ROT=   4.5,  -9.2

2025-08-11T14:52:27.375Z,1754923947.375 [DAT](INFO): got valid direction response:
 14:52:27.5182 LVL= 29344, 32753, 32754, 32755, AGC= 71, IDX= 406,-0.10,-2.518, 1.935,-2.519,-2.839, PHS= 0.423,-1.464, 0.276, RAW= 146.0,   8.5, CAL= 145.5,   9.2, ROT=   4.5,  -9.2

2025-08-11T14:52:27.376Z,1754923947.376 [DAT](INFO): DAT read: Bearing 322.9,   3.6 (Local)

2025-08-11T14:52:27.376Z,1754923947.376 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.9,   3.6 (Local)

2025-08-11T14:52:27.378Z,1754923947.378 [DAT](INFO): DAT read: Range 11 to 50 : 183.5 m  (Round-trip  244.7 ms) speed  0.2 m/s

2025-08-11T14:52:27.379Z,1754923947.379 [DAT](INFO): DAT read: user:176>

2025-08-11T14:52:27.384Z,1754923947.384 [DAT](INFO): DAT read: Tx time:14:52:28.6194

2025-08-11T14:52:27.384Z,1754923947.384 [DAT](INFO): Ping request sent.
2025-08-11T14:52:27.384Z,1754923947.384 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:27.384Z,1754923947.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:27.385Z,1754923947.385 [DAT](INFO): direction in FSK: [0.984093,0.077450,0.159881]
2025-08-11T14:52:27.385Z,1754923947.385 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:27.386Z,1754923947.386 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:27.389Z,1754923947.389 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:27.389Z,1754923947.389 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:27.493Z,1754923947.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 183.500000 m,
      deltaT: 3.780032 s,
      deltaX: -2.100006 m,
      approachRate: -0.555552 m/s,
      rangeRepo size: 4

2025-08-11T14:52:27.500Z,1754923947.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 183.500000 m,
      bearing: 169.169042 deg,
      lat: 36.905861 deg,
      lon: -122.115972 deg,
      deltaT: 3.780032 s,
      deltaX: -2.100006 m,
      approachRate: -0.555552 m/s,
      posRepo size: 4

2025-08-11T14:52:27.501Z,1754923947.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m.
2025-08-11T14:52:27.508Z,1754923947.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.500000 m,
      nav range: 181.230698 m,
      bearing: 169.169042 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023719 deg/s,
      cmd heading: 163.281382 deg,
      new cmd heading: 163.245728 deg.

2025-08-11T14:52:27.786Z,1754923947.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m.
2025-08-11T14:52:27.789Z,1754923947.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.500000 m,
      nav range: 181.058319 m,
      bearing: 169.162300 deg,
      approach rate: -0.588662 m/s,
      LOS rate: -0.023045 deg/s,
      cmd heading: 163.245729 deg,
      new cmd heading: 163.225484 deg.

2025-08-11T14:52:28.188Z,1754923948.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:28.192Z,1754923948.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m.
2025-08-11T14:52:28.212Z,1754923948.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.500000 m,
      nav range: 180.837799 m,
      bearing: 169.153727 deg,
      approach rate: -0.543558 m/s,
      LOS rate: -0.021157 deg/s,
      cmd heading: 163.225484 deg,
      new cmd heading: 163.199733 deg.

2025-08-11T14:52:28.378Z,1754923948.378 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:28.379Z,1754923948.379 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:28.380Z,1754923948.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:28.632Z,1754923948.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247693
2025-08-11T14:52:28.759Z,1754923948.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m.
2025-08-11T14:52:28.761Z,1754923948.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.500000 m,
      nav range: 180.530792 m,
      bearing: 169.143918 deg,
      approach rate: -0.541240 m/s,
      LOS rate: -0.017323 deg/s,
      cmd heading: 163.199734 deg,
      new cmd heading: 163.170256 deg.

2025-08-11T14:52:28.880Z,1754923948.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496073
2025-08-11T14:52:29.137Z,1754923949.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752429
2025-08-11T14:52:29.246Z,1754923949.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m.
2025-08-11T14:52:29.265Z,1754923949.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.500000 m,
      nav range: 180.271027 m,
      bearing: 169.135716 deg,
      approach rate: -0.532674 m/s,
      LOS rate: -0.016843 deg/s,
      cmd heading: 163.170255 deg,
      new cmd heading: 163.145614 deg.

2025-08-11T14:52:29.384Z,1754923949.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000193
2025-08-11T14:52:29.640Z,1754923949.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255703
2025-08-11T14:52:29.818Z,1754923949.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m.
2025-08-11T14:52:29.821Z,1754923949.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.500000 m,
      nav range: 179.954849 m,
      bearing: 169.128118 deg,
      approach rate: -0.553116 m/s,
      LOS rate: -0.013316 deg/s,
      cmd heading: 163.145612 deg,
      new cmd heading: 163.122776 deg.

2025-08-11T14:52:29.888Z,1754923949.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504327
2025-08-11T14:52:30.140Z,1754923950.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756187
2025-08-11T14:52:30.307Z,1754923950.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:30.309Z,1754923950.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m.
2025-08-11T14:52:30.312Z,1754923950.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.500000 m,
      nav range: 179.683273 m,
      bearing: 169.121680 deg,
      approach rate: -0.552820 m/s,
      LOS rate: -0.013124 deg/s,
      cmd heading: 163.122771 deg,
      new cmd heading: 163.103429 deg.

2025-08-11T14:52:30.395Z,1754923950.395 [DAT](INFO): DAT read: Rx Time:14:52:31.2654

2025-08-11T14:52:30.397Z,1754923950.397 [DAT](INFO): Rx dataTimestamp_ set to:1754923950.395890
2025-08-11T14:52:30.405Z,1754923950.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014492
2025-08-11T14:52:30.644Z,1754923950.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260328
2025-08-11T14:52:30.778Z,1754923950.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m.
2025-08-11T14:52:30.785Z,1754923950.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.500000 m,
      nav range: 179.428131 m,
      bearing: 169.119472 deg,
      approach rate: -0.543689 m/s,
      LOS rate: -0.004711 deg/s,
      cmd heading: 163.103428 deg,
      new cmd heading: 163.096797 deg.

2025-08-11T14:52:30.898Z,1754923950.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513995
2025-08-11T14:52:31.140Z,1754923951.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.50 m.
2025-08-11T14:52:31.143Z,1754923951.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.500000 m,
      nav range: 179.216064 m,
      bearing: 169.117604 deg,
      approach rate: -0.587529 m/s,
      LOS rate: -0.005181 deg/s,
      cmd heading: 163.096803 deg,
      new cmd heading: 163.091193 deg.

2025-08-11T14:52:31.154Z,1754923951.154 [DAT](INFO): DAT read: 14:52:31.2654 LVL= 30512, 32753, 32754, 32755, AGC= 71, IDX= 409, 0.03, 1.777,-0.133, 1.746, 1.384, PHS= 0.495,-1.473, 0.318, RAW= 145.3,   7.1, CAL= 144.9,   7.7, ROT=   5.1,  -7.7

2025-08-11T14:52:31.167Z,1754923951.167 [DAT](INFO): got valid direction response:
 14:52:31.2654 LVL= 30512, 32753, 32754, 32755, AGC= 71, IDX= 409, 0.03, 1.777,-0.133, 1.746, 1.384, PHS= 0.495,-1.473, 0.318, RAW= 145.3,   7.1, CAL= 144.9,   7.7, ROT=   5.1,  -7.7

2025-08-11T14:52:31.168Z,1754923951.168 [DAT](INFO): DAT read: Bearing 321.2,   4.3 (Local)

2025-08-11T14:52:31.169Z,1754923951.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.2,   4.3 (Local)

2025-08-11T14:52:31.172Z,1754923951.172 [DAT](INFO): DAT read: Range 11 to 50 : 181.3 m  (Round-trip  241.8 ms) speed  0.4 m/s

2025-08-11T14:52:31.174Z,1754923951.174 [DAT](INFO): DAT read: user:177>

2025-08-11T14:52:31.184Z,1754923951.184 [DAT](INFO): DAT read: Tx time:14:52:32.3694

2025-08-11T14:52:31.184Z,1754923951.184 [DAT](INFO): Ping request sent.
2025-08-11T14:52:31.184Z,1754923951.184 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:31.185Z,1754923951.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:31.186Z,1754923951.186 [DAT](INFO): direction in FSK: [0.987060,0.088093,0.133986]
2025-08-11T14:52:31.187Z,1754923951.187 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:31.195Z,1754923951.195 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:31.210Z,1754923951.210 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:31.210Z,1754923951.210 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:31.660Z,1754923951.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.300003 m,
      deltaT: 3.779970 s,
      deltaX: -2.199997 m,
      approachRate: -0.582014 m/s,
      rangeRepo size: 4

2025-08-11T14:52:31.662Z,1754923951.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.300003 m,
      bearing: 169.006121 deg,
      lat: 36.905860 deg,
      lon: -122.115967 deg,
      deltaT: 3.779970 s,
      deltaX: -2.199997 m,
      approachRate: -0.582014 m/s,
      posRepo size: 4

2025-08-11T14:52:31.662Z,1754923951.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.30 m.
2025-08-11T14:52:31.677Z,1754923951.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.300003 m,
      nav range: 179.135010 m,
      bearing: 169.006121 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005181 deg/s,
      cmd heading: 163.091189 deg,
      new cmd heading: 163.083177 deg.

2025-08-11T14:52:32.060Z,1754923952.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.30 m.
2025-08-11T14:52:32.063Z,1754923952.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.300003 m,
      nav range: 178.882080 m,
      bearing: 169.003032 deg,
      approach rate: -0.623542 m/s,
      LOS rate: -0.007627 deg/s,
      cmd heading: 163.083170 deg,
      new cmd heading: 163.073889 deg.

2025-08-11T14:52:32.510Z,1754923952.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:32.512Z,1754923952.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.30 m.
2025-08-11T14:52:32.515Z,1754923952.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.300003 m,
      nav range: 178.622635 m,
      bearing: 168.998124 deg,
      approach rate: -0.574380 m/s,
      LOS rate: -0.010881 deg/s,
      cmd heading: 163.073895 deg,
      new cmd heading: 163.059150 deg.

2025-08-11T14:52:32.660Z,1754923952.660 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:32.660Z,1754923952.660 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:32.660Z,1754923952.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:32.891Z,1754923952.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.30 m.
2025-08-11T14:52:32.894Z,1754923952.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.300003 m,
      nav range: 178.412979 m,
      bearing: 168.994057 deg,
      approach rate: -0.553046 m/s,
      LOS rate: -0.010740 deg/s,
      cmd heading: 163.059155 deg,
      new cmd heading: 163.046941 deg.

2025-08-11T14:52:32.914Z,1754923952.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729521
2025-08-11T14:52:33.164Z,1754923953.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980240
2025-08-11T14:52:33.259Z,1754923953.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.30 m.
2025-08-11T14:52:33.262Z,1754923953.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.300003 m,
      nav range: 178.192322 m,
      bearing: 168.989659 deg,
      approach rate: -0.599581 m/s,
      LOS rate: -0.011966 deg/s,
      cmd heading: 163.046943 deg,
      new cmd heading: 163.033732 deg.

2025-08-11T14:52:33.419Z,1754923953.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234499
2025-08-11T14:52:33.670Z,1754923953.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485864
2025-08-11T14:52:33.715Z,1754923953.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.30 m.
2025-08-11T14:52:33.721Z,1754923953.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.300003 m,
      nav range: 177.920334 m,
      bearing: 168.983227 deg,
      approach rate: -0.597412 m/s,
      LOS rate: -0.014150 deg/s,
      cmd heading: 163.033733 deg,
      new cmd heading: 163.014407 deg.

2025-08-11T14:52:33.923Z,1754923953.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739029
2025-08-11T14:52:34.078Z,1754923954.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.30 m.
2025-08-11T14:52:34.081Z,1754923954.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.300003 m,
      nav range: 177.695953 m,
      bearing: 168.977906 deg,
      approach rate: -0.617745 m/s,
      LOS rate: -0.014669 deg/s,
      cmd heading: 163.014404 deg,
      new cmd heading: 162.998420 deg.

2025-08-11T14:52:34.173Z,1754923954.173 [DAT](INFO): DAT read: Rx Time:14:52:35.0122

2025-08-11T14:52:34.174Z,1754923954.174 [DAT](INFO): Rx dataTimestamp_ set to:1754923954.173401
2025-08-11T14:52:34.175Z,1754923954.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990845
2025-08-11T14:52:34.427Z,1754923954.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242703
2025-08-11T14:52:34.532Z,1754923954.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:34.535Z,1754923954.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.30 m.
2025-08-11T14:52:34.537Z,1754923954.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.300003 m,
      nav range: 177.426346 m,
      bearing: 168.968833 deg,
      approach rate: -0.590213 m/s,
      LOS rate: -0.019893 deg/s,
      cmd heading: 162.998421 deg,
      new cmd heading: 162.971160 deg.

2025-08-11T14:52:34.695Z,1754923954.695 [DAT](INFO): DAT read: 14:52:35.0122 LVL= 32752, 32753, 31218, 32755, AGC= 71, IDX= 409, 0.41, 0.480,-1.388, 0.470, 0.105, PHS= 0.477,-1.447, 0.321, RAW= 145.8,   7.1, CAL= 145.3,   7.7, ROT=   4.7,  -7.7

2025-08-11T14:52:34.704Z,1754923954.704 [DAT](INFO): got valid direction response:
 14:52:35.0122 LVL= 32752, 32753, 31218, 32755, AGC= 71, IDX= 409, 0.41, 0.480,-1.388, 0.470, 0.105, PHS= 0.477,-1.447, 0.321, RAW= 145.8,   7.1, CAL= 145.3,   7.7, ROT=   4.7,  -7.7

2025-08-11T14:52:34.705Z,1754923954.705 [DAT](INFO): DAT read: Bearing 321.5,   4.8 (Local)

2025-08-11T14:52:34.705Z,1754923954.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.5,   4.8 (Local)

2025-08-11T14:52:34.707Z,1754923954.707 [DAT](INFO): DAT read: Range 11 to 50 : 179.0 m  (Round-trip  238.7 ms) speed  0.4 m/s

2025-08-11T14:52:34.713Z,1754923954.713 [DAT](INFO): DAT read: user:178>

2025-08-11T14:52:34.714Z,1754923954.714 [DAT](INFO): DAT read: Tx time:14:52:36.1193

2025-08-11T14:52:34.714Z,1754923954.714 [DAT](INFO): Ping request sent.
2025-08-11T14:52:34.714Z,1754923954.714 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:34.715Z,1754923954.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:34.724Z,1754923954.724 [DAT](INFO): direction in FSK: [0.987651,0.081200,0.133986]
2025-08-11T14:52:34.724Z,1754923954.724 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:34.725Z,1754923954.725 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:34.737Z,1754923954.737 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:34.737Z,1754923954.737 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:34.905Z,1754923954.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.000000 m,
      deltaT: 3.530011 s,
      deltaX: -2.300003 m,
      approachRate: -0.651557 m/s,
      rangeRepo size: 4

2025-08-11T14:52:34.911Z,1754923954.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 179.000000 m,
      bearing: 168.568713 deg,
      lat: 36.905861 deg,
      lon: -122.115954 deg,
      deltaT: 3.530011 s,
      deltaX: -2.300003 m,
      approachRate: -0.651557 m/s,
      posRepo size: 4

2025-08-11T14:52:34.912Z,1754923954.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.00 m.
2025-08-11T14:52:34.921Z,1754923954.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.000000 m,
      nav range: 177.329971 m,
      bearing: 168.568713 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019893 deg/s,
      cmd heading: 162.971155 deg,
      new cmd heading: 162.949105 deg.

2025-08-11T14:52:35.283Z,1754923955.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.00 m.
2025-08-11T14:52:35.286Z,1754923955.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.000000 m,
      nav range: 177.097229 m,
      bearing: 168.560145 deg,
      approach rate: -0.614285 m/s,
      LOS rate: -0.022645 deg/s,
      cmd heading: 162.949107 deg,
      new cmd heading: 162.923368 deg.

2025-08-11T14:52:35.731Z,1754923955.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.00 m.
2025-08-11T14:52:35.734Z,1754923955.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.000000 m,
      nav range: 176.830872 m,
      bearing: 168.548948 deg,
      approach rate: -0.594102 m/s,
      LOS rate: -0.025012 deg/s,
      cmd heading: 162.923371 deg,
      new cmd heading: 162.889730 deg.

2025-08-11T14:52:36.097Z,1754923956.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.00 m.
2025-08-11T14:52:36.100Z,1754923956.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.000000 m,
      nav range: 176.622894 m,
      bearing: 168.540188 deg,
      approach rate: -0.568698 m/s,
      LOS rate: -0.023983 deg/s,
      cmd heading: 162.889725 deg,
      new cmd heading: 162.863413 deg.

2025-08-11T14:52:36.553Z,1754923956.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:36.555Z,1754923956.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.00 m.
2025-08-11T14:52:36.558Z,1754923956.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.000000 m,
      nav range: 176.343384 m,
      bearing: 168.527777 deg,
      approach rate: -0.609923 m/s,
      LOS rate: -0.027124 deg/s,
      cmd heading: 162.863416 deg,
      new cmd heading: 162.826125 deg.

2025-08-11T14:52:36.692Z,1754923956.692 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:36.692Z,1754923956.692 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:36.692Z,1754923956.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:36.901Z,1754923956.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.00 m.
2025-08-11T14:52:36.921Z,1754923956.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.000000 m,
      nav range: 176.138489 m,
      bearing: 168.518688 deg,
      approach rate: -0.591852 m/s,
      LOS rate: -0.026285 deg/s,
      cmd heading: 162.826123 deg,
      new cmd heading: 162.798824 deg.

2025-08-11T14:52:36.945Z,1754923956.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230372
2025-08-11T14:52:37.196Z,1754923957.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481711
2025-08-11T14:52:37.304Z,1754923957.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.00 m.
2025-08-11T14:52:37.306Z,1754923957.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.000000 m,
      nav range: 175.900803 m,
      bearing: 168.508154 deg,
      approach rate: -0.591281 m/s,
      LOS rate: -0.026241 deg/s,
      cmd heading: 162.798829 deg,
      new cmd heading: 162.767184 deg.

2025-08-11T14:52:37.451Z,1754923957.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735936
2025-08-11T14:52:37.700Z,1754923957.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985671
2025-08-11T14:52:37.771Z,1754923957.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.00 m.
2025-08-11T14:52:37.774Z,1754923957.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.000000 m,
      nav range: 175.641464 m,
      bearing: 168.496507 deg,
      approach rate: -0.554474 m/s,
      LOS rate: -0.024938 deg/s,
      cmd heading: 162.767178 deg,
      new cmd heading: 162.732186 deg.

2025-08-11T14:52:37.953Z,1754923957.953 [DAT](INFO): DAT read: Rx Time:14:52:38.7594

2025-08-11T14:52:37.954Z,1754923957.954 [DAT](INFO): Rx dataTimestamp_ set to:1754923957.953507
2025-08-11T14:52:37.955Z,1754923957.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240149
2025-08-11T14:52:38.113Z,1754923958.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.00 m.
2025-08-11T14:52:38.132Z,1754923958.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.000000 m,
      nav range: 175.439606 m,
      bearing: 168.487452 deg,
      approach rate: -0.590269 m/s,
      LOS rate: -0.026508 deg/s,
      cmd heading: 162.732180 deg,
      new cmd heading: 162.704985 deg.

2025-08-11T14:52:38.205Z,1754923958.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490460
2025-08-11T14:52:38.463Z,1754923958.463 [DAT](INFO): DAT read: 14:52:38.7594 LVL= 28144, 32337, 29666, 32755, AGC= 70, IDX= 413,-0.02,-2.334, 2.091,-2.372,-2.702, PHS= 0.470,-1.445, 0.286, RAW= 145.0,   7.6, CAL= 144.6,   8.3, ROT=   5.4,  -8.3

2025-08-11T14:52:38.466Z,1754923958.466 [DAT](INFO): got valid direction response:
 14:52:38.7594 LVL= 28144, 32337, 29666, 32755, AGC= 70, IDX= 413,-0.02,-2.334, 2.091,-2.372,-2.702, PHS= 0.470,-1.445, 0.286, RAW= 145.0,   7.6, CAL= 144.6,   8.3, ROT=   5.4,  -8.3

2025-08-11T14:52:38.469Z,1754923958.469 [DAT](INFO): DAT read: Bearing 322.3,   6.3 (Local)

2025-08-11T14:52:38.470Z,1754923958.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.3,   6.3 (Local)

2025-08-11T14:52:38.475Z,1754923958.475 [DAT](INFO): DAT read: Range 11 to 50 : 177.0 m  (Round-trip  236.0 ms) speed  0.4 m/s

2025-08-11T14:52:38.477Z,1754923958.477 [DAT](INFO): DAT read: user:179>

2025-08-11T14:52:38.551Z,1754923958.551 [DAT](INFO): DAT read: Tx time:14:52:39.8693

2025-08-11T14:52:38.552Z,1754923958.552 [DAT](INFO): Ping request sent.
2025-08-11T14:52:38.552Z,1754923958.552 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:38.552Z,1754923958.552 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:38.553Z,1754923958.553 [DAT](INFO): direction in FSK: [0.985134,0.093123,0.144356]
2025-08-11T14:52:38.554Z,1754923958.554 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:38.554Z,1754923958.554 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:38.565Z,1754923958.565 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:38.565Z,1754923958.565 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:38.722Z,1754923958.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 177.000000 m,
      deltaT: 3.778375 s,
      deltaX: -2.000000 m,
      approachRate: -0.529328 m/s,
      rangeRepo size: 4

2025-08-11T14:52:38.728Z,1754923958.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 177.000000 m,
      bearing: 168.472048 deg,
      lat: 36.905861 deg,
      lon: -122.115954 deg,
      deltaT: 3.778375 s,
      deltaX: -2.000000 m,
      approachRate: -0.529328 m/s,
      posRepo size: 4

2025-08-11T14:52:38.729Z,1754923958.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:38.735Z,1754923958.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 175.113083 m,
      bearing: 168.472048 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026508 deg/s,
      cmd heading: 162.704982 deg,
      new cmd heading: 162.656644 deg.

2025-08-11T14:52:38.953Z,1754923958.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:38.960Z,1754923958.960 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:38.960Z,1754923958.960 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:38.960Z,1754923958.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:38.955Z,1754923958.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:38.965Z,1754923958.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 174.973831 m,
      bearing: 168.465462 deg,
      approach rate: -0.595291 m/s,
      LOS rate: -0.028180 deg/s,
      cmd heading: 162.656638 deg,
      new cmd heading: 162.636863 deg.

2025-08-11T14:52:39.212Z,1754923959.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.660228
2025-08-11T14:52:39.329Z,1754923959.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:39.332Z,1754923959.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 174.758774 m,
      bearing: 168.455318 deg,
      approach rate: -0.575198 m/s,
      LOS rate: -0.027164 deg/s,
      cmd heading: 162.636858 deg,
      new cmd heading: 162.606389 deg.

2025-08-11T14:52:39.469Z,1754923959.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.915119
2025-08-11T14:52:39.716Z,1754923959.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.164338
2025-08-11T14:52:39.776Z,1754923959.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:39.778Z,1754923959.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 174.514664 m,
      bearing: 168.446195 deg,
      approach rate: -0.546037 m/s,
      LOS rate: -0.020435 deg/s,
      cmd heading: 162.606396 deg,
      new cmd heading: 162.578989 deg.

2025-08-11T14:52:39.968Z,1754923959.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.416195
2025-08-11T14:52:40.220Z,1754923960.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.668292
2025-08-11T14:52:40.240Z,1754923960.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:40.248Z,1754923960.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 174.272125 m,
      bearing: 168.437137 deg,
      approach rate: -0.522198 m/s,
      LOS rate: -0.019529 deg/s,
      cmd heading: 162.578993 deg,
      new cmd heading: 162.551782 deg.

2025-08-11T14:52:40.473Z,1754923960.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.920813
2025-08-11T14:52:40.678Z,1754923960.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:40.685Z,1754923960.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 174.033493 m,
      bearing: 168.429796 deg,
      approach rate: -0.546514 m/s,
      LOS rate: -0.016837 deg/s,
      cmd heading: 162.551781 deg,
      new cmd heading: 162.529726 deg.

2025-08-11T14:52:40.724Z,1754923960.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.172305
2025-08-11T14:52:40.977Z,1754923960.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.424626
2025-08-11T14:52:41.046Z,1754923961.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:41.049Z,1754923961.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:41.051Z,1754923961.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 173.818771 m,
      bearing: 168.423143 deg,
      approach rate: -0.577779 m/s,
      LOS rate: -0.017923 deg/s,
      cmd heading: 162.529720 deg,
      new cmd heading: 162.509737 deg.

2025-08-11T14:52:41.230Z,1754923961.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.678130
2025-08-11T14:52:41.439Z,1754923961.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:41.442Z,1754923961.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 173.604919 m,
      bearing: 168.416500 deg,
      approach rate: -0.547722 m/s,
      LOS rate: -0.017034 deg/s,
      cmd heading: 162.509735 deg,
      new cmd heading: 162.489782 deg.

2025-08-11T14:52:41.482Z,1754923961.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.930485
2025-08-11T14:52:41.737Z,1754923961.737 [DAT](INFO): DAT read: 14:52:42.5067 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 418,-0.32,-2.037, 2.346,-2.102,-2.450, PHS= 0.515,-1.442, 0.304, RAW= 144.4,   6.8, CAL= 143.9,   7.4, ROT=   6.1,  -7.4

2025-08-11T14:52:41.738Z,1754923961.738 [DAT](INFO): got valid direction response:
 14:52:42.5067 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 418,-0.32,-2.037, 2.346,-2.102,-2.450, PHS= 0.515,-1.442, 0.304, RAW= 144.4,   6.8, CAL= 143.9,   7.4, ROT=   6.1,  -7.4

2025-08-11T14:52:41.739Z,1754923961.739 [DAT](INFO): DAT read: Rx Time:14:52:42.5067

2025-08-11T14:52:41.740Z,1754923961.740 [DAT](INFO): Rx dataTimestamp_ set to:1754923961.739664
2025-08-11T14:52:41.741Z,1754923961.741 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-11T14:52:41.741Z,1754923961.741 [DAT](INFO): Received low SNR in chirp
2025-08-11T14:52:41.756Z,1754923961.756 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:52:41.757Z,1754923961.757 [DAT](INFO): direction in FSK: [0.986056,0.105379,0.128796]
2025-08-11T14:52:41.761Z,1754923961.761 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:41.761Z,1754923961.761 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:41.761Z,1754923961.761 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:41.984Z,1754923961.984 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:41.984Z,1754923961.984 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:41.984Z,1754923961.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:41.992Z,1754923961.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:41.994Z,1754923961.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 173.306839 m,
      bearing: 168.407575 deg,
      approach rate: -0.543581 m/s,
      LOS rate: -0.016305 deg/s,
      cmd heading: 162.489777 deg,
      new cmd heading: 162.462953 deg.

2025-08-11T14:52:42.236Z,1754923962.236 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:42.236Z,1754923962.236 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:42.236Z,1754923962.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:42.343Z,1754923962.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:42.346Z,1754923962.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 173.104568 m,
      bearing: 168.401522 deg,
      approach rate: -0.568655 m/s,
      LOS rate: -0.017035 deg/s,
      cmd heading: 162.462948 deg,
      new cmd heading: 162.444769 deg.

2025-08-11T14:52:42.488Z,1754923962.488 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:42.489Z,1754923962.489 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:42.489Z,1754923962.489 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:42.740Z,1754923962.740 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:42.740Z,1754923962.740 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:42.740Z,1754923962.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:42.848Z,1754923962.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:42.851Z,1754923962.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 172.817368 m,
      bearing: 168.394064 deg,
      approach rate: -0.568920 m/s,
      LOS rate: -0.014798 deg/s,
      cmd heading: 162.444766 deg,
      new cmd heading: 162.422355 deg.

2025-08-11T14:52:42.992Z,1754923962.992 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:42.992Z,1754923962.992 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:42.993Z,1754923962.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:43.213Z,1754923963.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:43.216Z,1754923963.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:43.218Z,1754923963.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 172.608459 m,
      bearing: 168.388642 deg,
      approach rate: -0.568546 m/s,
      LOS rate: -0.014775 deg/s,
      cmd heading: 162.422349 deg,
      new cmd heading: 162.406063 deg.

2025-08-11T14:52:43.260Z,1754923963.260 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:43.261Z,1754923963.261 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:43.261Z,1754923963.261 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:43.513Z,1754923963.513 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:43.513Z,1754923963.513 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:43.513Z,1754923963.513 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:43.707Z,1754923963.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:43.709Z,1754923963.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 172.333023 m,
      bearing: 168.381409 deg,
      approach rate: -0.560652 m/s,
      LOS rate: -0.014747 deg/s,
      cmd heading: 162.406066 deg,
      new cmd heading: 162.384331 deg.

2025-08-11T14:52:43.764Z,1754923963.764 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:43.764Z,1754923963.764 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:43.764Z,1754923963.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:44.016Z,1754923964.016 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:44.016Z,1754923964.016 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:44.016Z,1754923964.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:44.092Z,1754923964.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:44.095Z,1754923964.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 172.120682 m,
      bearing: 168.375860 deg,
      approach rate: -0.550865 m/s,
      LOS rate: -0.014411 deg/s,
      cmd heading: 162.384332 deg,
      new cmd heading: 162.367667 deg.

2025-08-11T14:52:44.268Z,1754923964.268 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:44.268Z,1754923964.268 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:44.268Z,1754923964.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:44.480Z,1754923964.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:44.483Z,1754923964.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 171.907486 m,
      bearing: 168.370307 deg,
      approach rate: -0.549110 m/s,
      LOS rate: -0.014321 deg/s,
      cmd heading: 162.367667 deg,
      new cmd heading: 162.350986 deg.

2025-08-11T14:52:44.520Z,1754923964.520 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:44.520Z,1754923964.520 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:44.521Z,1754923964.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:44.772Z,1754923964.772 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:44.772Z,1754923964.772 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:44.772Z,1754923964.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:44.958Z,1754923964.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:44.961Z,1754923964.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 171.633209 m,
      bearing: 168.362746 deg,
      approach rate: -0.574631 m/s,
      LOS rate: -0.015866 deg/s,
      cmd heading: 162.350987 deg,
      new cmd heading: 162.328269 deg.

2025-08-11T14:52:45.025Z,1754923965.025 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:45.025Z,1754923965.025 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:45.025Z,1754923965.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:45.276Z,1754923965.276 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:45.276Z,1754923965.276 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:45.276Z,1754923965.276 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:45.280Z,1754923965.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:45.282Z,1754923965.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:45.285Z,1754923965.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 171.453384 m,
      bearing: 168.357829 deg,
      approach rate: -0.554168 m/s,
      LOS rate: -0.015168 deg/s,
      cmd heading: 162.328270 deg,
      new cmd heading: 162.313504 deg.

2025-08-11T14:52:45.528Z,1754923965.528 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:45.528Z,1754923965.528 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:45.528Z,1754923965.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:45.719Z,1754923965.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:45.722Z,1754923965.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 171.195358 m,
      bearing: 168.351591 deg,
      approach rate: -0.591003 m/s,
      LOS rate: -0.014311 deg/s,
      cmd heading: 162.313503 deg,
      new cmd heading: 162.294759 deg.

2025-08-11T14:52:45.780Z,1754923965.780 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:45.780Z,1754923965.780 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:45.780Z,1754923965.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:46.034Z,1754923966.034 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:46.034Z,1754923966.034 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:46.035Z,1754923966.035 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:46.104Z,1754923966.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:46.107Z,1754923966.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 170.969116 m,
      bearing: 168.346214 deg,
      approach rate: -0.586918 m/s,
      LOS rate: -0.013967 deg/s,
      cmd heading: 162.294761 deg,
      new cmd heading: 162.278610 deg.

2025-08-11T14:52:46.284Z,1754923966.284 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:46.284Z,1754923966.284 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:46.284Z,1754923966.284 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:46.505Z,1754923966.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:46.508Z,1754923966.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 170.743484 m,
      bearing: 168.340934 deg,
      approach rate: -0.589261 m/s,
      LOS rate: -0.013806 deg/s,
      cmd heading: 162.278615 deg,
      new cmd heading: 162.262755 deg.

2025-08-11T14:52:46.536Z,1754923966.536 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:46.536Z,1754923966.536 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:46.536Z,1754923966.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:46.788Z,1754923966.788 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:46.788Z,1754923966.788 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:46.788Z,1754923966.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:46.909Z,1754923966.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:46.913Z,1754923966.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 170.485947 m,
      bearing: 168.335163 deg,
      approach rate: -0.611203 m/s,
      LOS rate: -0.013718 deg/s,
      cmd heading: 162.262755 deg,
      new cmd heading: 162.245415 deg.

2025-08-11T14:52:47.040Z,1754923967.040 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:47.040Z,1754923967.040 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:47.040Z,1754923967.040 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:47.292Z,1754923967.292 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:47.292Z,1754923967.292 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:47.292Z,1754923967.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:47.293Z,1754923967.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:47.295Z,1754923967.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:47.298Z,1754923967.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 170.249985 m,
      bearing: 168.329986 deg,
      approach rate: -0.610562 m/s,
      LOS rate: -0.013413 deg/s,
      cmd heading: 162.245420 deg,
      new cmd heading: 162.229869 deg.

2025-08-11T14:52:47.544Z,1754923967.544 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:47.544Z,1754923967.544 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:47.545Z,1754923967.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:47.744Z,1754923967.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:47.746Z,1754923967.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 169.975189 m,
      bearing: 168.324169 deg,
      approach rate: -0.612266 m/s,
      LOS rate: -0.012981 deg/s,
      cmd heading: 162.229875 deg,
      new cmd heading: 162.212396 deg.

2025-08-11T14:52:47.796Z,1754923967.796 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:47.796Z,1754923967.796 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:47.796Z,1754923967.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:48.048Z,1754923968.048 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:48.048Z,1754923968.048 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:48.048Z,1754923968.048 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:48.125Z,1754923968.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:48.134Z,1754923968.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 169.747681 m,
      bearing: 168.319594 deg,
      approach rate: -0.597073 m/s,
      LOS rate: -0.012024 deg/s,
      cmd heading: 162.212403 deg,
      new cmd heading: 162.198658 deg.

2025-08-11T14:52:48.300Z,1754923968.300 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:48.300Z,1754923968.300 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:48.300Z,1754923968.300 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:52:48.500Z,1754923968.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:48.503Z,1754923968.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 169.514053 m,
      bearing: 168.315002 deg,
      approach rate: -0.623575 m/s,
      LOS rate: -0.012273 deg/s,
      cmd heading: 162.198661 deg,
      new cmd heading: 162.184866 deg.

2025-08-11T14:52:48.552Z,1754923968.552 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:48.552Z,1754923968.552 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:48.553Z,1754923968.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:48.804Z,1754923968.804 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:48.804Z,1754923968.804 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:48.804Z,1754923968.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:48.961Z,1754923968.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:48.968Z,1754923968.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 169.236420 m,
      bearing: 168.308279 deg,
      approach rate: -0.601380 m/s,
      LOS rate: -0.014587 deg/s,
      cmd heading: 162.184864 deg,
      new cmd heading: 162.164660 deg.

2025-08-11T14:52:49.057Z,1754923969.057 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:49.057Z,1754923969.057 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:49.058Z,1754923969.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:49.308Z,1754923969.308 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:49.308Z,1754923969.308 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:49.308Z,1754923969.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:49.328Z,1754923969.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:49.330Z,1754923969.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:49.337Z,1754923969.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 169.020523 m,
      bearing: 168.303052 deg,
      approach rate: -0.584976 m/s,
      LOS rate: -0.014181 deg/s,
      cmd heading: 162.164660 deg,
      new cmd heading: 162.148958 deg.

2025-08-11T14:52:49.560Z,1754923969.560 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:49.560Z,1754923969.560 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:49.560Z,1754923969.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:49.812Z,1754923969.812 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:49.812Z,1754923969.812 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:49.812Z,1754923969.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:49.818Z,1754923969.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:49.821Z,1754923969.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 168.709839 m,
      bearing: 168.294595 deg,
      approach rate: -0.637071 m/s,
      LOS rate: -0.017372 deg/s,
      cmd heading: 162.148964 deg,
      new cmd heading: 162.123549 deg.

2025-08-11T14:52:50.064Z,1754923970.064 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:50.065Z,1754923970.065 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:50.065Z,1754923970.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:50.136Z,1754923970.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:50.144Z,1754923970.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 168.521652 m,
      bearing: 168.289515 deg,
      approach rate: -0.624456 m/s,
      LOS rate: -0.016878 deg/s,
      cmd heading: 162.123542 deg,
      new cmd heading: 162.108283 deg.

2025-08-11T14:52:50.316Z,1754923970.316 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:50.316Z,1754923970.316 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:50.316Z,1754923970.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:50.520Z,1754923970.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:50.522Z,1754923970.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 168.274979 m,
      bearing: 168.282895 deg,
      approach rate: -0.616536 m/s,
      LOS rate: -0.016570 deg/s,
      cmd heading: 162.108283 deg,
      new cmd heading: 162.088394 deg.

2025-08-11T14:52:50.569Z,1754923970.569 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:50.569Z,1754923970.569 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:50.569Z,1754923970.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:50.820Z,1754923970.820 [DAT](INFO): Reached modem response timeout
2025-08-11T14:52:50.820Z,1754923970.820 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:52:50.820Z,1754923970.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:50.978Z,1754923970.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:50.985Z,1754923970.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 168.015945 m,
      bearing: 168.275656 deg,
      approach rate: -0.564672 m/s,
      LOS rate: -0.015804 deg/s,
      cmd heading: 162.088394 deg,
      new cmd heading: 162.066645 deg.

2025-08-11T14:52:51.073Z,1754923971.073 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:52:51.073Z,1754923971.073 [DAT](INFO): response not received
2025-08-11T14:52:51.074Z,1754923971.074 [DAT](INFO): DAT read: user:181>

2025-08-11T14:52:51.075Z,1754923971.075 [DAT](INFO): DAT read: Tx time:14:52:52.3193

2025-08-11T14:52:51.075Z,1754923971.075 [DAT](INFO): Ping request sent.
2025-08-11T14:52:51.075Z,1754923971.075 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:51.076Z,1754923971.076 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:51.076Z,1754923971.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000789
2025-08-11T14:52:51.324Z,1754923971.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248724
2025-08-11T14:52:51.332Z,1754923971.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:51.334Z,1754923971.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:51.337Z,1754923971.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 167.793884 m,
      bearing: 168.269505 deg,
      approach rate: -0.623165 m/s,
      LOS rate: -0.017284 deg/s,
      cmd heading: 162.066647 deg,
      new cmd heading: 162.048169 deg.

2025-08-11T14:52:51.576Z,1754923971.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500702
2025-08-11T14:52:51.762Z,1754923971.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:51.781Z,1754923971.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 167.545547 m,
      bearing: 168.259606 deg,
      approach rate: -0.580396 m/s,
      LOS rate: -0.023170 deg/s,
      cmd heading: 162.048164 deg,
      new cmd heading: 162.018422 deg.

2025-08-11T14:52:51.828Z,1754923971.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752733
2025-08-11T14:52:52.081Z,1754923972.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005434
2025-08-11T14:52:52.174Z,1754923972.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:52.181Z,1754923972.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 167.319290 m,
      bearing: 168.250592 deg,
      approach rate: -0.549596 m/s,
      LOS rate: -0.021926 deg/s,
      cmd heading: 162.018426 deg,
      new cmd heading: 161.991346 deg.

2025-08-11T14:52:52.332Z,1754923972.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256627
2025-08-11T14:52:52.545Z,1754923972.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:52.548Z,1754923972.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 167.091583 m,
      bearing: 168.241509 deg,
      approach rate: -0.614002 m/s,
      LOS rate: -0.024524 deg/s,
      cmd heading: 161.991351 deg,
      new cmd heading: 161.964066 deg.

2025-08-11T14:52:52.584Z,1754923972.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508855
2025-08-11T14:52:52.841Z,1754923972.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765479
2025-08-11T14:52:52.995Z,1754923972.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:52.998Z,1754923972.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 166.852112 m,
      bearing: 168.231474 deg,
      approach rate: -0.551485 m/s,
      LOS rate: -0.023143 deg/s,
      cmd heading: 161.964071 deg,
      new cmd heading: 161.933923 deg.

2025-08-11T14:52:53.089Z,1754923973.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013872
2025-08-11T14:52:53.340Z,1754923973.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264837
2025-08-11T14:52:53.378Z,1754923973.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:53.385Z,1754923973.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:53.390Z,1754923973.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 166.643372 m,
      bearing: 168.222749 deg,
      approach rate: -0.514410 m/s,
      LOS rate: -0.021530 deg/s,
      cmd heading: 161.933922 deg,
      new cmd heading: 161.907713 deg.

2025-08-11T14:52:53.592Z,1754923973.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516684
2025-08-11T14:52:53.796Z,1754923973.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:53.799Z,1754923973.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 166.411255 m,
      bearing: 168.214118 deg,
      approach rate: -0.564564 m/s,
      LOS rate: -0.021021 deg/s,
      cmd heading: 161.907708 deg,
      new cmd heading: 161.881780 deg.

2025-08-11T14:52:53.846Z,1754923973.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770224
2025-08-11T14:52:54.096Z,1754923974.096 [DAT](INFO): DAT read: Rx Time:14:52:54.9471

2025-08-11T14:52:54.097Z,1754923974.097 [DAT](INFO): Rx dataTimestamp_ set to:1754923974.096410
2025-08-11T14:52:54.097Z,1754923974.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021766
2025-08-11T14:52:54.183Z,1754923974.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-11T14:52:54.186Z,1754923974.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.000000 m,
      nav range: 166.206879 m,
      bearing: 168.206581 deg,
      approach rate: -0.528160 m/s,
      LOS rate: -0.019501 deg/s,
      cmd heading: 161.881781 deg,
      new cmd heading: 161.859143 deg.

2025-08-11T14:52:54.349Z,1754923974.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273310
2025-08-11T14:52:54.617Z,1754923974.617 [DAT](INFO): DAT read: 14:52:54.9471 LVL= 25584, 31313, 25586, 32755, AGC= 69, IDX= 351, 0.35, 0.976,-1.012, 0.907, 0.582, PHS= 0.496,-1.549, 0.281, RAW= 144.5,   8.0, CAL= 144.1,   8.7, ROT=   5.9,  -8.7

2025-08-11T14:52:54.621Z,1754923974.621 [DAT](INFO): got valid direction response:
 14:52:54.9471 LVL= 25584, 31313, 25586, 32755, AGC= 69, IDX= 351, 0.35, 0.976,-1.012, 0.907, 0.582, PHS= 0.496,-1.549, 0.281, RAW= 144.5,   8.0, CAL= 144.1,   8.7, ROT=   5.9,  -8.7

2025-08-11T14:52:54.623Z,1754923974.623 [DAT](INFO): DAT read: Bearing 322.0,   7.6 (Local)

2025-08-11T14:52:54.624Z,1754923974.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.0,   7.6 (Local)

2025-08-11T14:52:54.627Z,1754923974.627 [DAT](INFO): DAT read: Range 11 to 50 : 167.7 m  (Round-trip  223.7 ms) speed  0.8 m/s

2025-08-11T14:52:54.636Z,1754923974.636 [DAT](INFO): DAT read: user:182>

2025-08-11T14:52:54.638Z,1754923974.638 [DAT](INFO): DAT read: Tx time:14:52:56.0693

2025-08-11T14:52:54.638Z,1754923974.638 [DAT](INFO): Ping request sent.
2025-08-11T14:52:54.638Z,1754923974.638 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:54.638Z,1754923974.638 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:54.648Z,1754923974.648 [DAT](INFO): direction in FSK: [0.983258,0.101610,0.151261]
2025-08-11T14:52:54.648Z,1754923974.648 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:54.649Z,1754923974.649 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:54.665Z,1754923974.665 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:54.665Z,1754923974.665 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:54.905Z,1754923974.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 167.699997 m,
      deltaT: 16.144861 s,
      deltaX: -9.300003 m,
      approachRate: -0.576035 m/s,
      rangeRepo size: 4

2025-08-11T14:52:54.907Z,1754923974.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 167.699997 m,
      bearing: 168.191224 deg,
      lat: 36.905861 deg,
      lon: -122.115954 deg,
      deltaT: 16.144861 s,
      deltaX: -9.300003 m,
      approachRate: -0.576035 m/s,
      posRepo size: 4

2025-08-11T14:52:54.912Z,1754923974.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m.
2025-08-11T14:52:54.914Z,1754923974.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.699997 m,
      nav range: 165.756363 m,
      bearing: 168.191224 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019501 deg/s,
      cmd heading: 161.859146 deg,
      new cmd heading: 161.816969 deg.

2025-08-11T14:52:55.281Z,1754923975.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m.
2025-08-11T14:52:55.288Z,1754923975.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.699997 m,
      nav range: 165.543335 m,
      bearing: 168.185357 deg,
      approach rate: -0.565209 m/s,
      LOS rate: -0.015586 deg/s,
      cmd heading: 161.816962 deg,
      new cmd heading: 161.799339 deg.

2025-08-11T14:52:55.674Z,1754923975.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:55.677Z,1754923975.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m.
2025-08-11T14:52:55.680Z,1754923975.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.699997 m,
      nav range: 165.322250 m,
      bearing: 168.179287 deg,
      approach rate: -0.558311 m/s,
      LOS rate: -0.015351 deg/s,
      cmd heading: 161.799340 deg,
      new cmd heading: 161.781104 deg.

2025-08-11T14:52:55.860Z,1754923975.860 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:52:55.860Z,1754923975.860 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:52:55.860Z,1754923975.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:52:56.101Z,1754923976.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m.
2025-08-11T14:52:56.104Z,1754923976.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.699997 m,
      nav range: 165.100571 m,
      bearing: 168.172438 deg,
      approach rate: -0.522382 m/s,
      LOS rate: -0.016162 deg/s,
      cmd heading: 161.781104 deg,
      new cmd heading: 161.760529 deg.

2025-08-11T14:52:56.112Z,1754923976.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474079
2025-08-11T14:52:56.364Z,1754923976.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726004
2025-08-11T14:52:56.484Z,1754923976.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m.
2025-08-11T14:52:56.486Z,1754923976.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.699997 m,
      nav range: 164.909149 m,
      bearing: 168.166606 deg,
      approach rate: -0.500310 m/s,
      LOS rate: -0.015261 deg/s,
      cmd heading: 161.760531 deg,
      new cmd heading: 161.743015 deg.

2025-08-11T14:52:56.618Z,1754923976.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979551
2025-08-11T14:52:56.868Z,1754923976.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230321
2025-08-11T14:52:56.992Z,1754923976.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m.
2025-08-11T14:52:56.995Z,1754923976.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.699997 m,
      nav range: 164.609436 m,
      bearing: 168.160622 deg,
      approach rate: -0.589817 m/s,
      LOS rate: -0.011797 deg/s,
      cmd heading: 161.743019 deg,
      new cmd heading: 161.725035 deg.

2025-08-11T14:52:57.122Z,1754923977.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483765
2025-08-11T14:52:57.372Z,1754923977.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734060
2025-08-11T14:52:57.380Z,1754923977.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m.
2025-08-11T14:52:57.383Z,1754923977.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.699997 m,
      nav range: 164.388123 m,
      bearing: 168.156190 deg,
      approach rate: -0.569830 m/s,
      LOS rate: -0.011428 deg/s,
      cmd heading: 161.725042 deg,
      new cmd heading: 161.711726 deg.

2025-08-11T14:52:57.626Z,1754923977.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987049
2025-08-11T14:52:57.876Z,1754923977.876 [DAT](INFO): DAT read: Rx Time:14:52:58.6943

2025-08-11T14:52:57.877Z,1754923977.877 [DAT](INFO): Rx dataTimestamp_ set to:1754923977.876444
2025-08-11T14:52:57.877Z,1754923977.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239133
2025-08-11T14:52:57.000Z,1754923978.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:52:58.002Z,1754923978.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.70 m.
2025-08-11T14:52:58.009Z,1754923978.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.699997 m,
      nav range: 164.049103 m,
      bearing: 168.149236 deg,
      approach rate: -0.545382 m/s,
      LOS rate: -0.011209 deg/s,
      cmd heading: 161.711723 deg,
      new cmd heading: 161.690819 deg.

2025-08-11T14:52:58.129Z,1754923978.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490212
2025-08-11T14:52:58.390Z,1754923978.390 [DAT](INFO): DAT read: 14:52:58.6943 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.11,-2.742, 1.592,-2.839,-3.130, PHS= 0.490,-1.516, 0.247, RAW= 143.6,   8.3, CAL= 143.2,   9.0, ROT=   6.8,  -9.0

2025-08-11T14:52:58.391Z,1754923978.391 [DAT](INFO): got valid direction response:
 14:52:58.6943 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.11,-2.742, 1.592,-2.839,-3.130, PHS= 0.490,-1.516, 0.247, RAW= 143.6,   8.3, CAL= 143.2,   9.0, ROT=   6.8,  -9.0

2025-08-11T14:52:58.392Z,1754923978.392 [DAT](INFO): DAT read: Bearing 322.3,   8.8 (Local)

2025-08-11T14:52:58.392Z,1754923978.392 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.3,   8.8 (Local)

2025-08-11T14:52:58.394Z,1754923978.394 [DAT](INFO): DAT read: Range 11 to 50 : 165.6 m  (Round-trip  220.8 ms) speed  0.4 m/s

2025-08-11T14:52:58.394Z,1754923978.394 [DAT](INFO): DAT read: user:183>

2025-08-11T14:52:58.397Z,1754923978.397 [DAT](INFO): DAT read: Tx time:14:52:59.8193

2025-08-11T14:52:58.398Z,1754923978.398 [DAT](INFO): Ping request sent.
2025-08-11T14:52:58.399Z,1754923978.399 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:52:58.400Z,1754923978.400 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:52:58.401Z,1754923978.401 [DAT](INFO): direction in FSK: [0.980740,0.116946,0.156434]
2025-08-11T14:52:58.402Z,1754923978.402 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:58.402Z,1754923978.402 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:58.408Z,1754923978.408 [DAT](INFO): publishing transmit ping time
2025-08-11T14:52:58.408Z,1754923978.408 [DAT](INFO): publishing direction and range info
2025-08-11T14:52:58.637Z,1754923978.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 165.600006 m,
      deltaT: 3.780793 s,
      deltaX: -2.099991 m,
      approachRate: -0.555437 m/s,
      rangeRepo size: 4

2025-08-11T14:52:58.648Z,1754923978.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 165.600006 m,
      bearing: 168.524215 deg,
      lat: 36.905861 deg,
      lon: -122.115966 deg,
      deltaT: 3.780793 s,
      deltaX: -2.099991 m,
      approachRate: -0.555437 m/s,
      posRepo size: 4

2025-08-11T14:52:58.649Z,1754923978.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m.
2025-08-11T14:52:58.656Z,1754923978.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.600006 m,
      nav range: 163.479065 m,
      bearing: 168.524215 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011209 deg/s,
      cmd heading: 161.690822 deg,
      new cmd heading: 161.669687 deg.

2025-08-11T14:52:59.030Z,1754923979.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m.
2025-08-11T14:52:59.037Z,1754923979.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.600006 m,
      nav range: 163.246658 m,
      bearing: 168.520629 deg,
      approach rate: -0.580958 m/s,
      LOS rate: -0.008977 deg/s,
      cmd heading: 161.669690 deg,
      new cmd heading: 161.658917 deg.

2025-08-11T14:52:59.399Z,1754923979.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m.
2025-08-11T14:52:59.402Z,1754923979.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.600006 m,
      nav range: 163.028717 m,
      bearing: 168.517268 deg,
      approach rate: -0.591136 m/s,
      LOS rate: -0.009130 deg/s,
      cmd heading: 161.658912 deg,
      new cmd heading: 161.648813 deg.

2025-08-11T14:52:59.840Z,1754923979.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m.
2025-08-11T14:52:59.842Z,1754923979.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.600006 m,
      nav range: 162.780029 m,
      bearing: 168.513421 deg,
      approach rate: -0.564250 m/s,
      LOS rate: -0.008742 deg/s,
      cmd heading: 161.648817 deg,
      new cmd heading: 161.637258 deg.

2025-08-11T14:53:00.212Z,1754923980.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:00.214Z,1754923980.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m.
2025-08-11T14:53:00.217Z,1754923980.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.600006 m,
      nav range: 162.563995 m,
      bearing: 168.511651 deg,
      approach rate: -0.577173 m/s,
      LOS rate: -0.004735 deg/s,
      cmd heading: 161.637260 deg,
      new cmd heading: 161.631944 deg.

2025-08-11T14:53:00.400Z,1754923980.400 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:00.400Z,1754923980.400 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:00.400Z,1754923980.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:00.589Z,1754923980.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m.
2025-08-11T14:53:00.592Z,1754923980.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.600006 m,
      nav range: 162.347183 m,
      bearing: 168.509905 deg,
      approach rate: -0.577751 m/s,
      LOS rate: -0.004660 deg/s,
      cmd heading: 161.631946 deg,
      new cmd heading: 161.626700 deg.

2025-08-11T14:53:00.653Z,1754923980.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254540
2025-08-11T14:53:00.904Z,1754923980.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506019
2025-08-11T14:53:01.028Z,1754923981.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m.
2025-08-11T14:53:01.030Z,1754923981.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.600006 m,
      nav range: 162.089371 m,
      bearing: 168.508734 deg,
      approach rate: -0.588220 m/s,
      LOS rate: -0.002676 deg/s,
      cmd heading: 161.626701 deg,
      new cmd heading: 161.623182 deg.

2025-08-11T14:53:01.156Z,1754923981.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758123
2025-08-11T14:53:01.404Z,1754923981.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m.
2025-08-11T14:53:01.406Z,1754923981.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.600006 m,
      nav range: 161.869873 m,
      bearing: 168.507830 deg,
      approach rate: -0.583774 m/s,
      LOS rate: -0.002408 deg/s,
      cmd heading: 161.623176 deg,
      new cmd heading: 161.620460 deg.

2025-08-11T14:53:01.408Z,1754923981.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010196
2025-08-11T14:53:01.663Z,1754923981.663 [DAT](INFO): DAT read: Rx Time:14:53:02.4412

2025-08-11T14:53:01.663Z,1754923981.663 [DAT](INFO): Rx dataTimestamp_ set to:1754923981.663103
2025-08-11T14:53:01.664Z,1754923981.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266243
2025-08-11T14:53:01.883Z,1754923981.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m.
2025-08-11T14:53:01.886Z,1754923981.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.600006 m,
      nav range: 161.626572 m,
      bearing: 168.506902 deg,
      approach rate: -0.510616 m/s,
      LOS rate: -0.001950 deg/s,
      cmd heading: 161.620458 deg,
      new cmd heading: 161.617671 deg.

2025-08-11T14:53:01.913Z,1754923981.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514517
2025-08-11T14:53:02.176Z,1754923982.176 [DAT](INFO): DAT read: 14:53:02.4412 LVL= 32624, 32753, 32754, 32755, AGC= 71, IDX= 403, 0.32, 1.397,-0.507, 1.366, 1.040, PHS= 0.459,-1.503, 0.282, RAW= 145.3,   8.2, CAL= 144.9,   8.9, ROT=   5.1,  -8.9

2025-08-11T14:53:02.177Z,1754923982.177 [DAT](INFO): got valid direction response:
 14:53:02.4412 LVL= 32624, 32753, 32754, 32755, AGC= 71, IDX= 403, 0.32, 1.397,-0.507, 1.366, 1.040, PHS= 0.459,-1.503, 0.282, RAW= 145.3,   8.2, CAL= 144.9,   8.9, ROT=   5.1,  -8.9

2025-08-11T14:53:02.179Z,1754923982.179 [DAT](INFO): DAT read: Bearing 321.5,   6.3 (Local)

2025-08-11T14:53:02.179Z,1754923982.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.5,   6.3 (Local)

2025-08-11T14:53:02.182Z,1754923982.182 [DAT](INFO): DAT read: Range 11 to 50 : 163.3 m  (Round-trip  217.8 ms) speed  0.4 m/s

2025-08-11T14:53:02.182Z,1754923982.182 [DAT](INFO): DAT read: user:184>

2025-08-11T14:53:02.203Z,1754923982.203 [DAT](INFO): DAT read: Tx time:14:53:03.5692

2025-08-11T14:53:02.204Z,1754923982.204 [DAT](INFO): Ping request sent.
2025-08-11T14:53:02.204Z,1754923982.204 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:02.204Z,1754923982.204 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:02.205Z,1754923982.205 [DAT](INFO): direction in FSK: [0.984049,0.087824,0.154710]
2025-08-11T14:53:02.205Z,1754923982.205 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:02.205Z,1754923982.205 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:02.213Z,1754923982.213 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:02.214Z,1754923982.214 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:02.370Z,1754923982.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 163.300003 m,
      deltaT: 3.784356 s,
      deltaX: -2.300003 m,
      approachRate: -0.607766 m/s,
      rangeRepo size: 4

2025-08-11T14:53:02.376Z,1754923982.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 163.300003 m,
      bearing: 168.486829 deg,
      lat: 36.905864 deg,
      lon: -122.115966 deg,
      deltaT: 3.784356 s,
      deltaX: -2.300003 m,
      approachRate: -0.607766 m/s,
      posRepo size: 4

2025-08-11T14:53:02.377Z,1754923982.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.30 m.
2025-08-11T14:53:02.384Z,1754923982.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.300003 m,
      nav range: 161.037109 m,
      bearing: 168.486829 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.001950 deg/s,
      cmd heading: 161.617671 deg,
      new cmd heading: 161.614810 deg.

2025-08-11T14:53:02.716Z,1754923982.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:02.718Z,1754923982.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.30 m.
2025-08-11T14:53:02.721Z,1754923982.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.300003 m,
      nav range: 160.818375 m,
      bearing: 168.486603 deg,
      approach rate: -0.627765 m/s,
      LOS rate: -0.000650 deg/s,
      cmd heading: 161.614816 deg,
      new cmd heading: 161.614136 deg.

2025-08-11T14:53:02.920Z,1754923982.920 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:02.920Z,1754923982.920 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:02.921Z,1754923982.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:03.165Z,1754923983.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.30 m.
2025-08-11T14:53:03.168Z,1754923983.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.300003 m,
      nav range: 160.559036 m,
      bearing: 168.486288 deg,
      approach rate: -0.580085 m/s,
      LOS rate: -0.000705 deg/s,
      cmd heading: 161.614133 deg,
      new cmd heading: 161.613188 deg.

2025-08-11T14:53:03.172Z,1754923983.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968520
2025-08-11T14:53:03.424Z,1754923983.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220310
2025-08-11T14:53:03.535Z,1754923983.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.30 m.
2025-08-11T14:53:03.538Z,1754923983.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.300003 m,
      nav range: 160.344406 m,
      bearing: 168.486137 deg,
      approach rate: -0.579699 m/s,
      LOS rate: -0.000408 deg/s,
      cmd heading: 161.613190 deg,
      new cmd heading: 161.612737 deg.

2025-08-11T14:53:03.676Z,1754923983.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472465
2025-08-11T14:53:03.929Z,1754923983.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725118
2025-08-11T14:53:03.989Z,1754923983.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.30 m.
2025-08-11T14:53:03.992Z,1754923983.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.300003 m,
      nav range: 160.091705 m,
      bearing: 168.485822 deg,
      approach rate: -0.556745 m/s,
      LOS rate: -0.000697 deg/s,
      cmd heading: 161.612740 deg,
      new cmd heading: 161.611791 deg.

2025-08-11T14:53:04.180Z,1754923984.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976262
2025-08-11T14:53:04.349Z,1754923984.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.30 m.
2025-08-11T14:53:04.353Z,1754923984.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.300003 m,
      nav range: 159.900528 m,
      bearing: 168.485639 deg,
      approach rate: -0.533596 m/s,
      LOS rate: -0.000512 deg/s,
      cmd heading: 161.611797 deg,
      new cmd heading: 161.611247 deg.

2025-08-11T14:53:04.433Z,1754923984.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229086
2025-08-11T14:53:04.684Z,1754923984.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480358
2025-08-11T14:53:04.737Z,1754923984.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:04.739Z,1754923984.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.30 m.
2025-08-11T14:53:04.742Z,1754923984.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.300003 m,
      nav range: 159.673660 m,
      bearing: 168.485458 deg,
      approach rate: -0.579596 m/s,
      LOS rate: -0.000462 deg/s,
      cmd heading: 161.611251 deg,
      new cmd heading: 161.610708 deg.

2025-08-11T14:53:04.937Z,1754923984.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732835
2025-08-11T14:53:05.176Z,1754923985.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.30 m.
2025-08-11T14:53:05.179Z,1754923985.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.300003 m,
      nav range: 159.426407 m,
      bearing: 168.485134 deg,
      approach rate: -0.565029 m/s,
      LOS rate: -0.000742 deg/s,
      cmd heading: 161.610704 deg,
      new cmd heading: 161.609730 deg.

2025-08-11T14:53:05.188Z,1754923985.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984343
2025-08-11T14:53:05.441Z,1754923985.441 [DAT](INFO): DAT read: Rx Time:14:53:06.1885

2025-08-11T14:53:05.441Z,1754923985.441 [DAT](INFO): Rx dataTimestamp_ set to:1754923985.441094
2025-08-11T14:53:05.442Z,1754923985.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238206
2025-08-11T14:53:05.552Z,1754923985.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.30 m.
2025-08-11T14:53:05.554Z,1754923985.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 163.300003 m,
      nav range: 159.214752 m,
      bearing: 168.484870 deg,
      approach rate: -0.563628 m/s,
      LOS rate: -0.000704 deg/s,
      cmd heading: 161.609734 deg,
      new cmd heading: 161.608941 deg.

2025-08-11T14:53:05.692Z,1754923985.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488374
2025-08-11T14:53:05.950Z,1754923985.950 [DAT](INFO): DAT read: 14:53:06.1885 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.04, 0.888,-0.943, 0.794, 0.528, PHS= 0.462,-1.426, 0.222, RAW= 143.3,   8.4, CAL= 142.9,   9.2, ROT=   7.1,  -9.2

2025-08-11T14:53:05.955Z,1754923985.955 [DAT](INFO): got valid direction response:
 14:53:06.1885 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.04, 0.888,-0.943, 0.794, 0.528, PHS= 0.462,-1.426, 0.222, RAW= 143.3,   8.4, CAL= 142.9,   9.2, ROT=   7.1,  -9.2

2025-08-11T14:53:05.956Z,1754923985.956 [DAT](INFO): DAT read: Bearing 321.1,   7.7 (Local)

2025-08-11T14:53:05.957Z,1754923985.957 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.1,   7.7 (Local)

2025-08-11T14:53:05.958Z,1754923985.958 [DAT](INFO): DAT read: Range 11 to 50 : 161.4 m  (Round-trip  215.2 ms) speed  0.4 m/s

2025-08-11T14:53:05.959Z,1754923985.959 [DAT](INFO): DAT read: user:185>

2025-08-11T14:53:05.960Z,1754923985.960 [DAT](INFO): DAT read: Tx time:14:53:07.3192

2025-08-11T14:53:05.961Z,1754923985.961 [DAT](INFO): Ping request sent.
2025-08-11T14:53:05.961Z,1754923985.961 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:05.961Z,1754923985.961 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:05.962Z,1754923985.962 [DAT](INFO): direction in FSK: [0.979567,0.122012,0.159881]
2025-08-11T14:53:05.962Z,1754923985.962 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:05.963Z,1754923985.963 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:05.966Z,1754923985.966 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:05.966Z,1754923985.966 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:06.120Z,1754923986.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.399994 m,
      deltaT: 3.777691 s,
      deltaX: -1.900009 m,
      approachRate: -0.502955 m/s,
      rangeRepo size: 4

2025-08-11T14:53:06.128Z,1754923986.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.399994 m,
      bearing: 168.583361 deg,
      lat: 36.905864 deg,
      lon: -122.115969 deg,
      deltaT: 3.777691 s,
      deltaX: -1.900009 m,
      approachRate: -0.502955 m/s,
      posRepo size: 4

2025-08-11T14:53:06.129Z,1754923986.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:06.136Z,1754923986.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 158.855774 m,
      bearing: 168.583361 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000704 deg/s,
      cmd heading: 161.608942 deg,
      new cmd heading: 161.607754 deg.

2025-08-11T14:53:06.360Z,1754923986.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:06.363Z,1754923986.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 158.700348 m,
      bearing: 168.583268 deg,
      approach rate: -0.631133 m/s,
      LOS rate: -0.000379 deg/s,
      cmd heading: 161.607754 deg,
      new cmd heading: 161.607474 deg.

2025-08-11T14:53:06.754Z,1754923986.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:06.757Z,1754923986.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:06.760Z,1754923986.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 158.476013 m,
      bearing: 168.583135 deg,
      approach rate: -0.566043 m/s,
      LOS rate: -0.000336 deg/s,
      cmd heading: 161.607480 deg,
      new cmd heading: 161.607081 deg.

2025-08-11T14:53:06.952Z,1754923986.952 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:06.952Z,1754923986.952 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:06.952Z,1754923986.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:07.196Z,1754923987.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:07.198Z,1754923987.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 158.235016 m,
      bearing: 168.580205 deg,
      approach rate: -0.549503 m/s,
      LOS rate: -0.006691 deg/s,
      cmd heading: 161.607084 deg,
      new cmd heading: 161.598281 deg.

2025-08-11T14:53:07.204Z,1754923987.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243492
2025-08-11T14:53:07.456Z,1754923987.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495650
2025-08-11T14:53:07.571Z,1754923987.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:07.574Z,1754923987.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 158.028809 m,
      bearing: 168.577722 deg,
      approach rate: -0.549252 m/s,
      LOS rate: -0.006620 deg/s,
      cmd heading: 161.598287 deg,
      new cmd heading: 161.590830 deg.

2025-08-11T14:53:07.708Z,1754923987.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747596
2025-08-11T14:53:07.960Z,1754923987.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999519
2025-08-11T14:53:08.023Z,1754923988.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:08.026Z,1754923988.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.781418 m,
      bearing: 168.572487 deg,
      approach rate: -0.546717 m/s,
      LOS rate: -0.011589 deg/s,
      cmd heading: 161.590828 deg,
      new cmd heading: 161.575097 deg.

2025-08-11T14:53:08.212Z,1754923988.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251458
2025-08-11T14:53:08.433Z,1754923988.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:08.444Z,1754923988.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.576981 m,
      bearing: 168.568109 deg,
      approach rate: -0.498867 m/s,
      LOS rate: -0.010696 deg/s,
      cmd heading: 161.575092 deg,
      new cmd heading: 161.561942 deg.

2025-08-11T14:53:08.464Z,1754923988.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503580
2025-08-11T14:53:08.717Z,1754923988.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756349
2025-08-11T14:53:08.807Z,1754923988.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:08.809Z,1754923988.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:08.812Z,1754923988.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.352081 m,
      bearing: 168.563291 deg,
      approach rate: -0.598238 m/s,
      LOS rate: -0.012836 deg/s,
      cmd heading: 161.561937 deg,
      new cmd heading: 161.547460 deg.

2025-08-11T14:53:08.971Z,1754923988.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009975
2025-08-11T14:53:09.226Z,1754923989.226 [DAT](INFO): DAT read: 14:53:09.9358 LVL= 27440, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.23, 0.317,-1.625, 0.219,-0.063, PHS= 0.482,-1.517, 0.238, RAW= 143.6,   8.5, CAL= 143.1,   9.3, ROT=   6.9,  -9.3

2025-08-11T14:53:09.227Z,1754923989.227 [DAT](INFO): got valid direction response:
 14:53:09.9358 LVL= 27440, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.23, 0.317,-1.625, 0.219,-0.063, PHS= 0.482,-1.517, 0.238, RAW= 143.6,   8.5, CAL= 143.1,   9.3, ROT=   6.9,  -9.3

2025-08-11T14:53:09.228Z,1754923989.228 [DAT](INFO): DAT read: Rx Time:14:53:09.9358

2025-08-11T14:53:09.228Z,1754923989.228 [DAT](INFO): Rx dataTimestamp_ set to:1754923989.227795
2025-08-11T14:53:09.229Z,1754923989.229 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-11T14:53:09.229Z,1754923989.229 [DAT](INFO): Received low SNR in chirp
2025-08-11T14:53:09.258Z,1754923989.258 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-11T14:53:09.260Z,1754923989.260 [DAT](INFO): direction in FSK: [0.979708,0.118558,0.161604]
2025-08-11T14:53:09.292Z,1754923989.292 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:09.292Z,1754923989.292 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:09.292Z,1754923989.292 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:09.384Z,1754923989.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:09.387Z,1754923989.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 157.025558 m,
      bearing: 168.551884 deg,
      approach rate: -0.567540 m/s,
      LOS rate: -0.019866 deg/s,
      cmd heading: 161.547457 deg,
      new cmd heading: 161.513167 deg.

2025-08-11T14:53:09.473Z,1754923989.473 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:09.473Z,1754923989.473 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:09.473Z,1754923989.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:09.724Z,1754923989.724 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:09.724Z,1754923989.724 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:09.724Z,1754923989.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:09.984Z,1754923989.984 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:09.984Z,1754923989.984 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:09.984Z,1754923989.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:10.018Z,1754923990.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:10.020Z,1754923990.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 156.666397 m,
      bearing: 168.539375 deg,
      approach rate: -0.567198 m/s,
      LOS rate: -0.019801 deg/s,
      cmd heading: 161.513169 deg,
      new cmd heading: 161.475554 deg.

2025-08-11T14:53:10.236Z,1754923990.236 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:10.236Z,1754923990.236 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:10.236Z,1754923990.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:10.435Z,1754923990.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:10.438Z,1754923990.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 156.422287 m,
      bearing: 168.527647 deg,
      approach rate: -0.585305 m/s,
      LOS rate: -0.028164 deg/s,
      cmd heading: 161.475548 deg,
      new cmd heading: 161.440310 deg.

2025-08-11T14:53:10.488Z,1754923990.488 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:10.488Z,1754923990.488 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:10.488Z,1754923990.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:10.740Z,1754923990.740 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:10.740Z,1754923990.740 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:10.741Z,1754923990.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:10.820Z,1754923990.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:10.822Z,1754923990.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:10.825Z,1754923990.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 156.196655 m,
      bearing: 168.516786 deg,
      approach rate: -0.582301 m/s,
      LOS rate: -0.028069 deg/s,
      cmd heading: 161.440305 deg,
      new cmd heading: 161.407676 deg.

2025-08-11T14:53:10.994Z,1754923990.994 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:10.995Z,1754923990.995 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:10.995Z,1754923990.995 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:11.244Z,1754923991.244 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:11.244Z,1754923991.244 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:11.244Z,1754923991.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:11.400Z,1754923991.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:11.403Z,1754923991.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 155.867966 m,
      bearing: 168.500230 deg,
      approach rate: -0.568810 m/s,
      LOS rate: -0.028711 deg/s,
      cmd heading: 161.407670 deg,
      new cmd heading: 161.357897 deg.

2025-08-11T14:53:11.496Z,1754923991.496 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:11.496Z,1754923991.496 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:11.496Z,1754923991.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:11.748Z,1754923991.748 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:11.748Z,1754923991.748 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:11.748Z,1754923991.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:11.912Z,1754923991.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:11.915Z,1754923991.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 155.563278 m,
      bearing: 168.484774 deg,
      approach rate: -0.600613 m/s,
      LOS rate: -0.030527 deg/s,
      cmd heading: 161.357892 deg,
      new cmd heading: 161.311432 deg.

2025-08-11T14:53:12.004Z,1754923992.004 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:12.004Z,1754923992.004 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:12.004Z,1754923992.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:12.252Z,1754923992.252 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:12.252Z,1754923992.252 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:12.252Z,1754923992.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:12.349Z,1754923992.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:12.352Z,1754923992.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 155.293182 m,
      bearing: 168.471514 deg,
      approach rate: -0.610808 m/s,
      LOS rate: -0.030040 deg/s,
      cmd heading: 161.311433 deg,
      new cmd heading: 161.271582 deg.

2025-08-11T14:53:12.504Z,1754923992.504 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:12.504Z,1754923992.504 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:12.504Z,1754923992.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:12.735Z,1754923992.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:12.738Z,1754923992.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 155.061447 m,
      bearing: 168.460039 deg,
      approach rate: -0.601446 m/s,
      LOS rate: -0.029827 deg/s,
      cmd heading: 161.271585 deg,
      new cmd heading: 161.237108 deg.

2025-08-11T14:53:12.756Z,1754923992.756 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:12.756Z,1754923992.756 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:12.756Z,1754923992.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:13.017Z,1754923993.017 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:13.018Z,1754923993.018 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:13.018Z,1754923993.018 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:13.156Z,1754923993.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:13.159Z,1754923993.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:13.162Z,1754923993.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 154.803818 m,
      bearing: 168.449716 deg,
      approach rate: -0.607925 m/s,
      LOS rate: -0.024400 deg/s,
      cmd heading: 161.237107 deg,
      new cmd heading: 161.206086 deg.

2025-08-11T14:53:13.264Z,1754923993.264 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:13.264Z,1754923993.264 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:13.264Z,1754923993.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:13.516Z,1754923993.516 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:13.516Z,1754923993.516 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:13.516Z,1754923993.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:13.572Z,1754923993.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:13.575Z,1754923993.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 154.558395 m,
      bearing: 168.439860 deg,
      approach rate: -0.593325 m/s,
      LOS rate: -0.023864 deg/s,
      cmd heading: 161.206084 deg,
      new cmd heading: 161.176471 deg.

2025-08-11T14:53:13.768Z,1754923993.768 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:13.768Z,1754923993.768 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:13.768Z,1754923993.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:13.948Z,1754923993.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:13.951Z,1754923993.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 154.324799 m,
      bearing: 168.430447 deg,
      approach rate: -0.621326 m/s,
      LOS rate: -0.025076 deg/s,
      cmd heading: 161.176468 deg,
      new cmd heading: 161.148186 deg.

2025-08-11T14:53:14.022Z,1754923994.022 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:14.023Z,1754923994.023 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:14.023Z,1754923994.023 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:14.272Z,1754923994.272 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:14.272Z,1754923994.272 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:14.272Z,1754923994.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:14.374Z,1754923994.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:14.377Z,1754923994.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 154.062836 m,
      bearing: 168.422958 deg,
      approach rate: -0.614417 m/s,
      LOS rate: -0.017595 deg/s,
      cmd heading: 161.148191 deg,
      new cmd heading: 161.125686 deg.

2025-08-11T14:53:14.524Z,1754923994.524 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:14.524Z,1754923994.524 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:14.524Z,1754923994.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:14.748Z,1754923994.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:14.753Z,1754923994.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 153.845215 m,
      bearing: 168.416675 deg,
      approach rate: -0.610144 m/s,
      LOS rate: -0.017639 deg/s,
      cmd heading: 161.125679 deg,
      new cmd heading: 161.106805 deg.

2025-08-11T14:53:14.776Z,1754923994.776 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:14.776Z,1754923994.776 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:14.776Z,1754923994.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:15.030Z,1754923995.030 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:15.031Z,1754923995.031 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:15.031Z,1754923995.031 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:15.163Z,1754923995.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:15.165Z,1754923995.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:15.168Z,1754923995.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 153.586502 m,
      bearing: 168.412512 deg,
      approach rate: -0.596000 m/s,
      LOS rate: -0.009608 deg/s,
      cmd heading: 161.106800 deg,
      new cmd heading: 161.094288 deg.

2025-08-11T14:53:15.281Z,1754923995.281 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:15.281Z,1754923995.281 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:15.281Z,1754923995.281 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:15.532Z,1754923995.532 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:15.532Z,1754923995.532 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:15.532Z,1754923995.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:15.597Z,1754923995.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:15.607Z,1754923995.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 153.340698 m,
      bearing: 168.408509 deg,
      approach rate: -0.568978 m/s,
      LOS rate: -0.009281 deg/s,
      cmd heading: 161.094287 deg,
      new cmd heading: 161.082259 deg.

2025-08-11T14:53:15.784Z,1754923995.784 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:15.784Z,1754923995.784 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:15.784Z,1754923995.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-11T14:53:15.983Z,1754923995.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:15.986Z,1754923995.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 153.108826 m,
      bearing: 168.404684 deg,
      approach rate: -0.601738 m/s,
      LOS rate: -0.009939 deg/s,
      cmd heading: 161.082252 deg,
      new cmd heading: 161.070763 deg.

2025-08-11T14:53:16.038Z,1754923996.038 [DAT](INFO): Reached modem response timeout
2025-08-11T14:53:16.039Z,1754923996.039 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:16.040Z,1754923996.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:16.288Z,1754923996.288 [DAT](INFO): Reached modem response timeout
2025-08-11T14:53:16.289Z,1754923996.289 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:16.289Z,1754923996.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:16.383Z,1754923996.383 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     ,      +607.63,       -3.58,   7.46,  0.00
2025-08-11T14:53:16.398Z,1754923996.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:16.401Z,1754923996.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 152.850418 m,
      bearing: 168.400409 deg,
      approach rate: -0.622146 m/s,
      LOS rate: -0.010311 deg/s,
      cmd heading: 161.070764 deg,
      new cmd heading: 161.057916 deg.

2025-08-11T14:53:16.540Z,1754923996.540 [DAT](INFO): Reached modem response timeout
2025-08-11T14:53:16.540Z,1754923996.540 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:16.541Z,1754923996.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:16.779Z,1754923996.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:16.782Z,1754923996.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 152.622894 m,
      bearing: 168.396633 deg,
      approach rate: -0.596823 m/s,
      LOS rate: -0.009921 deg/s,
      cmd heading: 161.057910 deg,
      new cmd heading: 161.046564 deg.

2025-08-11T14:53:16.792Z,1754923996.792 [DAT](INFO): Reached modem response timeout
2025-08-11T14:53:16.792Z,1754923996.792 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:16.793Z,1754923996.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:17.046Z,1754923997.046 [DAT](INFO): Reached modem response timeout
2025-08-11T14:53:17.047Z,1754923997.047 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:17.048Z,1754923997.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:17.194Z,1754923997.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:17.196Z,1754923997.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:17.199Z,1754923997.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 152.394012 m,
      bearing: 168.400901 deg,
      approach rate: -0.548546 m/s,
      LOS rate: 0.010244 deg/s,
      cmd heading: 161.046558 deg,
      new cmd heading: 161.059381 deg.

2025-08-11T14:53:17.296Z,1754923997.296 [DAT](INFO): Reached modem response timeout
2025-08-11T14:53:17.296Z,1754923997.296 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:17.296Z,1754923997.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:17.548Z,1754923997.548 [DAT](INFO): Reached modem response timeout
2025-08-11T14:53:17.548Z,1754923997.548 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:17.548Z,1754923997.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:17.626Z,1754923997.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:17.633Z,1754923997.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 152.164734 m,
      bearing: 168.405107 deg,
      approach rate: -0.533962 m/s,
      LOS rate: 0.009810 deg/s,
      cmd heading: 161.059385 deg,
      new cmd heading: 161.072022 deg.

2025-08-11T14:53:17.800Z,1754923997.800 [DAT](INFO): Reached modem response timeout
2025-08-11T14:53:17.800Z,1754923997.800 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:17.800Z,1754923997.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:17.985Z,1754923997.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:17.987Z,1754923997.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 151.961121 m,
      bearing: 168.408802 deg,
      approach rate: -0.567563 m/s,
      LOS rate: 0.010313 deg/s,
      cmd heading: 161.072021 deg,
      new cmd heading: 161.083120 deg.

2025-08-11T14:53:18.054Z,1754923998.054 [DAT](INFO): Reached modem response timeout
2025-08-11T14:53:18.054Z,1754923998.054 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:18.056Z,1754923998.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:18.304Z,1754923998.304 [DAT](INFO): DAT read: Response Not Received

2025-08-11T14:53:18.304Z,1754923998.304 [DAT](INFO): response not received
2025-08-11T14:53:18.305Z,1754923998.305 [DAT](INFO): DAT read: user:187>

2025-08-11T14:53:18.305Z,1754923998.305 [DAT](ERROR): No response from remote modem.
2025-08-11T14:53:18.305Z,1754923998.305 [DAT](DEBUG): Acoustic response timeout
2025-08-11T14:53:18.306Z,1754923998.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:18.431Z,1754923998.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:18.434Z,1754923998.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 151.730118 m,
      bearing: 168.413864 deg,
      approach rate: -0.517555 m/s,
      LOS rate: 0.011359 deg/s,
      cmd heading: 161.083127 deg,
      new cmd heading: 161.098336 deg.

2025-08-11T14:53:18.557Z,1754923998.557 [DAT](INFO): DAT read: Tx time:14:53:19.7692

2025-08-11T14:53:18.558Z,1754923998.558 [DAT](INFO): Ping request sent.
2025-08-11T14:53:18.558Z,1754923998.558 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:18.558Z,1754923998.558 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:18.559Z,1754923998.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001115
2025-08-11T14:53:18.784Z,1754923998.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:18.786Z,1754923998.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 151.547134 m,
      bearing: 168.417832 deg,
      approach rate: -0.518556 m/s,
      LOS rate: 0.011260 deg/s,
      cmd heading: 161.098331 deg,
      new cmd heading: 161.110250 deg.

2025-08-11T14:53:18.808Z,1754923998.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250361
2025-08-11T14:53:19.065Z,1754923999.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506977
2025-08-11T14:53:19.218Z,1754923999.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:19.221Z,1754923999.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:19.224Z,1754923999.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 151.318207 m,
      bearing: 168.423929 deg,
      approach rate: -0.523912 m/s,
      LOS rate: 0.013975 deg/s,
      cmd heading: 161.110256 deg,
      new cmd heading: 161.128575 deg.

2025-08-11T14:53:19.313Z,1754923999.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755525
2025-08-11T14:53:19.564Z,1754923999.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006355
2025-08-11T14:53:19.619Z,1754923999.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:19.621Z,1754923999.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 151.109161 m,
      bearing: 168.429463 deg,
      approach rate: -0.525386 m/s,
      LOS rate: 0.013926 deg/s,
      cmd heading: 161.128575 deg,
      new cmd heading: 161.145198 deg.

2025-08-11T14:53:19.817Z,1754923999.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258863
2025-08-11T14:53:19.996Z,1754923999.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:19.998Z,1754923999.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 150.911331 m,
      bearing: 168.434689 deg,
      approach rate: -0.524495 m/s,
      LOS rate: 0.013876 deg/s,
      cmd heading: 161.145200 deg,
      new cmd heading: 161.160900 deg.

2025-08-11T14:53:20.079Z,1754924000.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520036
2025-08-11T14:53:20.328Z,1754924000.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770293
2025-08-11T14:53:20.438Z,1754924000.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:20.441Z,1754924000.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 150.690536 m,
      bearing: 168.439087 deg,
      approach rate: -0.499776 m/s,
      LOS rate: 0.009969 deg/s,
      cmd heading: 161.160895 deg,
      new cmd heading: 161.174107 deg.

2025-08-11T14:53:20.581Z,1754924000.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022548
2025-08-11T14:53:20.812Z,1754924000.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:20.814Z,1754924000.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 150.503601 m,
      bearing: 168.442775 deg,
      approach rate: -0.500101 m/s,
      LOS rate: 0.009880 deg/s,
      cmd heading: 161.174105 deg,
      new cmd heading: 161.185184 deg.

2025-08-11T14:53:20.833Z,1754924000.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275593
2025-08-11T14:53:21.085Z,1754924001.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527611
2025-08-11T14:53:21.242Z,1754924001.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:21.244Z,1754924001.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:21.252Z,1754924001.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 150.286087 m,
      bearing: 168.444768 deg,
      approach rate: -0.502374 m/s,
      LOS rate: 0.004609 deg/s,
      cmd heading: 161.185183 deg,
      new cmd heading: 161.191170 deg.

2025-08-11T14:53:21.336Z,1754924001.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778410
2025-08-11T14:53:21.589Z,1754924001.589 [DAT](INFO): DAT read: Rx Time:14:53:22.3762

2025-08-11T14:53:21.590Z,1754924001.590 [DAT](INFO): Rx dataTimestamp_ set to:1754924001.589492
2025-08-11T14:53:21.591Z,1754924001.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032805
2025-08-11T14:53:21.654Z,1754924001.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:21.658Z,1754924001.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 150.079559 m,
      bearing: 168.446665 deg,
      approach rate: -0.504110 m/s,
      LOS rate: 0.004637 deg/s,
      cmd heading: 161.191167 deg,
      new cmd heading: 161.196866 deg.

2025-08-11T14:53:21.840Z,1754924001.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282330
2025-08-11T14:53:22.138Z,1754924002.138 [DAT](INFO): DAT read: 14:53:22.3762 LVL= 29168, 32753, 29746, 31699, AGC= 71, IDX= 347,-0.32, 1.519,-0.394, 1.447, 1.084, PHS= 0.537,-1.432, 0.320, RAW= 144.2,   6.2, CAL= 143.8,   6.8, ROT=   6.2,  -6.8

2025-08-11T14:53:22.150Z,1754924002.150 [DAT](INFO): got valid direction response:
 14:53:22.3762 LVL= 29168, 32753, 29746, 31699, AGC= 71, IDX= 347,-0.32, 1.519,-0.394, 1.447, 1.084, PHS= 0.537,-1.432, 0.320, RAW= 144.2,   6.2, CAL= 143.8,   6.8, ROT=   6.2,  -6.8

2025-08-11T14:53:22.161Z,1754924002.161 [DAT](INFO): DAT read: Bearing 319.6,   5.0 (Local)

2025-08-11T14:53:22.161Z,1754924002.161 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.6,   5.0 (Local)

2025-08-11T14:53:22.163Z,1754924002.163 [DAT](INFO): DAT read: Range 11 to 50 : 152.1 m  (Round-trip  202.9 ms) speed  0.3 m/s

2025-08-11T14:53:22.172Z,1754924002.172 [DAT](INFO): DAT read: user:188>

2025-08-11T14:53:22.172Z,1754924002.172 [DAT](INFO): DAT read: Tx time:14:53:23.4692

2025-08-11T14:53:22.173Z,1754924002.173 [DAT](INFO): Ping request sent.
2025-08-11T14:53:22.173Z,1754924002.173 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:22.173Z,1754924002.173 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:22.174Z,1754924002.174 [DAT](INFO): direction in FSK: [0.987158,0.107240,0.118404]
2025-08-11T14:53:22.174Z,1754924002.174 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:22.174Z,1754924002.174 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:22.177Z,1754924002.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 152.100006 m,
      deltaT: 16.150153 s,
      deltaX: -9.299988 m,
      approachRate: -0.575845 m/s,
      rangeRepo size: 4

2025-08-11T14:53:22.177Z,1754924002.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:22.186Z,1754924002.186 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:22.186Z,1754924002.186 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:22.188Z,1754924002.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 149.862473 m,
      bearing: 168.448559 deg,
      approach rate: -0.415805 m/s,
      LOS rate: 0.003632 deg/s,
      cmd heading: 161.196863 deg,
      new cmd heading: 161.202552 deg.

2025-08-11T14:53:22.598Z,1754924002.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:22.605Z,1754924002.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 149.610001 m,
      bearing: 168.446247 deg,
      approach rate: -0.598703 m/s,
      LOS rate: -0.005490 deg/s,
      cmd heading: 161.202546 deg,
      new cmd heading: 161.195600 deg.

2025-08-11T14:53:22.939Z,1754924002.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:22.946Z,1754924002.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 149.412186 m,
      bearing: 168.444444 deg,
      approach rate: -0.580259 m/s,
      LOS rate: -0.005298 deg/s,
      cmd heading: 161.195606 deg,
      new cmd heading: 161.190188 deg.

2025-08-11T14:53:23.362Z,1754924003.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:23.364Z,1754924003.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:23.367Z,1754924003.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 149.180710 m,
      bearing: 168.438388 deg,
      approach rate: -0.544310 m/s,
      LOS rate: -0.014263 deg/s,
      cmd heading: 161.190183 deg,
      new cmd heading: 161.171987 deg.

2025-08-11T14:53:23.605Z,1754924003.605 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:23.605Z,1754924003.605 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:23.605Z,1754924003.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:23.767Z,1754924003.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:23.770Z,1754924003.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 148.971680 m,
      bearing: 168.432902 deg,
      approach rate: -0.518402 m/s,
      LOS rate: -0.013624 deg/s,
      cmd heading: 161.171988 deg,
      new cmd heading: 161.155508 deg.

2025-08-11T14:53:23.857Z,1754924003.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684287
2025-08-11T14:53:24.111Z,1754924004.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.938083
2025-08-11T14:53:24.294Z,1754924004.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:24.297Z,1754924004.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 148.659088 m,
      bearing: 168.421639 deg,
      approach rate: -0.593598 m/s,
      LOS rate: -0.021432 deg/s,
      cmd heading: 161.155513 deg,
      new cmd heading: 161.121655 deg.

2025-08-11T14:53:24.360Z,1754924004.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187643
2025-08-11T14:53:24.612Z,1754924004.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439548
2025-08-11T14:53:24.769Z,1754924004.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:24.772Z,1754924004.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 148.421371 m,
      bearing: 168.412936 deg,
      approach rate: -0.500501 m/s,
      LOS rate: -0.018354 deg/s,
      cmd heading: 161.121649 deg,
      new cmd heading: 161.095497 deg.

2025-08-11T14:53:24.864Z,1754924004.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691520
2025-08-11T14:53:25.116Z,1754924005.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943505
2025-08-11T14:53:25.205Z,1754924005.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:25.221Z,1754924005.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 148.165558 m,
      bearing: 168.403568 deg,
      approach rate: -0.594057 m/s,
      LOS rate: -0.021793 deg/s,
      cmd heading: 161.095503 deg,
      new cmd heading: 161.067349 deg.

2025-08-11T14:53:25.368Z,1754924005.368 [DAT](INFO): DAT read: Rx Time:14:53:26.0736

2025-08-11T14:53:25.369Z,1754924005.369 [DAT](INFO): Rx dataTimestamp_ set to:1754924005.368352
2025-08-11T14:53:25.369Z,1754924005.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196491
2025-08-11T14:53:25.620Z,1754924005.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447482
2025-08-11T14:53:25.641Z,1754924005.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:25.644Z,1754924005.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.40 m.
2025-08-11T14:53:25.646Z,1754924005.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.399994 m,
      nav range: 147.866425 m,
      bearing: 168.391321 deg,
      approach rate: -0.673733 m/s,
      LOS rate: -0.027640 deg/s,
      cmd heading: 161.067349 deg,
      new cmd heading: 161.030534 deg.

2025-08-11T14:53:25.878Z,1754924005.878 [DAT](INFO): DAT read: 14:53:26.0736 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414, 0.45, 0.521,-1.314, 0.478, 0.189, PHS= 0.434,-1.458, 0.245, RAW= 144.8,   8.7, CAL= 144.4,   9.5, ROT=   5.6,  -9.5

2025-08-11T14:53:25.879Z,1754924005.879 [DAT](INFO): got valid direction response:
 14:53:26.0736 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414, 0.45, 0.521,-1.314, 0.478, 0.189, PHS= 0.434,-1.458, 0.245, RAW= 144.8,   8.7, CAL= 144.4,   9.5, ROT=   5.6,  -9.5

2025-08-11T14:53:25.880Z,1754924005.880 [DAT](INFO): DAT read: Bearing 322.6,   4.0 (Local)

2025-08-11T14:53:25.880Z,1754924005.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.6,   4.0 (Local)

2025-08-11T14:53:25.882Z,1754924005.882 [DAT](INFO): DAT read: Range 11 to 50 : 150.1 m  (Round-trip  200.2 ms) speed  0.5 m/s

2025-08-11T14:53:25.883Z,1754924005.883 [DAT](INFO): DAT read: user:189>

2025-08-11T14:53:25.883Z,1754924005.883 [DAT](INFO): DAT read: Tx time:14:53:27.1692

2025-08-11T14:53:25.884Z,1754924005.884 [DAT](INFO): Ping request sent.
2025-08-11T14:53:25.884Z,1754924005.884 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:25.884Z,1754924005.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:25.885Z,1754924005.885 [DAT](INFO): direction in FSK: [0.981578,0.096245,0.165048]
2025-08-11T14:53:25.885Z,1754924005.885 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:25.885Z,1754924005.885 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:25.914Z,1754924005.914 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:25.915Z,1754924005.915 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:26.061Z,1754924006.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.100006 m,
      deltaT: 3.777711 s,
      deltaX: -2.000000 m,
      approachRate: -0.529421 m/s,
      rangeRepo size: 4

2025-08-11T14:53:26.080Z,1754924006.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.100006 m,
      bearing: 167.934235 deg,
      lat: 36.905860 deg,
      lon: -122.115955 deg,
      deltaT: 19.927864 s,
      deltaX: -11.299988 m,
      approachRate: -0.567045 m/s,
      posRepo size: 4

2025-08-11T14:53:26.081Z,1754924006.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-11T14:53:26.089Z,1754924006.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.100006 m,
      nav range: 148.375992 m,
      bearing: 167.934235 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027640 deg/s,
      cmd heading: 161.030534 deg,
      new cmd heading: 160.997072 deg.

2025-08-11T14:53:26.463Z,1754924006.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-11T14:53:26.466Z,1754924006.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.100006 m,
      nav range: 148.097443 m,
      bearing: 167.920475 deg,
      approach rate: -0.703093 m/s,
      LOS rate: -0.034796 deg/s,
      cmd heading: 160.997066 deg,
      new cmd heading: 160.955710 deg.

2025-08-11T14:53:26.815Z,1754924006.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-11T14:53:26.817Z,1754924006.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.100006 m,
      nav range: 147.859879 m,
      bearing: 167.908633 deg,
      approach rate: -0.639514 m/s,
      LOS rate: -0.031929 deg/s,
      cmd heading: 160.955716 deg,
      new cmd heading: 160.920134 deg.

2025-08-11T14:53:27.294Z,1754924007.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-11T14:53:27.297Z,1754924007.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.100006 m,
      nav range: 147.547180 m,
      bearing: 167.891523 deg,
      approach rate: -0.652119 m/s,
      LOS rate: -0.035758 deg/s,
      cmd heading: 160.920131 deg,
      new cmd heading: 160.868692 deg.

2025-08-11T14:53:27.631Z,1754924007.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-11T14:53:27.634Z,1754924007.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.100006 m,
      nav range: 147.327423 m,
      bearing: 167.879396 deg,
      approach rate: -0.652549 m/s,
      LOS rate: -0.036064 deg/s,
      cmd heading: 160.868686 deg,
      new cmd heading: 160.832251 deg.

2025-08-11T14:53:28.026Z,1754924008.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:28.028Z,1754924008.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-11T14:53:28.030Z,1754924008.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.100006 m,
      nav range: 147.068878 m,
      bearing: 167.865060 deg,
      approach rate: -0.651312 m/s,
      LOS rate: -0.036180 deg/s,
      cmd heading: 160.832254 deg,
      new cmd heading: 160.789168 deg.

2025-08-11T14:53:28.142Z,1754924008.142 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:28.142Z,1754924008.142 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:28.142Z,1754924008.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:28.392Z,1754924008.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508376
2025-08-11T14:53:28.456Z,1754924008.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-11T14:53:28.459Z,1754924008.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.100006 m,
      nav range: 146.793579 m,
      bearing: 167.851655 deg,
      approach rate: -0.642689 m/s,
      LOS rate: -0.031352 deg/s,
      cmd heading: 160.789169 deg,
      new cmd heading: 160.748879 deg.

2025-08-11T14:53:28.644Z,1754924008.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760396
2025-08-11T14:53:28.843Z,1754924008.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-11T14:53:28.846Z,1754924008.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.100006 m,
      nav range: 146.545212 m,
      bearing: 167.839554 deg,
      approach rate: -0.642025 m/s,
      LOS rate: -0.031333 deg/s,
      cmd heading: 160.748885 deg,
      new cmd heading: 160.712521 deg.

2025-08-11T14:53:28.897Z,1754924008.897 [DAT](INFO): DAT read: Rx Time:14:53:29.7703

2025-08-11T14:53:28.897Z,1754924008.897 [DAT](INFO): Rx dataTimestamp_ set to:1754924008.897213
2025-08-11T14:53:28.898Z,1754924008.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014609
2025-08-11T14:53:29.148Z,1754924009.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264420
2025-08-11T14:53:29.316Z,1754924009.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-11T14:53:29.318Z,1754924009.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.100006 m,
      nav range: 146.254105 m,
      bearing: 167.827016 deg,
      approach rate: -0.615639 m/s,
      LOS rate: -0.026569 deg/s,
      cmd heading: 160.712521 deg,
      new cmd heading: 160.674832 deg.

2025-08-11T14:53:29.403Z,1754924009.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519092
2025-08-11T14:53:29.658Z,1754924009.658 [DAT](INFO): DAT read: 14:53:29.7703 LVL= 29936, 32161, 26930, 32755, AGC= 68, IDX= 413,-0.11, 2.576, 0.536, 2.454, 2.150, PHS= 0.528,-1.569, 0.260, RAW= 143.3,   7.9, CAL= 142.8,   8.7, ROT=   7.2,  -8.7

2025-08-11T14:53:29.660Z,1754924009.660 [DAT](INFO): got valid direction response:
 14:53:29.7703 LVL= 29936, 32161, 26930, 32755, AGC= 68, IDX= 413,-0.11, 2.576, 0.536, 2.454, 2.150, PHS= 0.528,-1.569, 0.260, RAW= 143.3,   7.9, CAL= 142.8,   8.7, ROT=   7.2,  -8.7

2025-08-11T14:53:29.661Z,1754924009.661 [DAT](INFO): DAT read: Bearing 322.5,   5.5 (Local)

2025-08-11T14:53:29.661Z,1754924009.661 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.5,   5.5 (Local)

2025-08-11T14:53:29.662Z,1754924009.662 [DAT](INFO): DAT read: Range 11 to 50 : 147.6 m  (Round-trip  196.9 ms) speed  0.4 m/s

2025-08-11T14:53:29.663Z,1754924009.663 [DAT](INFO): DAT read: user:190>

2025-08-11T14:53:29.664Z,1754924009.664 [DAT](INFO): DAT read: Tx time:14:53:30.8692

2025-08-11T14:53:29.664Z,1754924009.664 [DAT](INFO): Ping request sent.
2025-08-11T14:53:29.664Z,1754924009.664 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:29.665Z,1754924009.665 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:29.665Z,1754924009.665 [DAT](INFO): direction in FSK: [0.980699,0.123891,0.151261]
2025-08-11T14:53:29.666Z,1754924009.666 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:29.666Z,1754924009.666 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:29.685Z,1754924009.685 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:29.685Z,1754924009.685 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:29.710Z,1754924009.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.600006 m,
      deltaT: 3.780326 s,
      deltaX: -2.500000 m,
      approachRate: -0.661319 m/s,
      rangeRepo size: 4

2025-08-11T14:53:29.716Z,1754924009.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.600006 m,
      bearing: 167.831254 deg,
      lat: 36.905858 deg,
      lon: -122.115955 deg,
      deltaT: 3.780326 s,
      deltaX: -2.500000 m,
      approachRate: -0.661319 m/s,
      posRepo size: 4

2025-08-11T14:53:29.717Z,1754924009.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-11T14:53:29.752Z,1754924009.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 146.195267 m,
      bearing: 167.831254 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026569 deg/s,
      cmd heading: 160.674832 deg,
      new cmd heading: 160.643462 deg.

2025-08-11T14:53:30.059Z,1754924010.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:30.063Z,1754924010.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-11T14:53:30.069Z,1754924010.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 145.964371 m,
      bearing: 167.821515 deg,
      approach rate: -0.654078 m/s,
      LOS rate: -0.027632 deg/s,
      cmd heading: 160.643467 deg,
      new cmd heading: 160.614205 deg.

2025-08-11T14:53:30.156Z,1754924010.156 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:30.156Z,1754924010.156 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:30.157Z,1754924010.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:30.408Z,1754924010.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744062
2025-08-11T14:53:30.498Z,1754924010.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-11T14:53:30.502Z,1754924010.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 145.702652 m,
      bearing: 167.814279 deg,
      approach rate: -0.600588 m/s,
      LOS rate: -0.016636 deg/s,
      cmd heading: 160.614207 deg,
      new cmd heading: 160.592459 deg.

2025-08-11T14:53:30.660Z,1754924010.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995874
2025-08-11T14:53:30.912Z,1754924010.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247722
2025-08-11T14:53:30.964Z,1754924010.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-11T14:53:30.966Z,1754924010.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 145.403839 m,
      bearing: 167.806129 deg,
      approach rate: -0.641742 m/s,
      LOS rate: -0.017539 deg/s,
      cmd heading: 160.592460 deg,
      new cmd heading: 160.567960 deg.

2025-08-11T14:53:31.165Z,1754924011.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500619
2025-08-11T14:53:31.359Z,1754924011.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-11T14:53:31.362Z,1754924011.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 145.169800 m,
      bearing: 167.801286 deg,
      approach rate: -0.591964 m/s,
      LOS rate: -0.012269 deg/s,
      cmd heading: 160.567967 deg,
      new cmd heading: 160.553415 deg.

2025-08-11T14:53:31.417Z,1754924011.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752745
2025-08-11T14:53:31.580Z,1754924011.580 [CTD_Seabird](ERROR): Failed to parse device response: 47,2293.52
2025-08-11T14:53:31.668Z,1754924011.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003832
2025-08-11T14:53:31.710Z,1754924011.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-11T14:53:31.713Z,1754924011.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 144.960785 m,
      bearing: 167.796965 deg,
      approach rate: -0.595155 m/s,
      LOS rate: -0.012321 deg/s,
      cmd heading: 160.553418 deg,
      new cmd heading: 160.540437 deg.

2025-08-11T14:53:31.921Z,1754924011.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256456
2025-08-11T14:53:32.116Z,1754924012.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:32.118Z,1754924012.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-11T14:53:32.121Z,1754924012.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 144.719238 m,
      bearing: 167.791874 deg,
      approach rate: -0.592847 m/s,
      LOS rate: -0.012517 deg/s,
      cmd heading: 160.540441 deg,
      new cmd heading: 160.525141 deg.

2025-08-11T14:53:32.173Z,1754924012.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508820
2025-08-11T14:53:32.424Z,1754924012.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759781
2025-08-11T14:53:32.558Z,1754924012.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-11T14:53:32.572Z,1754924012.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 144.493393 m,
      bearing: 167.786616 deg,
      approach rate: -0.513696 m/s,
      LOS rate: -0.011978 deg/s,
      cmd heading: 160.525141 deg,
      new cmd heading: 160.509343 deg.

2025-08-11T14:53:32.676Z,1754924012.676 [DAT](INFO): DAT read: Rx Time:14:53:33.4672

2025-08-11T14:53:32.677Z,1754924012.677 [DAT](INFO): Rx dataTimestamp_ set to:1754924012.676548
2025-08-11T14:53:32.678Z,1754924012.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013515
2025-08-11T14:53:32.929Z,1754924012.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264645
2025-08-11T14:53:32.946Z,1754924012.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-11T14:53:32.953Z,1754924012.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 144.285431 m,
      bearing: 167.781691 deg,
      approach rate: -0.535212 m/s,
      LOS rate: -0.012693 deg/s,
      cmd heading: 160.509336 deg,
      new cmd heading: 160.494541 deg.

2025-08-11T14:53:33.192Z,1754924013.192 [DAT](INFO): DAT read: 14:53:33.4672 LVL= 28400, 32753, 28002, 32755, AGC= 69, IDX= 414, 0.39, 1.943, 0.078, 1.936, 1.574, PHS= 0.471,-1.451, 0.318, RAW= 145.9,   7.2, CAL= 145.4,   7.8, ROT=   4.6,  -7.8

2025-08-11T14:53:33.193Z,1754924013.193 [DAT](INFO): got valid direction response:
 14:53:33.4672 LVL= 28400, 32753, 28002, 32755, AGC= 69, IDX= 414, 0.39, 1.943, 0.078, 1.936, 1.574, PHS= 0.471,-1.451, 0.318, RAW= 145.9,   7.2, CAL= 145.4,   7.8, ROT=   4.6,  -7.8

2025-08-11T14:53:33.194Z,1754924013.194 [DAT](INFO): DAT read: Bearing 321.3,   3.0 (Local)

2025-08-11T14:53:33.194Z,1754924013.194 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.3,   3.0 (Local)

2025-08-11T14:53:33.200Z,1754924013.200 [DAT](INFO): DAT read: Range 11 to 50 : 145.4 m  (Round-trip  193.9 ms) speed  0.7 m/s

2025-08-11T14:53:33.201Z,1754924013.201 [DAT](INFO): DAT read: user:191>

2025-08-11T14:53:33.202Z,1754924013.202 [DAT](INFO): DAT read: Tx time:14:53:34.5692

2025-08-11T14:53:33.202Z,1754924013.202 [DAT](INFO): Ping request sent.
2025-08-11T14:53:33.202Z,1754924013.202 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:33.203Z,1754924013.203 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:33.216Z,1754924013.216 [DAT](INFO): direction in FSK: [0.987557,0.079457,0.135716]
2025-08-11T14:53:33.216Z,1754924013.216 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:33.217Z,1754924013.217 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:33.224Z,1754924013.224 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:33.224Z,1754924013.224 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:33.477Z,1754924013.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.399994 m,
      deltaT: 3.533153 s,
      deltaX: -2.200012 m,
      approachRate: -0.622677 m/s,
      rangeRepo size: 4

2025-08-11T14:53:33.484Z,1754924013.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.399994 m,
      bearing: 167.777082 deg,
      lat: 36.905858 deg,
      lon: -122.115955 deg,
      deltaT: 3.533153 s,
      deltaX: -2.200012 m,
      approachRate: -0.622677 m/s,
      posRepo size: 4

2025-08-11T14:53:33.484Z,1754924013.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.40 m.
2025-08-11T14:53:33.487Z,1754924013.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.399994 m,
      nav range: 144.007797 m,
      bearing: 167.777082 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012693 deg/s,
      cmd heading: 160.494542 deg,
      new cmd heading: 160.474341 deg.

2025-08-11T14:53:33.845Z,1754924013.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.40 m.
2025-08-11T14:53:33.848Z,1754924013.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.399994 m,
      nav range: 143.802567 m,
      bearing: 167.773506 deg,
      approach rate: -0.557348 m/s,
      LOS rate: -0.009724 deg/s,
      cmd heading: 160.474338 deg,
      new cmd heading: 160.463597 deg.

2025-08-11T14:53:34.246Z,1754924014.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:34.248Z,1754924014.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.40 m.
2025-08-11T14:53:34.251Z,1754924014.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.399994 m,
      nav range: 143.592743 m,
      bearing: 167.769743 deg,
      approach rate: -0.520157 m/s,
      LOS rate: -0.009343 deg/s,
      cmd heading: 160.463601 deg,
      new cmd heading: 160.452295 deg.

2025-08-11T14:53:34.440Z,1754924014.440 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:34.440Z,1754924014.440 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:34.440Z,1754924014.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:34.679Z,1754924014.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.40 m.
2025-08-11T14:53:34.682Z,1754924014.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.399994 m,
      nav range: 143.369247 m,
      bearing: 167.768693 deg,
      approach rate: -0.518975 m/s,
      LOS rate: -0.002443 deg/s,
      cmd heading: 160.452290 deg,
      new cmd heading: 160.449135 deg.

2025-08-11T14:53:34.692Z,1754924014.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490012
2025-08-11T14:53:34.945Z,1754924014.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742574
2025-08-11T14:53:35.124Z,1754924015.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.40 m.
2025-08-11T14:53:35.138Z,1754924015.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.399994 m,
      nav range: 143.146439 m,
      bearing: 167.767598 deg,
      approach rate: -0.500093 m/s,
      LOS rate: -0.002461 deg/s,
      cmd heading: 160.449135 deg,
      new cmd heading: 160.445845 deg.

2025-08-11T14:53:35.196Z,1754924015.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993970
2025-08-11T14:53:35.448Z,1754924015.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245807
2025-08-11T14:53:35.534Z,1754924015.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.40 m.
2025-08-11T14:53:35.540Z,1754924015.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.399994 m,
      nav range: 142.917572 m,
      bearing: 167.768096 deg,
      approach rate: -0.559855 m/s,
      LOS rate: 0.001221 deg/s,
      cmd heading: 160.445843 deg,
      new cmd heading: 160.447340 deg.

2025-08-11T14:53:35.700Z,1754924015.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497950
2025-08-11T14:53:35.908Z,1754924015.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.40 m.
2025-08-11T14:53:35.912Z,1754924015.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.399994 m,
      nav range: 142.715240 m,
      bearing: 167.768463 deg,
      approach rate: -0.540182 m/s,
      LOS rate: 0.000982 deg/s,
      cmd heading: 160.447345 deg,
      new cmd heading: 160.448449 deg.

2025-08-11T14:53:35.952Z,1754924015.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749950
2025-08-11T14:53:36.204Z,1754924016.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001829
2025-08-11T14:53:36.356Z,1754924016.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:36.371Z,1754924016.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.40 m.
2025-08-11T14:53:36.377Z,1754924016.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.399994 m,
      nav range: 142.497849 m,
      bearing: 167.768752 deg,
      approach rate: -0.469713 m/s,
      LOS rate: 0.000624 deg/s,
      cmd heading: 160.448452 deg,
      new cmd heading: 160.449318 deg.

2025-08-11T14:53:36.457Z,1754924016.457 [DAT](INFO): DAT read: Rx Time:14:53:37.1646

2025-08-11T14:53:36.457Z,1754924016.457 [DAT](INFO): Rx dataTimestamp_ set to:1754924016.457137
2025-08-11T14:53:36.458Z,1754924016.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255994
2025-08-11T14:53:36.708Z,1754924016.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505780
2025-08-11T14:53:36.748Z,1754924016.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.40 m.
2025-08-11T14:53:36.750Z,1754924016.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.399994 m,
      nav range: 142.265701 m,
      bearing: 167.767181 deg,
      approach rate: -0.616360 m/s,
      LOS rate: -0.004177 deg/s,
      cmd heading: 160.449313 deg,
      new cmd heading: 160.444592 deg.

2025-08-11T14:53:36.969Z,1754924016.969 [DAT](INFO): DAT read: 14:53:37.1646 LVL= 24384, 28561, 24546, 32755, AGC= 69, IDX= 420, 0.19, 1.512,-0.402, 1.474, 1.163, PHS= 0.451,-1.520, 0.266, RAW= 145.1,   8.6, CAL= 144.7,   9.3, ROT=   5.3,  -9.3

2025-08-11T14:53:36.970Z,1754924016.970 [DAT](INFO): got valid direction response:
 14:53:37.1646 LVL= 24384, 28561, 24546, 32755, AGC= 69, IDX= 420, 0.19, 1.512,-0.402, 1.474, 1.163, PHS= 0.451,-1.520, 0.266, RAW= 145.1,   8.6, CAL= 144.7,   9.3, ROT=   5.3,  -9.3

2025-08-11T14:53:36.971Z,1754924016.971 [DAT](INFO): DAT read: Bearing 323.4,   3.9 (Local)

2025-08-11T14:53:36.972Z,1754924016.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.4,   3.9 (Local)

2025-08-11T14:53:36.973Z,1754924016.973 [DAT](INFO): DAT read: Range 11 to 50 : 143.5 m  (Round-trip  191.4 ms) speed  1.1 m/s

2025-08-11T14:53:36.974Z,1754924016.974 [DAT](INFO): DAT read: user:192>

2025-08-11T14:53:36.974Z,1754924016.974 [DAT](INFO): DAT read: Tx time:14:53:38.2691

2025-08-11T14:53:36.975Z,1754924016.975 [DAT](INFO): Ping request sent.
2025-08-11T14:53:36.975Z,1754924016.975 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:36.979Z,1754924016.979 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:36.980Z,1754924016.980 [DAT](INFO): direction in FSK: [0.982637,0.091156,0.161604]
2025-08-11T14:53:36.980Z,1754924016.980 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:36.981Z,1754924016.981 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:36.984Z,1754924016.984 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:36.985Z,1754924016.985 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:37.175Z,1754924017.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.500000 m,
      deltaT: 3.774477 s,
      deltaX: -1.899994 m,
      approachRate: -0.503379 m/s,
      rangeRepo size: 4

2025-08-11T14:53:37.188Z,1754924017.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.500000 m,
      bearing: 167.784294 deg,
      lat: 36.905856 deg,
      lon: -122.115955 deg,
      deltaT: 3.774477 s,
      deltaX: -1.899994 m,
      approachRate: -0.503379 m/s,
      posRepo size: 4

2025-08-11T14:53:37.189Z,1754924017.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-11T14:53:37.196Z,1754924017.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.500000 m,
      nav range: 142.261124 m,
      bearing: 167.784294 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004177 deg/s,
      cmd heading: 160.444586 deg,
      new cmd heading: 160.439239 deg.

2025-08-11T14:53:37.645Z,1754924017.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-11T14:53:37.647Z,1754924017.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.500000 m,
      nav range: 141.996231 m,
      bearing: 167.782435 deg,
      approach rate: -0.562840 m/s,
      LOS rate: -0.003957 deg/s,
      cmd heading: 160.439245 deg,
      new cmd heading: 160.433658 deg.

2025-08-11T14:53:37.979Z,1754924017.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-11T14:53:37.982Z,1754924017.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.500000 m,
      nav range: 141.814224 m,
      bearing: 167.781126 deg,
      approach rate: -0.543978 m/s,
      LOS rate: -0.003919 deg/s,
      cmd heading: 160.433658 deg,
      new cmd heading: 160.429724 deg.

2025-08-11T14:53:38.454Z,1754924018.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:38.456Z,1754924018.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-11T14:53:38.459Z,1754924018.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.500000 m,
      nav range: 141.548645 m,
      bearing: 167.777499 deg,
      approach rate: -0.556661 m/s,
      LOS rate: -0.007615 deg/s,
      cmd heading: 160.429724 deg,
      new cmd heading: 160.418824 deg.

2025-08-11T14:53:38.472Z,1754924018.472 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:38.472Z,1754924018.472 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:38.472Z,1754924018.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:38.724Z,1754924018.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749289
2025-08-11T14:53:38.861Z,1754924018.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-11T14:53:38.864Z,1754924018.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.500000 m,
      nav range: 141.322113 m,
      bearing: 167.774449 deg,
      approach rate: -0.558910 m/s,
      LOS rate: -0.007537 deg/s,
      cmd heading: 160.418823 deg,
      new cmd heading: 160.409658 deg.

2025-08-11T14:53:38.976Z,1754924018.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001342
2025-08-11T14:53:39.204Z,1754924019.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-11T14:53:39.207Z,1754924019.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.500000 m,
      nav range: 141.132614 m,
      bearing: 167.771995 deg,
      approach rate: -0.552986 m/s,
      LOS rate: -0.007172 deg/s,
      cmd heading: 160.409656 deg,
      new cmd heading: 160.402284 deg.

2025-08-11T14:53:39.228Z,1754924019.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253156
2025-08-11T14:53:39.483Z,1754924019.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507682
2025-08-11T14:53:39.631Z,1754924019.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-11T14:53:39.634Z,1754924019.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.500000 m,
      nav range: 140.879791 m,
      bearing: 167.768293 deg,
      approach rate: -0.592123 m/s,
      LOS rate: -0.008685 deg/s,
      cmd heading: 160.402280 deg,
      new cmd heading: 160.391155 deg.

2025-08-11T14:53:39.732Z,1754924019.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757466
2025-08-11T14:53:39.984Z,1754924019.984 [DAT](INFO): DAT read: Rx Time:14:53:40.8621

2025-08-11T14:53:39.985Z,1754924019.985 [DAT](INFO): Rx dataTimestamp_ set to:1754924019.984448
2025-08-11T14:53:39.985Z,1754924019.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010478
2025-08-11T14:53:40.052Z,1754924020.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-11T14:53:40.064Z,1754924020.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.500000 m,
      nav range: 140.646164 m,
      bearing: 167.765067 deg,
      approach rate: -0.561326 m/s,
      LOS rate: -0.007764 deg/s,
      cmd heading: 160.391160 deg,
      new cmd heading: 160.381466 deg.

2025-08-11T14:53:40.236Z,1754924020.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261303
2025-08-11T14:53:40.492Z,1754924020.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516496
2025-08-11T14:53:40.539Z,1754924020.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:40.555Z,1754924020.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-11T14:53:40.558Z,1754924020.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.500000 m,
      nav range: 140.382660 m,
      bearing: 167.757295 deg,
      approach rate: -0.523334 m/s,
      LOS rate: -0.015465 deg/s,
      cmd heading: 160.381461 deg,
      new cmd heading: 160.358100 deg.

2025-08-11T14:53:40.746Z,1754924020.746 [DAT](INFO): DAT read: 14:53:40.8621 LVL= 26416, 32753, 31218, 32755, AGC= 68, IDX= 410, 0.04, 0.678,-1.224, 0.621, 0.260, PHS= 0.519,-1.439, 0.316, RAW= 144.6,   6.5, CAL= 144.1,   7.1, ROT=   5.9,  -7.1

2025-08-11T14:53:40.748Z,1754924020.748 [DAT](INFO): got valid direction response:
 14:53:40.8621 LVL= 26416, 32753, 31218, 32755, AGC= 68, IDX= 410, 0.04, 0.678,-1.224, 0.621, 0.260, PHS= 0.519,-1.439, 0.316, RAW= 144.6,   6.5, CAL= 144.1,   7.1, ROT=   5.9,  -7.1

2025-08-11T14:53:40.749Z,1754924020.749 [DAT](INFO): DAT read: Bearing 321.1,   4.1 (Local)

2025-08-11T14:53:40.749Z,1754924020.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.1,   4.1 (Local)

2025-08-11T14:53:40.750Z,1754924020.750 [DAT](INFO): DAT read: Range 11 to 50 : 141.6 m  (Round-trip  188.8 ms) speed  0.4 m/s

2025-08-11T14:53:40.751Z,1754924020.751 [DAT](INFO): DAT read: user:193>

2025-08-11T14:53:40.752Z,1754924020.752 [DAT](INFO): DAT read: Tx time:14:53:41.9691

2025-08-11T14:53:40.752Z,1754924020.752 [DAT](INFO): Ping request sent.
2025-08-11T14:53:40.752Z,1754924020.752 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:40.753Z,1754924020.753 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:40.754Z,1754924020.754 [DAT](INFO): direction in FSK: [0.987075,0.102004,0.123601]
2025-08-11T14:53:40.754Z,1754924020.754 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:40.754Z,1754924020.754 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:40.757Z,1754924020.757 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:40.758Z,1754924020.758 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:40.980Z,1754924020.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.600006 m,
      deltaT: 3.780129 s,
      deltaX: -1.899994 m,
      approachRate: -0.502627 m/s,
      rangeRepo size: 4

2025-08-11T14:53:40.983Z,1754924020.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.600006 m,
      bearing: 167.670646 deg,
      lat: 36.905856 deg,
      lon: -122.115953 deg,
      deltaT: 3.780129 s,
      deltaX: -1.899994 m,
      approachRate: -0.502627 m/s,
      posRepo size: 4

2025-08-11T14:53:40.984Z,1754924020.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-11T14:53:40.986Z,1754924020.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 140.123947 m,
      bearing: 167.670646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015465 deg/s,
      cmd heading: 160.358102 deg,
      new cmd heading: 160.338200 deg.

2025-08-11T14:53:41.334Z,1754924021.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-11T14:53:41.341Z,1754924021.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 139.909225 m,
      bearing: 167.664693 deg,
      approach rate: -0.605498 m/s,
      LOS rate: -0.016813 deg/s,
      cmd heading: 160.338199 deg,
      new cmd heading: 160.320312 deg.

2025-08-11T14:53:41.766Z,1754924021.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-11T14:53:41.769Z,1754924021.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 139.642395 m,
      bearing: 167.654541 deg,
      approach rate: -0.617906 m/s,
      LOS rate: -0.023554 deg/s,
      cmd heading: 160.320318 deg,
      new cmd heading: 160.289804 deg.

2025-08-11T14:53:42.136Z,1754924022.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-11T14:53:42.139Z,1754924022.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 139.418167 m,
      bearing: 167.646117 deg,
      approach rate: -0.606477 m/s,
      LOS rate: -0.022823 deg/s,
      cmd heading: 160.289800 deg,
      new cmd heading: 160.264486 deg.

2025-08-11T14:53:42.645Z,1754924022.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:42.648Z,1754924022.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-11T14:53:42.650Z,1754924022.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 139.117294 m,
      bearing: 167.632071 deg,
      approach rate: -0.588472 m/s,
      LOS rate: -0.027532 deg/s,
      cmd heading: 160.264488 deg,
      new cmd heading: 160.222258 deg.

2025-08-11T14:53:42.756Z,1754924022.756 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:42.756Z,1754924022.756 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:42.756Z,1754924022.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:43.009Z,1754924023.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256225
2025-08-11T14:53:43.142Z,1754924023.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-11T14:53:43.146Z,1754924023.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 138.801773 m,
      bearing: 167.617405 deg,
      approach rate: -0.638323 m/s,
      LOS rate: -0.029736 deg/s,
      cmd heading: 160.222263 deg,
      new cmd heading: 160.178168 deg.

2025-08-11T14:53:43.260Z,1754924023.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507816
2025-08-11T14:53:43.512Z,1754924023.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759658
2025-08-11T14:53:43.644Z,1754924023.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-11T14:53:43.647Z,1754924023.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 138.504028 m,
      bearing: 167.600119 deg,
      approach rate: -0.592569 m/s,
      LOS rate: -0.034476 deg/s,
      cmd heading: 160.178168 deg,
      new cmd heading: 160.126198 deg.

2025-08-11T14:53:43.764Z,1754924023.764 [DAT](INFO): DAT read: Rx Time:14:53:44.5589

2025-08-11T14:53:43.765Z,1754924023.765 [DAT](INFO): Rx dataTimestamp_ set to:1754924023.764420
2025-08-11T14:53:43.765Z,1754924023.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012747
2025-08-11T14:53:44.010Z,1754924024.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-11T14:53:44.013Z,1754924024.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 138.264801 m,
      bearing: 167.586286 deg,
      approach rate: -0.654159 m/s,
      LOS rate: -0.037894 deg/s,
      cmd heading: 160.126204 deg,
      new cmd heading: 160.084630 deg.

2025-08-11T14:53:44.018Z,1754924024.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264712
2025-08-11T14:53:44.277Z,1754924024.277 [DAT](INFO): DAT read: 14:53:44.5589 LVL= 32752, 32753, 30130, 32755, AGC= 67, IDX= 410,-0.17,-0.862,-2.686,-0.898,-1.230, PHS= 0.470,-1.412, 0.288, RAW= 145.0,   7.3, CAL= 144.5,   8.0, ROT=   5.5,  -8.0

2025-08-11T14:53:44.282Z,1754924024.282 [DAT](INFO): got valid direction response:
 14:53:44.5589 LVL= 32752, 32753, 30130, 32755, AGC= 67, IDX= 410,-0.17,-0.862,-2.686,-0.898,-1.230, PHS= 0.470,-1.412, 0.288, RAW= 145.0,   7.3, CAL= 144.5,   8.0, ROT=   5.5,  -8.0

2025-08-11T14:53:44.283Z,1754924024.283 [DAT](INFO): DAT read: Bearing 321.0,   3.6 (Local)

2025-08-11T14:53:44.284Z,1754924024.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.0,   3.6 (Local)

2025-08-11T14:53:44.286Z,1754924024.286 [DAT](INFO): DAT read: Range 11 to 50 : 139.2 m  (Round-trip  185.7 ms) speed  0.4 m/s

2025-08-11T14:53:44.287Z,1754924024.287 [DAT](INFO): DAT read: user:194>

2025-08-11T14:53:44.288Z,1754924024.288 [DAT](INFO): DAT read: Tx time:14:53:45.6691

2025-08-11T14:53:44.289Z,1754924024.289 [DAT](INFO): Ping request sent.
2025-08-11T14:53:44.289Z,1754924024.289 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:44.290Z,1754924024.290 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:44.291Z,1754924024.291 [DAT](INFO): direction in FSK: [0.985709,0.094913,0.139173]
2025-08-11T14:53:44.292Z,1754924024.292 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:44.292Z,1754924024.292 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:44.296Z,1754924024.296 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:44.296Z,1754924024.296 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:44.508Z,1754924024.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.199997 m,
      deltaT: 3.528746 s,
      deltaX: -2.400009 m,
      approachRate: -0.680131 m/s,
      rangeRepo size: 4

2025-08-11T14:53:44.510Z,1754924024.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 139.199997 m,
      bearing: 167.571156 deg,
      lat: 36.905856 deg,
      lon: -122.115953 deg,
      deltaT: 3.528746 s,
      deltaX: -2.400009 m,
      approachRate: -0.680131 m/s,
      posRepo size: 4

2025-08-11T14:53:44.511Z,1754924024.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m.
2025-08-11T14:53:44.525Z,1754924024.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.199997 m,
      nav range: 138.002533 m,
      bearing: 167.571156 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037894 deg/s,
      cmd heading: 160.084635 deg,
      new cmd heading: 160.028574 deg.

2025-08-11T14:53:44.894Z,1754924024.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:44.896Z,1754924024.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m.
2025-08-11T14:53:44.899Z,1754924024.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.199997 m,
      nav range: 137.718903 m,
      bearing: 167.556373 deg,
      approach rate: -0.721375 m/s,
      LOS rate: -0.037677 deg/s,
      cmd heading: 160.028573 deg,
      new cmd heading: 159.984131 deg.

2025-08-11T14:53:45.024Z,1754924025.024 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:45.024Z,1754924025.024 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:45.025Z,1754924025.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:45.258Z,1754924025.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m.
2025-08-11T14:53:45.261Z,1754924025.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.199997 m,
      nav range: 137.490723 m,
      bearing: 167.544825 deg,
      approach rate: -0.631069 m/s,
      LOS rate: -0.031990 deg/s,
      cmd heading: 159.984136 deg,
      new cmd heading: 159.949436 deg.

2025-08-11T14:53:45.294Z,1754924025.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004452
2025-08-11T14:53:45.544Z,1754924025.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254951
2025-08-11T14:53:45.697Z,1754924025.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m.
2025-08-11T14:53:45.700Z,1754924025.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.199997 m,
      nav range: 137.225525 m,
      bearing: 167.530945 deg,
      approach rate: -0.603257 m/s,
      LOS rate: -0.031636 deg/s,
      cmd heading: 159.949438 deg,
      new cmd heading: 159.907716 deg.

2025-08-11T14:53:45.797Z,1754924025.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507452
2025-08-11T14:53:46.048Z,1754924026.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758937
2025-08-11T14:53:46.140Z,1754924026.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m.
2025-08-11T14:53:46.143Z,1754924026.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.199997 m,
      nav range: 136.952362 m,
      bearing: 167.516975 deg,
      approach rate: -0.616751 m/s,
      LOS rate: -0.031604 deg/s,
      cmd heading: 159.907719 deg,
      new cmd heading: 159.865727 deg.

2025-08-11T14:53:46.300Z,1754924026.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011115
2025-08-11T14:53:46.545Z,1754924026.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m.
2025-08-11T14:53:46.547Z,1754924026.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.199997 m,
      nav range: 136.722183 m,
      bearing: 167.505160 deg,
      approach rate: -0.569224 m/s,
      LOS rate: -0.029269 deg/s,
      cmd heading: 159.865727 deg,
      new cmd heading: 159.830221 deg.

2025-08-11T14:53:46.552Z,1754924026.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263050
2025-08-11T14:53:46.804Z,1754924026.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514868
2025-08-11T14:53:46.956Z,1754924026.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:46.958Z,1754924026.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m.
2025-08-11T14:53:46.965Z,1754924026.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.199997 m,
      nav range: 136.472137 m,
      bearing: 167.492936 deg,
      approach rate: -0.604690 m/s,
      LOS rate: -0.029615 deg/s,
      cmd heading: 159.830224 deg,
      new cmd heading: 159.793486 deg.

2025-08-11T14:53:47.057Z,1754924027.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767769
2025-08-11T14:53:47.295Z,1754924027.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m.
2025-08-11T14:53:47.302Z,1754924027.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.199997 m,
      nav range: 136.268570 m,
      bearing: 167.483782 deg,
      approach rate: -0.606469 m/s,
      LOS rate: -0.027313 deg/s,
      cmd heading: 159.793491 deg,
      new cmd heading: 159.765987 deg.

2025-08-11T14:53:47.308Z,1754924027.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019044
2025-08-11T14:53:47.560Z,1754924027.560 [DAT](INFO): DAT read: Rx Time:14:53:48.2559

2025-08-11T14:53:47.561Z,1754924027.561 [DAT](INFO): Rx dataTimestamp_ set to:1754924027.560333
2025-08-11T14:53:47.561Z,1754924027.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271944
2025-08-11T14:53:47.717Z,1754924027.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.20 m.
2025-08-11T14:53:47.736Z,1754924027.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.199997 m,
      nav range: 136.014572 m,
      bearing: 167.472603 deg,
      approach rate: -0.600137 m/s,
      LOS rate: -0.026464 deg/s,
      cmd heading: 159.765993 deg,
      new cmd heading: 159.732392 deg.

2025-08-11T14:53:47.813Z,1754924027.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523350
2025-08-11T14:53:48.070Z,1754924028.070 [DAT](INFO): DAT read: 14:53:48.2559 LVL= 28736, 32753, 28658, 32755, AGC= 67, IDX= 411, 0.27, 2.464, 0.509, 2.303, 2.048, PHS= 0.518,-1.494, 0.212, RAW= 141.9,   8.2, CAL= 141.5,   9.0, ROT=   8.5,  -9.0

2025-08-11T14:53:48.071Z,1754924028.071 [DAT](INFO): got valid direction response:
 14:53:48.2559 LVL= 28736, 32753, 28658, 32755, AGC= 67, IDX= 411, 0.27, 2.464, 0.509, 2.303, 2.048, PHS= 0.518,-1.494, 0.212, RAW= 141.9,   8.2, CAL= 141.5,   9.0, ROT=   8.5,  -9.0

2025-08-11T14:53:48.072Z,1754924028.072 [DAT](INFO): DAT read: Bearing 321.5,   6.5 (Local)

2025-08-11T14:53:48.072Z,1754924028.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.5,   6.5 (Local)

2025-08-11T14:53:48.074Z,1754924028.074 [DAT](INFO): DAT read: Range 11 to 50 : 137.0 m  (Round-trip  182.7 ms) speed  0.4 m/s

2025-08-11T14:53:48.075Z,1754924028.075 [DAT](INFO): DAT read: user:195>

2025-08-11T14:53:48.075Z,1754924028.075 [DAT](INFO): DAT read: Tx time:14:53:49.3691

2025-08-11T14:53:48.076Z,1754924028.076 [DAT](INFO): Ping request sent.
2025-08-11T14:53:48.076Z,1754924028.076 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:48.076Z,1754924028.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:48.077Z,1754924028.077 [DAT](INFO): direction in FSK: [0.976839,0.145990,0.156434]
2025-08-11T14:53:48.077Z,1754924028.077 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:48.078Z,1754924028.078 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:48.097Z,1754924028.097 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:48.097Z,1754924028.097 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:48.186Z,1754924028.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.000000 m,
      deltaT: 3.795218 s,
      deltaX: -2.199997 m,
      approachRate: -0.579676 m/s,
      rangeRepo size: 4

2025-08-11T14:53:48.192Z,1754924028.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.000000 m,
      bearing: 167.461808 deg,
      lat: 36.905856 deg,
      lon: -122.115953 deg,
      deltaT: 3.795218 s,
      deltaX: -2.199997 m,
      approachRate: -0.579676 m/s,
      posRepo size: 4

2025-08-11T14:53:48.193Z,1754924028.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.00 m.
2025-08-11T14:53:48.200Z,1754924028.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.000000 m,
      nav range: 135.761230 m,
      bearing: 167.461808 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026464 deg/s,
      cmd heading: 159.732389 deg,
      new cmd heading: 159.695215 deg.

2025-08-11T14:53:48.606Z,1754924028.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.00 m.
2025-08-11T14:53:48.609Z,1754924028.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.000000 m,
      nav range: 135.505569 m,
      bearing: 167.458558 deg,
      approach rate: -0.607431 m/s,
      LOS rate: -0.007736 deg/s,
      cmd heading: 159.695219 deg,
      new cmd heading: 159.685450 deg.

2025-08-11T14:53:48.974Z,1754924028.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:48.976Z,1754924028.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.00 m.
2025-08-11T14:53:48.978Z,1754924028.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.000000 m,
      nav range: 135.295120 m,
      bearing: 167.455969 deg,
      approach rate: -0.569029 m/s,
      LOS rate: -0.007010 deg/s,
      cmd heading: 159.685451 deg,
      new cmd heading: 159.677674 deg.

2025-08-11T14:53:49.080Z,1754924029.080 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:49.081Z,1754924029.081 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:49.081Z,1754924029.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:49.332Z,1754924029.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256655
2025-08-11T14:53:49.383Z,1754924029.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.00 m.
2025-08-11T14:53:49.386Z,1754924029.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.000000 m,
      nav range: 135.062927 m,
      bearing: 167.453157 deg,
      approach rate: -0.570611 m/s,
      LOS rate: -0.006923 deg/s,
      cmd heading: 159.677679 deg,
      new cmd heading: 159.669228 deg.

2025-08-11T14:53:49.585Z,1754924029.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509061
2025-08-11T14:53:49.840Z,1754924029.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764410
2025-08-11T14:53:49.875Z,1754924029.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.00 m.
2025-08-11T14:53:49.878Z,1754924029.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.000000 m,
      nav range: 134.793167 m,
      bearing: 167.452943 deg,
      approach rate: -0.548282 m/s,
      LOS rate: -0.000435 deg/s,
      cmd heading: 159.669223 deg,
      new cmd heading: 159.668581 deg.

2025-08-11T14:53:50.096Z,1754924030.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019512
2025-08-11T14:53:50.209Z,1754924030.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.00 m.
2025-08-11T14:53:50.232Z,1754924030.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.000000 m,
      nav range: 134.608963 m,
      bearing: 167.452819 deg,
      approach rate: -0.550705 m/s,
      LOS rate: -0.000374 deg/s,
      cmd heading: 159.668581 deg,
      new cmd heading: 159.668206 deg.

2025-08-11T14:53:50.344Z,1754924030.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268461
2025-08-11T14:53:50.596Z,1754924030.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520445
2025-08-11T14:53:50.707Z,1754924030.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.00 m.
2025-08-11T14:53:50.710Z,1754924030.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.000000 m,
      nav range: 134.344727 m,
      bearing: 167.456345 deg,
      approach rate: -0.530665 m/s,
      LOS rate: 0.007096 deg/s,
      cmd heading: 159.668212 deg,
      new cmd heading: 159.678812 deg.

2025-08-11T14:53:50.848Z,1754924030.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772357
2025-08-11T14:53:51.053Z,1754924031.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:51.056Z,1754924031.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.00 m.
2025-08-11T14:53:51.058Z,1754924031.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.000000 m,
      nav range: 134.159439 m,
      bearing: 167.458861 deg,
      approach rate: -0.531737 m/s,
      LOS rate: 0.007232 deg/s,
      cmd heading: 159.678813 deg,
      new cmd heading: 159.686372 deg.

2025-08-11T14:53:51.101Z,1754924031.101 [DAT](INFO): DAT read: Rx Time:14:53:51.9533

2025-08-11T14:53:51.102Z,1754924031.102 [DAT](INFO): Rx dataTimestamp_ set to:1754924031.101674
2025-08-11T14:53:51.102Z,1754924031.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026756
2025-08-11T14:53:51.352Z,1754924031.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276339
2025-08-11T14:53:51.456Z,1754924031.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.00 m.
2025-08-11T14:53:51.459Z,1754924031.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.000000 m,
      nav range: 133.946213 m,
      bearing: 167.461772 deg,
      approach rate: -0.532309 m/s,
      LOS rate: 0.007277 deg/s,
      cmd heading: 159.686367 deg,
      new cmd heading: 159.695111 deg.

2025-08-11T14:53:51.637Z,1754924031.637 [DAT](INFO): DAT read: 14:53:51.9533 LVL= 27952, 32753, 32114, 32755, AGC= 69, IDX= 416,-0.13, 2.973, 1.116, 2.902, 2.592, PHS= 0.482,-1.431, 0.266, RAW= 144.1,   7.6, CAL= 143.6,   8.3, ROT=   6.4,  -8.3

2025-08-11T14:53:51.639Z,1754924031.639 [DAT](INFO): got valid direction response:
 14:53:51.9533 LVL= 27952, 32753, 32114, 32755, AGC= 69, IDX= 416,-0.13, 2.973, 1.116, 2.902, 2.592, PHS= 0.482,-1.431, 0.266, RAW= 144.1,   7.6, CAL= 143.6,   8.3, ROT=   6.4,  -8.3

2025-08-11T14:53:51.644Z,1754924031.644 [DAT](INFO): DAT read: Bearing 319.7,   5.2 (Local)

2025-08-11T14:53:51.644Z,1754924031.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.7,   5.2 (Local)

2025-08-11T14:53:51.646Z,1754924031.646 [DAT](INFO): DAT read: Range 11 to 50 : 135.0 m  (Round-trip  180.0 ms) speed  0.4 m/s

2025-08-11T14:53:51.646Z,1754924031.646 [DAT](INFO): DAT read: user:196>

2025-08-11T14:53:51.675Z,1754924031.675 [DAT](INFO): DAT read: Tx time:14:53:53.0691

2025-08-11T14:53:51.676Z,1754924031.676 [DAT](INFO): Ping request sent.
2025-08-11T14:53:51.676Z,1754924031.676 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:51.676Z,1754924031.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:51.677Z,1754924031.677 [DAT](INFO): direction in FSK: [0.983359,0.110301,0.144356]
2025-08-11T14:53:51.677Z,1754924031.677 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:51.678Z,1754924031.678 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:51.686Z,1754924031.686 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:51.686Z,1754924031.686 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:51.916Z,1754924031.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.000000 m,
      deltaT: 3.543868 s,
      deltaX: -2.000000 m,
      approachRate: -0.564355 m/s,
      rangeRepo size: 4

2025-08-11T14:53:51.920Z,1754924031.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.000000 m,
      bearing: 167.468155 deg,
      lat: 36.905856 deg,
      lon: -122.115953 deg,
      deltaT: 3.543868 s,
      deltaX: -2.000000 m,
      approachRate: -0.564355 m/s,
      posRepo size: 4

2025-08-11T14:53:51.921Z,1754924031.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m.
2025-08-11T14:53:51.941Z,1754924031.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.000000 m,
      nav range: 133.709824 m,
      bearing: 167.468155 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007277 deg/s,
      cmd heading: 159.695109 deg,
      new cmd heading: 159.705115 deg.

2025-08-11T14:53:52.236Z,1754924032.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m.
2025-08-11T14:53:52.239Z,1754924032.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.000000 m,
      nav range: 133.537674 m,
      bearing: 167.472865 deg,
      approach rate: -0.535594 m/s,
      LOS rate: 0.014672 deg/s,
      cmd heading: 159.705109 deg,
      new cmd heading: 159.719257 deg.

2025-08-11T14:53:52.667Z,1754924032.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m.
2025-08-11T14:53:52.670Z,1754924032.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.000000 m,
      nav range: 133.318954 m,
      bearing: 167.480061 deg,
      approach rate: -0.512025 m/s,
      LOS rate: 0.016873 deg/s,
      cmd heading: 159.719261 deg,
      new cmd heading: 159.740883 deg.

2025-08-11T14:53:53.113Z,1754924033.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:53.134Z,1754924033.134 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:53.134Z,1754924033.134 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:53.134Z,1754924033.134 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:53.138Z,1754924033.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m.
2025-08-11T14:53:53.141Z,1754924033.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.000000 m,
      nav range: 133.087494 m,
      bearing: 167.487726 deg,
      approach rate: -0.488879 m/s,
      LOS rate: 0.016218 deg/s,
      cmd heading: 159.740885 deg,
      new cmd heading: 159.763921 deg.

2025-08-11T14:53:53.390Z,1754924033.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713742
2025-08-11T14:53:53.522Z,1754924033.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m.
2025-08-11T14:53:53.529Z,1754924033.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.000000 m,
      nav range: 132.895126 m,
      bearing: 167.494117 deg,
      approach rate: -0.500086 m/s,
      LOS rate: 0.016637 deg/s,
      cmd heading: 159.763917 deg,
      new cmd heading: 159.783116 deg.

2025-08-11T14:53:53.641Z,1754924033.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965358
2025-08-11T14:53:53.892Z,1754924033.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216298
2025-08-11T14:53:53.933Z,1754924033.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m.
2025-08-11T14:53:53.956Z,1754924033.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.000000 m,
      nav range: 132.672272 m,
      bearing: 167.502603 deg,
      approach rate: -0.542274 m/s,
      LOS rate: 0.020684 deg/s,
      cmd heading: 159.783110 deg,
      new cmd heading: 159.808611 deg.

2025-08-11T14:53:54.144Z,1754924034.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468451
2025-08-11T14:53:54.307Z,1754924034.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m.
2025-08-11T14:53:54.310Z,1754924034.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.000000 m,
      nav range: 132.477142 m,
      bearing: 167.510045 deg,
      approach rate: -0.520692 m/s,
      LOS rate: 0.019888 deg/s,
      cmd heading: 159.808613 deg,
      new cmd heading: 159.830973 deg.

2025-08-11T14:53:54.397Z,1754924034.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720735
2025-08-11T14:53:54.648Z,1754924034.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972412
2025-08-11T14:53:54.740Z,1754924034.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m.
2025-08-11T14:53:54.743Z,1754924034.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.000000 m,
      nav range: 132.253174 m,
      bearing: 167.518193 deg,
      approach rate: -0.517369 m/s,
      LOS rate: 0.018853 deg/s,
      cmd heading: 159.830975 deg,
      new cmd heading: 159.855460 deg.

2025-08-11T14:53:54.903Z,1754924034.903 [DAT](INFO): DAT read: Rx Time:14:53:55.6507

2025-08-11T14:53:54.903Z,1754924034.903 [DAT](INFO): Rx dataTimestamp_ set to:1754924034.902830
2025-08-11T14:53:54.904Z,1754924034.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227940
2025-08-11T14:53:55.099Z,1754924035.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m.
2025-08-11T14:53:55.102Z,1754924035.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.000000 m,
      nav range: 132.067337 m,
      bearing: 167.524819 deg,
      approach rate: -0.517651 m/s,
      LOS rate: 0.018485 deg/s,
      cmd heading: 159.855455 deg,
      new cmd heading: 159.875363 deg.

2025-08-11T14:53:55.153Z,1754924035.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476761
2025-08-11T14:53:55.410Z,1754924035.410 [DAT](INFO): DAT read: 14:53:55.6507 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 422, 0.16, 0.260,-1.564, 0.193,-0.071, PHS= 0.433,-1.448, 0.221, RAW= 144.1,   8.9, CAL= 143.6,   9.8, ROT=   6.4,  -9.8

2025-08-11T14:53:55.411Z,1754924035.411 [DAT](INFO): got valid direction response:
 14:53:55.6507 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 422, 0.16, 0.260,-1.564, 0.193,-0.071, PHS= 0.433,-1.448, 0.221, RAW= 144.1,   8.9, CAL= 143.6,   9.8, ROT=   6.4,  -9.8

2025-08-11T14:53:55.412Z,1754924035.412 [DAT](INFO): DAT read: Bearing 320.8,   5.1 (Local)

2025-08-11T14:53:55.413Z,1754924035.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.8,   5.1 (Local)

2025-08-11T14:53:55.414Z,1754924035.414 [DAT](INFO): DAT read: Range 11 to 50 : 133.1 m  (Round-trip  177.5 ms) speed  0.5 m/s

2025-08-11T14:53:55.415Z,1754924035.415 [DAT](INFO): DAT read: user:197>

2025-08-11T14:53:55.416Z,1754924035.416 [DAT](INFO): DAT read: Tx time:14:53:56.7691

2025-08-11T14:53:55.416Z,1754924035.416 [DAT](INFO): Ping request sent.
2025-08-11T14:53:55.416Z,1754924035.416 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:55.416Z,1754924035.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:55.417Z,1754924035.417 [DAT](INFO): direction in FSK: [0.979267,0.109842,0.170209]
2025-08-11T14:53:55.417Z,1754924035.417 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:55.418Z,1754924035.418 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:55.421Z,1754924035.421 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:55.421Z,1754924035.421 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:55.585Z,1754924035.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.100006 m,
      deltaT: 3.796294 s,
      deltaX: -1.899994 m,
      approachRate: -0.500486 m/s,
      rangeRepo size: 4

2025-08-11T14:53:55.594Z,1754924035.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.100006 m,
      bearing: 166.733331 deg,
      lat: 36.905857 deg,
      lon: -122.115932 deg,
      deltaT: 3.796294 s,
      deltaX: -1.899994 m,
      approachRate: -0.500486 m/s,
      posRepo size: 4

2025-08-11T14:53:55.594Z,1754924035.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m.
2025-08-11T14:53:55.601Z,1754924035.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.100006 m,
      nav range: 132.184311 m,
      bearing: 166.733331 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018485 deg/s,
      cmd heading: 159.875358 deg,
      new cmd heading: 159.902295 deg.

2025-08-11T14:53:56.042Z,1754924036.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:56.045Z,1754924036.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m.
2025-08-11T14:53:56.048Z,1754924036.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.100006 m,
      nav range: 131.919800 m,
      bearing: 166.739450 deg,
      approach rate: -0.575074 m/s,
      LOS rate: 0.013329 deg/s,
      cmd heading: 159.902296 deg,
      new cmd heading: 159.920689 deg.

2025-08-11T14:53:56.161Z,1754924036.161 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:53:56.161Z,1754924036.161 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:53:56.161Z,1754924036.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:53:56.412Z,1754924036.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996264
2025-08-11T14:53:56.421Z,1754924036.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m.
2025-08-11T14:53:56.438Z,1754924036.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.100006 m,
      nav range: 131.726776 m,
      bearing: 166.743771 deg,
      approach rate: -0.513316 m/s,
      LOS rate: 0.011509 deg/s,
      cmd heading: 159.920683 deg,
      new cmd heading: 159.933667 deg.

2025-08-11T14:53:56.667Z,1754924036.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250409
2025-08-11T14:53:56.840Z,1754924036.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m.
2025-08-11T14:53:56.844Z,1754924036.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.100006 m,
      nav range: 131.497223 m,
      bearing: 166.744367 deg,
      approach rate: -0.546872 m/s,
      LOS rate: 0.001423 deg/s,
      cmd heading: 159.933661 deg,
      new cmd heading: 159.935452 deg.

2025-08-11T14:53:56.917Z,1754924036.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500724
2025-08-11T14:53:57.168Z,1754924037.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752183
2025-08-11T14:53:57.215Z,1754924037.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m.
2025-08-11T14:53:57.217Z,1754924037.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.100006 m,
      nav range: 131.297104 m,
      bearing: 166.744690 deg,
      approach rate: -0.534864 m/s,
      LOS rate: 0.000864 deg/s,
      cmd heading: 159.935450 deg,
      new cmd heading: 159.936420 deg.

2025-08-11T14:53:57.423Z,1754924037.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006959
2025-08-11T14:53:57.630Z,1754924037.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m.
2025-08-11T14:53:57.638Z,1754924037.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.100006 m,
      nav range: 131.085251 m,
      bearing: 166.744789 deg,
      approach rate: -0.509637 m/s,
      LOS rate: 0.000239 deg/s,
      cmd heading: 159.936420 deg,
      new cmd heading: 159.936717 deg.

2025-08-11T14:53:57.675Z,1754924037.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258550
2025-08-11T14:53:57.925Z,1754924037.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508743
2025-08-11T14:53:58.058Z,1754924038.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:53:58.061Z,1754924038.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m.
2025-08-11T14:53:58.064Z,1754924038.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.100006 m,
      nav range: 130.836105 m,
      bearing: 166.741581 deg,
      approach rate: -0.578726 m/s,
      LOS rate: -0.007467 deg/s,
      cmd heading: 159.936720 deg,
      new cmd heading: 159.927077 deg.

2025-08-11T14:53:58.176Z,1754924038.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760162
2025-08-11T14:53:58.432Z,1754924038.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015508
2025-08-11T14:53:58.437Z,1754924038.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m.
2025-08-11T14:53:58.440Z,1754924038.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.100006 m,
      nav range: 130.628952 m,
      bearing: 166.738664 deg,
      approach rate: -0.551164 m/s,
      LOS rate: -0.007774 deg/s,
      cmd heading: 159.927076 deg,
      new cmd heading: 159.918311 deg.

2025-08-11T14:53:58.683Z,1754924038.683 [DAT](INFO): DAT read: Rx Time:14:53:59.3480

2025-08-11T14:53:58.685Z,1754924038.685 [DAT](INFO): Rx dataTimestamp_ set to:1754924038.683779
2025-08-11T14:53:58.686Z,1754924038.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270070
2025-08-11T14:53:58.865Z,1754924038.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.10 m.
2025-08-11T14:53:58.868Z,1754924038.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.100006 m,
      nav range: 130.384018 m,
      bearing: 166.733858 deg,
      approach rate: -0.572158 m/s,
      LOS rate: -0.011248 deg/s,
      cmd heading: 159.918306 deg,
      new cmd heading: 159.903860 deg.

2025-08-11T14:53:58.938Z,1754924038.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522292
2025-08-11T14:53:59.194Z,1754924039.194 [DAT](INFO): DAT read: 14:53:59.3480 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.35,-1.893, 2.400,-2.029,-2.342, PHS= 0.551,-1.497, 0.269, RAW= 142.7,   7.1, CAL= 142.3,   7.8, ROT=   7.7,  -7.8

2025-08-11T14:53:59.195Z,1754924039.195 [DAT](INFO): got valid direction response:
 14:53:59.3480 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.35,-1.893, 2.400,-2.029,-2.342, PHS= 0.551,-1.497, 0.269, RAW= 142.7,   7.1, CAL= 142.3,   7.8, ROT=   7.7,  -7.8

2025-08-11T14:53:59.196Z,1754924039.196 [DAT](INFO): DAT read: Bearing 319.8,   6.9 (Local)

2025-08-11T14:53:59.196Z,1754924039.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.8,   6.9 (Local)

2025-08-11T14:53:59.198Z,1754924039.198 [DAT](INFO): DAT read: Range 11 to 50 : 131.1 m  (Round-trip  174.8 ms) speed  0.4 m/s

2025-08-11T14:53:59.198Z,1754924039.198 [DAT](INFO): DAT read: user:198>

2025-08-11T14:53:59.206Z,1754924039.206 [DAT](INFO): DAT read: Tx time:14:54:00.4691

2025-08-11T14:53:59.206Z,1754924039.206 [DAT](INFO): Ping request sent.
2025-08-11T14:53:59.206Z,1754924039.206 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:53:59.206Z,1754924039.206 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:53:59.225Z,1754924039.225 [DAT](INFO): direction in FSK: [0.981814,0.132747,0.135716]
2025-08-11T14:53:59.225Z,1754924039.225 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:59.225Z,1754924039.225 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:59.237Z,1754924039.237 [DAT](INFO): publishing transmit ping time
2025-08-11T14:53:59.237Z,1754924039.237 [DAT](INFO): publishing direction and range info
2025-08-11T14:53:59.338Z,1754924039.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 131.100006 m,
      deltaT: 3.783738 s,
      deltaX: -2.000000 m,
      approachRate: -0.528578 m/s,
      rangeRepo size: 4

2025-08-11T14:53:59.345Z,1754924039.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.100006 m,
      bearing: 166.728860 deg,
      lat: 36.905857 deg,
      lon: -122.115932 deg,
      deltaT: 3.783738 s,
      deltaX: -2.000000 m,
      approachRate: -0.528578 m/s,
      posRepo size: 4

2025-08-11T14:53:59.346Z,1754924039.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m.
2025-08-11T14:53:59.365Z,1754924039.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.100006 m,
      nav range: 130.139465 m,
      bearing: 166.728860 deg,
      approach rate: -819917.375000 m/s,
      LOS rate: -0.011248 deg/s,
      cmd heading: 159.903854 deg,
      new cmd heading: 159.887907 deg.

2025-08-11T14:53:59.818Z,1754924039.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m.
2025-08-11T14:53:59.821Z,1754924039.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.100006 m,
      nav range: 129.840347 m,
      bearing: 166.718761 deg,
      approach rate: -0.622488 m/s,
      LOS rate: -0.021064 deg/s,
      cmd heading: 159.887912 deg,
      new cmd heading: 159.857547 deg.

2025-08-11T14:54:00.300Z,1754924040.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:00.302Z,1754924040.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m.
2025-08-11T14:54:00.329Z,1754924040.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.100006 m,
      nav range: 129.561951 m,
      bearing: 166.708700 deg,
      approach rate: -0.574874 m/s,
      LOS rate: -0.020820 deg/s,
      cmd heading: 159.857545 deg,
      new cmd heading: 159.827297 deg.

2025-08-11T14:54:00.448Z,1754924040.448 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:00.448Z,1754924040.448 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:00.448Z,1754924040.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:00.715Z,1754924040.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508593
2025-08-11T14:54:00.828Z,1754924040.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m.
2025-08-11T14:54:00.830Z,1754924040.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.100006 m,
      nav range: 129.255447 m,
      bearing: 166.694769 deg,
      approach rate: -0.583396 m/s,
      LOS rate: -0.026580 deg/s,
      cmd heading: 159.827301 deg,
      new cmd heading: 159.785406 deg.

2025-08-11T14:54:00.964Z,1754924040.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758217
2025-08-11T14:54:01.216Z,1754924041.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010489
2025-08-11T14:54:01.301Z,1754924041.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m.
2025-08-11T14:54:01.309Z,1754924041.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.100006 m,
      nav range: 128.978455 m,
      bearing: 166.682085 deg,
      approach rate: -0.584467 m/s,
      LOS rate: -0.026820 deg/s,
      cmd heading: 159.785404 deg,
      new cmd heading: 159.747273 deg.

2025-08-11T14:54:01.468Z,1754924041.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262400
2025-08-11T14:54:01.723Z,1754924041.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516688
2025-08-11T14:54:01.849Z,1754924041.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m.
2025-08-11T14:54:01.855Z,1754924041.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.100006 m,
      nav range: 128.676346 m,
      bearing: 166.665531 deg,
      approach rate: -0.552178 m/s,
      LOS rate: -0.030329 deg/s,
      cmd heading: 159.747278 deg,
      new cmd heading: 159.697498 deg.

2025-08-11T14:54:01.973Z,1754924041.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767142
2025-08-11T14:54:02.224Z,1754924042.224 [DAT](INFO): DAT read: Rx Time:14:54:03.0453

2025-08-11T14:54:02.225Z,1754924042.225 [DAT](INFO): Rx dataTimestamp_ set to:1754924042.224490
2025-08-11T14:54:02.225Z,1754924042.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019355
2025-08-11T14:54:02.237Z,1754924042.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m.
2025-08-11T14:54:02.240Z,1754924042.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.100006 m,
      nav range: 128.454102 m,
      bearing: 166.653243 deg,
      approach rate: -0.571978 m/s,
      LOS rate: -0.031679 deg/s,
      cmd heading: 159.697500 deg,
      new cmd heading: 159.660573 deg.

2025-08-11T14:54:02.478Z,1754924042.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271468
2025-08-11T14:54:02.635Z,1754924042.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:02.637Z,1754924042.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.10 m.
2025-08-11T14:54:02.640Z,1754924042.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.100006 m,
      nav range: 128.230026 m,
      bearing: 166.640816 deg,
      approach rate: -0.559784 m/s,
      LOS rate: -0.031100 deg/s,
      cmd heading: 159.660576 deg,
      new cmd heading: 159.623229 deg.

2025-08-11T14:54:02.750Z,1754924042.750 [DAT](INFO): DAT read: 14:54:03.0453 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 414,-0.13, 2.529, 0.721, 2.464, 2.168, PHS= 0.463,-1.402, 0.252, RAW= 144.1,   7.8, CAL= 143.7,   8.5, ROT=   6.3,  -8.5

2025-08-11T14:54:02.755Z,1754924042.755 [DAT](INFO): got valid direction response:
 14:54:03.0453 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 414,-0.13, 2.529, 0.721, 2.464, 2.168, PHS= 0.463,-1.402, 0.252, RAW= 144.1,   7.8, CAL= 143.7,   8.5, ROT=   6.3,  -8.5

2025-08-11T14:54:02.758Z,1754924042.758 [DAT](INFO): DAT read: Bearing 321.3,   5.6 (Local)

2025-08-11T14:54:02.768Z,1754924042.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.3,   5.6 (Local)

2025-08-11T14:54:02.770Z,1754924042.770 [DAT](INFO): DAT read: Range 11 to 50 : 129.0 m  (Round-trip  172.0 ms) speed  0.6 m/s

2025-08-11T14:54:02.770Z,1754924042.770 [DAT](INFO): DAT read: user:199>

2025-08-11T14:54:02.780Z,1754924042.780 [DAT](INFO): DAT read: Tx time:14:54:04.1691

2025-08-11T14:54:02.780Z,1754924042.780 [DAT](INFO): Ping request sent.
2025-08-11T14:54:02.780Z,1754924042.780 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:02.780Z,1754924042.780 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:02.781Z,1754924042.781 [DAT](INFO): direction in FSK: [0.983043,0.108529,0.147809]
2025-08-11T14:54:02.782Z,1754924042.782 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:02.782Z,1754924042.782 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:02.800Z,1754924042.800 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:02.801Z,1754924042.801 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:03.108Z,1754924043.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 129.000000 m,
      deltaT: 3.541816 s,
      deltaX: -2.100006 m,
      approachRate: -0.592918 m/s,
      rangeRepo size: 4

2025-08-11T14:54:03.110Z,1754924043.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.000000 m,
      bearing: 167.439344 deg,
      lat: 36.905855 deg,
      lon: -122.115952 deg,
      deltaT: 3.541816 s,
      deltaX: -2.100006 m,
      approachRate: -0.592918 m/s,
      posRepo size: 4

2025-08-11T14:54:03.115Z,1754924043.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m.
2025-08-11T14:54:03.118Z,1754924043.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.000000 m,
      nav range: 127.733124 m,
      bearing: 167.439344 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031100 deg/s,
      cmd heading: 159.623228 deg,
      new cmd heading: 159.579819 deg.

2025-08-11T14:54:03.453Z,1754924043.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m.
2025-08-11T14:54:03.456Z,1754924043.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.000000 m,
      nav range: 127.532074 m,
      bearing: 167.429402 deg,
      approach rate: -0.574531 m/s,
      LOS rate: -0.028456 deg/s,
      cmd heading: 159.579816 deg,
      new cmd heading: 159.549942 deg.

2025-08-11T14:54:03.967Z,1754924043.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m.
2025-08-11T14:54:03.971Z,1754924043.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.000000 m,
      nav range: 127.259552 m,
      bearing: 167.416283 deg,
      approach rate: -0.546604 m/s,
      LOS rate: -0.026369 deg/s,
      cmd heading: 159.549941 deg,
      new cmd heading: 159.510500 deg.

2025-08-11T14:54:04.287Z,1754924044.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m.
2025-08-11T14:54:04.290Z,1754924044.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.000000 m,
      nav range: 127.074982 m,
      bearing: 167.407499 deg,
      approach rate: -0.549933 m/s,
      LOS rate: -0.026212 deg/s,
      cmd heading: 159.510503 deg,
      new cmd heading: 159.484111 deg.

2025-08-11T14:54:04.678Z,1754924044.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:04.680Z,1754924044.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m.
2025-08-11T14:54:04.707Z,1754924044.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.000000 m,
      nav range: 126.860016 m,
      bearing: 167.397326 deg,
      approach rate: -0.546181 m/s,
      LOS rate: -0.025891 deg/s,
      cmd heading: 159.484111 deg,
      new cmd heading: 159.453541 deg.

2025-08-11T14:54:04.747Z,1754924044.747 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:04.749Z,1754924044.749 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:04.751Z,1754924044.751 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:04.997Z,1754924044.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217358
2025-08-11T14:54:05.152Z,1754924045.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m.
2025-08-11T14:54:05.154Z,1754924045.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.000000 m,
      nav range: 126.603554 m,
      bearing: 167.385156 deg,
      approach rate: -0.543968 m/s,
      LOS rate: -0.025865 deg/s,
      cmd heading: 159.453539 deg,
      new cmd heading: 159.416956 deg.

2025-08-11T14:54:05.248Z,1754924045.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468171
2025-08-11T14:54:05.501Z,1754924045.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720615
2025-08-11T14:54:05.531Z,1754924045.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m.
2025-08-11T14:54:05.534Z,1754924045.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.000000 m,
      nav range: 126.397316 m,
      bearing: 167.375441 deg,
      approach rate: -0.543682 m/s,
      LOS rate: -0.025652 deg/s,
      cmd heading: 159.416957 deg,
      new cmd heading: 159.387765 deg.

2025-08-11T14:54:05.755Z,1754924045.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974513
2025-08-11T14:54:05.976Z,1754924045.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m.
2025-08-11T14:54:05.986Z,1754924045.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.000000 m,
      nav range: 126.169548 m,
      bearing: 167.365159 deg,
      approach rate: -0.511727 m/s,
      LOS rate: -0.023142 deg/s,
      cmd heading: 159.387765 deg,
      new cmd heading: 159.356863 deg.

2025-08-11T14:54:06.004Z,1754924046.004 [DAT](INFO): DAT read: Rx Time:14:54:06.7423

2025-08-11T14:54:06.005Z,1754924046.005 [DAT](INFO): Rx dataTimestamp_ set to:1754924046.004489
2025-08-11T14:54:06.005Z,1754924046.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225280
2025-08-11T14:54:06.257Z,1754924046.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476474
2025-08-11T14:54:06.344Z,1754924046.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.00 m.
2025-08-11T14:54:06.346Z,1754924046.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.000000 m,
      nav range: 125.976830 m,
      bearing: 167.356488 deg,
      approach rate: -0.524511 m/s,
      LOS rate: -0.023636 deg/s,
      cmd heading: 159.356865 deg,
      new cmd heading: 159.330812 deg.

2025-08-11T14:54:06.519Z,1754924046.519 [DAT](INFO): DAT read: 14:54:06.7423 LVL= 32752, 31633, 27858, 32755, AGC= 67, IDX= 417, 0.07, 1.624,-0.159, 1.638, 1.291, PHS= 0.434,-1.406, 0.303, RAW= 146.3,   7.6, CAL= 145.9,   8.2, ROT=   4.1,  -8.2

2025-08-11T14:54:06.520Z,1754924046.520 [DAT](INFO): got valid direction response:
 14:54:06.7423 LVL= 32752, 31633, 27858, 32755, AGC= 67, IDX= 417, 0.07, 1.624,-0.159, 1.638, 1.291, PHS= 0.434,-1.406, 0.303, RAW= 146.3,   7.6, CAL= 145.9,   8.2, ROT=   4.1,  -8.2

2025-08-11T14:54:06.521Z,1754924046.521 [DAT](INFO): DAT read: Bearing 321.2,   4.2 (Local)

2025-08-11T14:54:06.522Z,1754924046.522 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.2,   4.2 (Local)

2025-08-11T14:54:06.523Z,1754924046.523 [DAT](INFO): DAT read: Range 11 to 50 : 126.9 m  (Round-trip  169.2 ms) speed  0.4 m/s

2025-08-11T14:54:06.524Z,1754924046.524 [DAT](INFO): DAT read: user:200>

2025-08-11T14:54:06.525Z,1754924046.525 [DAT](INFO): DAT read: Tx time:14:54:07.8690

2025-08-11T14:54:06.525Z,1754924046.525 [DAT](INFO): Ping request sent.
2025-08-11T14:54:06.525Z,1754924046.525 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:06.525Z,1754924046.525 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:06.526Z,1754924046.526 [DAT](INFO): direction in FSK: [0.987243,0.070766,0.142629]
2025-08-11T14:54:06.527Z,1754924046.527 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:06.527Z,1754924046.527 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:06.530Z,1754924046.530 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:06.530Z,1754924046.530 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:06.830Z,1754924046.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.900002 m,
      deltaT: 3.779195 s,
      deltaX: -2.099998 m,
      approachRate: -0.555673 m/s,
      rangeRepo size: 4

2025-08-11T14:54:06.836Z,1754924046.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.900002 m,
      bearing: 166.151949 deg,
      lat: 36.905861 deg,
      lon: -122.115924 deg,
      deltaT: 3.779195 s,
      deltaX: -2.099998 m,
      approachRate: -0.555673 m/s,
      posRepo size: 4

2025-08-11T14:54:06.837Z,1754924046.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.90 m.
2025-08-11T14:54:06.843Z,1754924046.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.900002 m,
      nav range: 125.693222 m,
      bearing: 166.151949 deg,
      approach rate: -89815459009246659587577475393 m/s,
      LOS rate: -0.023636 deg/s,
      cmd heading: 159.330814 deg,
      new cmd heading: 159.296408 deg.

2025-08-11T14:54:07.229Z,1754924047.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:07.235Z,1754924047.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.90 m.
2025-08-11T14:54:07.238Z,1754924047.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.900002 m,
      nav range: 125.459030 m,
      bearing: 166.142004 deg,
      approach rate: -0.582454 m/s,
      LOS rate: -0.024779 deg/s,
      cmd heading: 159.296404 deg,
      new cmd heading: 159.266514 deg.

2025-08-11T14:54:07.264Z,1754924047.264 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:07.264Z,1754924047.264 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:07.264Z,1754924047.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:07.517Z,1754924047.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991833
2025-08-11T14:54:07.668Z,1754924047.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.90 m.
2025-08-11T14:54:07.671Z,1754924047.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.900002 m,
      nav range: 125.225540 m,
      bearing: 166.132037 deg,
      approach rate: -0.533954 m/s,
      LOS rate: -0.022837 deg/s,
      cmd heading: 159.266515 deg,
      new cmd heading: 159.236556 deg.

2025-08-11T14:54:07.772Z,1754924047.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245791
2025-08-11T14:54:08.020Z,1754924048.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495206
2025-08-11T14:54:08.064Z,1754924048.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.90 m.
2025-08-11T14:54:08.066Z,1754924048.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.900002 m,
      nav range: 125.031296 m,
      bearing: 166.125364 deg,
      approach rate: -0.512359 m/s,
      LOS rate: -0.017629 deg/s,
      cmd heading: 159.236558 deg,
      new cmd heading: 159.216508 deg.

2025-08-11T14:54:08.272Z,1754924048.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747376
2025-08-11T14:54:08.444Z,1754924048.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.90 m.
2025-08-11T14:54:08.446Z,1754924048.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.900002 m,
      nav range: 124.838821 m,
      bearing: 166.118722 deg,
      approach rate: -0.485514 m/s,
      LOS rate: -0.016779 deg/s,
      cmd heading: 159.216504 deg,
      new cmd heading: 159.196549 deg.

2025-08-11T14:54:08.525Z,1754924048.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999966
2025-08-11T14:54:08.776Z,1754924048.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250963
2025-08-11T14:54:08.942Z,1754924048.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.90 m.
2025-08-11T14:54:08.950Z,1754924048.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.900002 m,
      nav range: 124.582184 m,
      bearing: 166.113749 deg,
      approach rate: -0.514947 m/s,
      LOS rate: -0.010000 deg/s,
      cmd heading: 159.196547 deg,
      new cmd heading: 159.181596 deg.

2025-08-11T14:54:09.029Z,1754924049.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504052
2025-08-11T14:54:09.280Z,1754924049.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755200
2025-08-11T14:54:09.301Z,1754924049.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:09.303Z,1754924049.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.90 m.
2025-08-11T14:54:09.305Z,1754924049.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.900002 m,
      nav range: 124.371246 m,
      bearing: 166.109673 deg,
      approach rate: -0.585143 m/s,
      LOS rate: -0.011326 deg/s,
      cmd heading: 159.181602 deg,
      new cmd heading: 159.169353 deg.

2025-08-11T14:54:09.534Z,1754924049.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008789
2025-08-11T14:54:09.692Z,1754924049.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.90 m.
2025-08-11T14:54:09.696Z,1754924049.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.900002 m,
      nav range: 124.163811 m,
      bearing: 166.105646 deg,
      approach rate: -0.532361 m/s,
      LOS rate: -0.010352 deg/s,
      cmd heading: 159.169349 deg,
      new cmd heading: 159.157247 deg.

2025-08-11T14:54:09.784Z,1754924049.784 [DAT](INFO): DAT read: Rx Time:14:54:10.4398

2025-08-11T14:54:09.785Z,1754924049.785 [DAT](INFO): Rx dataTimestamp_ set to:1754924049.784467
2025-08-11T14:54:09.785Z,1754924049.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260220
2025-08-11T14:54:10.036Z,1754924050.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511071
2025-08-11T14:54:10.197Z,1754924050.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.90 m.
2025-08-11T14:54:10.200Z,1754924050.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.900002 m,
      nav range: 123.905380 m,
      bearing: 166.104712 deg,
      approach rate: -0.512304 m/s,
      LOS rate: -0.001855 deg/s,
      cmd heading: 159.157246 deg,
      new cmd heading: 159.154438 deg.

2025-08-11T14:54:10.296Z,1754924050.296 [DAT](INFO): DAT read: 14:54:10.4398 LVL= 23008, 29345, 25154, 32755, AGC= 67, IDX= 423,-0.15,-2.259, 2.180,-2.288,-2.603, PHS= 0.446,-1.456, 0.270, RAW= 145.2,   8.2, CAL= 144.8,   8.9, ROT=   5.2,  -8.9

2025-08-11T14:54:10.297Z,1754924050.297 [DAT](INFO): got valid direction response:
 14:54:10.4398 LVL= 23008, 29345, 25154, 32755, AGC= 67, IDX= 423,-0.15,-2.259, 2.180,-2.288,-2.603, PHS= 0.446,-1.456, 0.270, RAW= 145.2,   8.2, CAL= 144.8,   8.9, ROT=   5.2,  -8.9

2025-08-11T14:54:10.298Z,1754924050.298 [DAT](INFO): DAT read: Bearing 322.3,   6.1 (Local)

2025-08-11T14:54:10.299Z,1754924050.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.3,   6.1 (Local)

2025-08-11T14:54:10.300Z,1754924050.300 [DAT](INFO): DAT read: Range 11 to 50 : 124.9 m  (Round-trip  166.6 ms) speed  0.4 m/s

2025-08-11T14:54:10.301Z,1754924050.301 [DAT](INFO): DAT read: user:201>

2025-08-11T14:54:10.302Z,1754924050.302 [DAT](INFO): DAT read: Tx time:14:54:11.5690

2025-08-11T14:54:10.302Z,1754924050.302 [DAT](INFO): Ping request sent.
2025-08-11T14:54:10.302Z,1754924050.302 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:10.302Z,1754924050.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:10.304Z,1754924050.304 [DAT](INFO): direction in FSK: [0.983894,0.089541,0.154710]
2025-08-11T14:54:10.304Z,1754924050.304 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:10.305Z,1754924050.305 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:10.308Z,1754924050.308 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:10.308Z,1754924050.308 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:10.546Z,1754924050.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.900002 m,
      deltaT: 3.779931 s,
      deltaX: -2.000000 m,
      approachRate: -0.529110 m/s,
      rangeRepo size: 4

2025-08-11T14:54:10.565Z,1754924050.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.900002 m,
      bearing: 166.182367 deg,
      lat: 36.905864 deg,
      lon: -122.115927 deg,
      deltaT: 3.779931 s,
      deltaX: -2.000000 m,
      approachRate: -0.529110 m/s,
      posRepo size: 4

2025-08-11T14:54:10.565Z,1754924050.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.90 m.
2025-08-11T14:54:10.569Z,1754924050.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.900002 m,
      nav range: 123.329628 m,
      bearing: 166.182367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001855 deg/s,
      cmd heading: 159.154445 deg,
      new cmd heading: 159.152504 deg.

2025-08-11T14:54:11.023Z,1754924051.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.90 m.
2025-08-11T14:54:11.026Z,1754924051.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.900002 m,
      nav range: 123.072411 m,
      bearing: 166.183037 deg,
      approach rate: -0.543101 m/s,
      LOS rate: 0.001418 deg/s,
      cmd heading: 159.152505 deg,
      new cmd heading: 159.154521 deg.

2025-08-11T14:54:11.358Z,1754924051.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:11.360Z,1754924051.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.90 m.
2025-08-11T14:54:11.364Z,1754924051.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.900002 m,
      nav range: 122.882263 m,
      bearing: 166.183539 deg,
      approach rate: -0.557347 m/s,
      LOS rate: 0.001473 deg/s,
      cmd heading: 159.154527 deg,
      new cmd heading: 159.156035 deg.

2025-08-11T14:54:11.549Z,1754924051.549 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:11.549Z,1754924051.549 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:11.549Z,1754924051.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:11.757Z,1754924051.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.90 m.
2025-08-11T14:54:11.760Z,1754924051.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.900002 m,
      nav range: 122.667465 m,
      bearing: 166.184135 deg,
      approach rate: -0.541570 m/s,
      LOS rate: 0.001506 deg/s,
      cmd heading: 159.156030 deg,
      new cmd heading: 159.157821 deg.

2025-08-11T14:54:11.800Z,1754924051.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498348
2025-08-11T14:54:12.056Z,1754924052.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753833
2025-08-11T14:54:12.186Z,1754924052.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.90 m.
2025-08-11T14:54:12.189Z,1754924052.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.900002 m,
      nav range: 122.431183 m,
      bearing: 166.184793 deg,
      approach rate: -0.550632 m/s,
      LOS rate: 0.001537 deg/s,
      cmd heading: 159.157819 deg,
      new cmd heading: 159.159798 deg.

2025-08-11T14:54:12.304Z,1754924052.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002175
2025-08-11T14:54:12.556Z,1754924052.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254221
2025-08-11T14:54:12.560Z,1754924052.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.90 m.
2025-08-11T14:54:12.563Z,1754924052.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.900002 m,
      nav range: 122.227684 m,
      bearing: 166.185390 deg,
      approach rate: -0.544131 m/s,
      LOS rate: 0.001599 deg/s,
      cmd heading: 159.159800 deg,
      new cmd heading: 159.161594 deg.

2025-08-11T14:54:12.808Z,1754924052.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506382
2025-08-11T14:54:13.033Z,1754924053.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.90 m.
2025-08-11T14:54:13.050Z,1754924053.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.900002 m,
      nav range: 121.974861 m,
      bearing: 166.187288 deg,
      approach rate: -0.534879 m/s,
      LOS rate: 0.004024 deg/s,
      cmd heading: 159.161590 deg,
      new cmd heading: 159.167295 deg.

2025-08-11T14:54:13.060Z,1754924053.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758343
2025-08-11T14:54:13.313Z,1754924053.313 [DAT](INFO): DAT read: Rx Time:14:54:14.1371

2025-08-11T14:54:13.313Z,1754924053.313 [DAT](INFO): Rx dataTimestamp_ set to:1754924053.312823
2025-08-11T14:54:13.314Z,1754924053.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011886
2025-08-11T14:54:13.384Z,1754924053.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:13.386Z,1754924053.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.90 m.
2025-08-11T14:54:13.389Z,1754924053.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.900002 m,
      nav range: 121.787460 m,
      bearing: 166.188780 deg,
      approach rate: -0.530887 m/s,
      LOS rate: 0.004234 deg/s,
      cmd heading: 159.167300 deg,
      new cmd heading: 159.171783 deg.

2025-08-11T14:54:13.564Z,1754924053.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262141
2025-08-11T14:54:13.825Z,1754924053.825 [DAT](INFO): DAT read: 14:54:14.1371 LVL= 29408, 32753, 32754, 32755, AGC= 69, IDX= 411,-0.20,-0.866,-2.661,-0.876,-1.183, PHS= 0.420,-1.433, 0.264, RAW= 145.6,   8.5, CAL= 145.2,   9.2, ROT=   4.8,  -9.2

2025-08-11T14:54:13.826Z,1754924053.826 [DAT](INFO): got valid direction response:
 14:54:14.1371 LVL= 29408, 32753, 32754, 32755, AGC= 69, IDX= 411,-0.20,-0.866,-2.661,-0.876,-1.183, PHS= 0.420,-1.433, 0.264, RAW= 145.6,   8.5, CAL= 145.2,   9.2, ROT=   4.8,  -9.2

2025-08-11T14:54:13.827Z,1754924053.827 [DAT](INFO): DAT read: Bearing 322.2,   5.9 (Local)

2025-08-11T14:54:13.828Z,1754924053.828 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.2,   5.9 (Local)

2025-08-11T14:54:13.829Z,1754924053.829 [DAT](INFO): DAT read: Range 11 to 50 : 122.9 m  (Round-trip  163.9 ms) speed  0.4 m/s

2025-08-11T14:54:13.830Z,1754924053.830 [DAT](INFO): DAT read: user:202>

2025-08-11T14:54:13.831Z,1754924053.831 [DAT](INFO): DAT read: Tx time:14:54:15.2190

2025-08-11T14:54:13.831Z,1754924053.831 [DAT](INFO): Ping request sent.
2025-08-11T14:54:13.839Z,1754924053.839 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:13.839Z,1754924053.839 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:13.840Z,1754924053.840 [DAT](INFO): direction in FSK: [0.983674,0.082601,0.159881]
2025-08-11T14:54:13.841Z,1754924053.841 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:13.841Z,1754924053.841 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:13.867Z,1754924053.867 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:13.868Z,1754924053.868 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:13.949Z,1754924053.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.900002 m,
      deltaT: 3.528734 s,
      deltaX: -2.000000 m,
      approachRate: -0.566776 m/s,
      rangeRepo size: 4

2025-08-11T14:54:13.958Z,1754924053.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.900002 m,
      bearing: 166.158573 deg,
      lat: 36.905867 deg,
      lon: -122.115927 deg,
      deltaT: 3.528734 s,
      deltaX: -2.000000 m,
      approachRate: -0.566776 m/s,
      posRepo size: 4

2025-08-11T14:54:13.964Z,1754924053.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:13.978Z,1754924053.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 121.266907 m,
      bearing: 166.158573 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004234 deg/s,
      cmd heading: 159.171780 deg,
      new cmd heading: 159.178919 deg.

2025-08-11T14:54:14.307Z,1754924054.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:14.310Z,1754924054.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 121.030319 m,
      bearing: 166.160634 deg,
      approach rate: -0.666151 m/s,
      LOS rate: 0.005817 deg/s,
      cmd heading: 159.178925 deg,
      new cmd heading: 159.185122 deg.

2025-08-11T14:54:14.669Z,1754924054.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:14.672Z,1754924054.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 120.824348 m,
      bearing: 166.162504 deg,
      approach rate: -0.562282 m/s,
      LOS rate: 0.005111 deg/s,
      cmd heading: 159.185126 deg,
      new cmd heading: 159.190743 deg.

2025-08-11T14:54:15.163Z,1754924055.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:15.166Z,1754924055.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 120.573929 m,
      bearing: 166.162334 deg,
      approach rate: -0.507442 m/s,
      LOS rate: -0.000344 deg/s,
      cmd heading: 159.190741 deg,
      new cmd heading: 159.190231 deg.

2025-08-11T14:54:15.495Z,1754924055.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:15.497Z,1754924055.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:15.500Z,1754924055.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 120.398224 m,
      bearing: 166.162261 deg,
      approach rate: -0.525628 m/s,
      LOS rate: -0.000218 deg/s,
      cmd heading: 159.190235 deg,
      new cmd heading: 159.190017 deg.

2025-08-11T14:54:15.580Z,1754924055.580 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:15.580Z,1754924055.580 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:15.581Z,1754924055.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:15.832Z,1754924055.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001379
2025-08-11T14:54:15.885Z,1754924055.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:15.892Z,1754924055.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 120.198898 m,
      bearing: 166.162308 deg,
      approach rate: -0.514359 m/s,
      LOS rate: 0.000121 deg/s,
      cmd heading: 159.190017 deg,
      new cmd heading: 159.190157 deg.

2025-08-11T14:54:16.084Z,1754924056.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253311
2025-08-11T14:54:16.319Z,1754924056.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:16.322Z,1754924056.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 119.971359 m,
      bearing: 166.159477 deg,
      approach rate: -0.523545 m/s,
      LOS rate: -0.006526 deg/s,
      cmd heading: 159.190153 deg,
      new cmd heading: 159.181644 deg.

2025-08-11T14:54:16.353Z,1754924056.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521657
2025-08-11T14:54:16.604Z,1754924056.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773144
2025-08-11T14:54:16.720Z,1754924056.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:16.723Z,1754924056.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 119.769753 m,
      bearing: 166.157132 deg,
      approach rate: -0.503219 m/s,
      LOS rate: -0.005864 deg/s,
      cmd heading: 159.181643 deg,
      new cmd heading: 159.174596 deg.

2025-08-11T14:54:16.856Z,1754924056.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025222
2025-08-11T14:54:17.108Z,1754924057.108 [DAT](INFO): DAT read: Rx Time:14:54:17.7844

2025-08-11T14:54:17.108Z,1754924057.108 [DAT](INFO): Rx dataTimestamp_ set to:1754924057.108188
2025-08-11T14:54:17.109Z,1754924057.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278100
2025-08-11T14:54:17.145Z,1754924057.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:17.147Z,1754924057.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 119.544456 m,
      bearing: 166.151777 deg,
      approach rate: -0.530475 m/s,
      LOS rate: -0.012631 deg/s,
      cmd heading: 159.174594 deg,
      new cmd heading: 159.158501 deg.

2025-08-11T14:54:17.360Z,1754924057.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529144
2025-08-11T14:54:17.511Z,1754924057.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:17.513Z,1754924057.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.90 m.
2025-08-11T14:54:17.532Z,1754924057.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.900002 m,
      nav range: 119.356140 m,
      bearing: 166.147387 deg,
      approach rate: -0.510839 m/s,
      LOS rate: -0.011928 deg/s,
      cmd heading: 159.158502 deg,
      new cmd heading: 159.145311 deg.

2025-08-11T14:54:17.618Z,1754924057.618 [DAT](INFO): DAT read: 14:54:17.7844 LVL= 24864, 32753, 30098, 32755, AGC= 69, IDX= 417,-0.46, 0.807,-1.110, 0.739, 0.426, PHS= 0.483,-1.491, 0.269, RAW= 144.4,   7.9, CAL= 143.9,   8.7, ROT=   6.1,  -8.7

2025-08-11T14:54:17.619Z,1754924057.619 [DAT](INFO): got valid direction response:
 14:54:17.7844 LVL= 24864, 32753, 30098, 32755, AGC= 69, IDX= 417,-0.46, 0.807,-1.110, 0.739, 0.426, PHS= 0.483,-1.491, 0.269, RAW= 144.4,   7.9, CAL= 143.9,   8.7, ROT=   6.1,  -8.7

2025-08-11T14:54:17.620Z,1754924057.620 [DAT](INFO): DAT read: Bearing 321.5,   7.6 (Local)

2025-08-11T14:54:17.620Z,1754924057.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.5,   7.6 (Local)

2025-08-11T14:54:17.622Z,1754924057.622 [DAT](INFO): DAT read: Range 11 to 50 : 120.9 m  (Round-trip  161.3 ms) speed  0.4 m/s

2025-08-11T14:54:17.623Z,1754924057.623 [DAT](INFO): DAT read: user:203>

2025-08-11T14:54:17.624Z,1754924057.624 [DAT](INFO): DAT read: Tx time:14:54:18.8690

2025-08-11T14:54:17.624Z,1754924057.624 [DAT](INFO): Ping request sent.
2025-08-11T14:54:17.624Z,1754924057.624 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:17.624Z,1754924057.624 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:17.625Z,1754924057.625 [DAT](INFO): direction in FSK: [0.982897,0.105041,0.151261]
2025-08-11T14:54:17.626Z,1754924057.626 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:17.626Z,1754924057.626 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:17.629Z,1754924057.629 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:17.629Z,1754924057.629 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:17.978Z,1754924057.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.900002 m,
      deltaT: 3.794440 s,
      deltaX: -2.000000 m,
      approachRate: -0.527087 m/s,
      rangeRepo size: 4

2025-08-11T14:54:17.994Z,1754924057.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 120.900002 m,
      bearing: 165.744896 deg,
      lat: 36.905869 deg,
      lon: -122.115918 deg,
      deltaT: 3.794440 s,
      deltaX: -2.000000 m,
      approachRate: -0.527087 m/s,
      posRepo size: 4

2025-08-11T14:54:17.000Z,1754924058.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m.
2025-08-11T14:54:18.002Z,1754924058.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.900002 m,
      nav range: 119.068024 m,
      bearing: 165.744896 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011928 deg/s,
      cmd heading: 159.145306 deg,
      new cmd heading: 159.128964 deg.

2025-08-11T14:54:18.365Z,1754924058.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m.
2025-08-11T14:54:18.369Z,1754924058.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.900002 m,
      nav range: 118.836624 m,
      bearing: 165.738804 deg,
      approach rate: -0.586068 m/s,
      LOS rate: -0.015459 deg/s,
      cmd heading: 159.128969 deg,
      new cmd heading: 159.110658 deg.

2025-08-11T14:54:18.748Z,1754924058.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m.
2025-08-11T14:54:18.751Z,1754924058.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.900002 m,
      nav range: 118.636543 m,
      bearing: 165.733618 deg,
      approach rate: -0.523543 m/s,
      LOS rate: -0.013593 deg/s,
      cmd heading: 159.110664 deg,
      new cmd heading: 159.095079 deg.

2025-08-11T14:54:19.172Z,1754924059.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m.
2025-08-11T14:54:19.175Z,1754924059.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.900002 m,
      nav range: 118.411453 m,
      bearing: 165.726866 deg,
      approach rate: -0.529078 m/s,
      LOS rate: -0.015902 deg/s,
      cmd heading: 159.095077 deg,
      new cmd heading: 159.074782 deg.

2025-08-11T14:54:19.557Z,1754924059.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:19.559Z,1754924059.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m.
2025-08-11T14:54:19.562Z,1754924059.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.900002 m,
      nav range: 118.206123 m,
      bearing: 165.720789 deg,
      approach rate: -0.530963 m/s,
      LOS rate: -0.015741 deg/s,
      cmd heading: 159.074778 deg,
      new cmd heading: 159.056516 deg.

2025-08-11T14:54:19.629Z,1754924059.629 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:19.629Z,1754924059.629 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:19.629Z,1754924059.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:19.880Z,1754924059.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256057
2025-08-11T14:54:20.047Z,1754924060.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m.
2025-08-11T14:54:20.050Z,1754924060.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.900002 m,
      nav range: 117.973625 m,
      bearing: 165.713992 deg,
      approach rate: -0.479491 m/s,
      LOS rate: -0.014045 deg/s,
      cmd heading: 159.056514 deg,
      new cmd heading: 159.036084 deg.

2025-08-11T14:54:20.133Z,1754924060.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509118
2025-08-11T14:54:20.384Z,1754924060.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760029
2025-08-11T14:54:20.456Z,1754924060.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m.
2025-08-11T14:54:20.466Z,1754924060.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.900002 m,
      nav range: 117.736137 m,
      bearing: 165.706395 deg,
      approach rate: -0.576413 m/s,
      LOS rate: -0.018478 deg/s,
      cmd heading: 159.036078 deg,
      new cmd heading: 159.013239 deg.

2025-08-11T14:54:20.636Z,1754924060.636 [DAT](INFO): DAT read: Rx Time:14:54:21.4320

2025-08-11T14:54:20.637Z,1754924060.637 [DAT](INFO): Rx dataTimestamp_ set to:1754924060.636327
2025-08-11T14:54:20.637Z,1754924060.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013063
2025-08-11T14:54:20.833Z,1754924060.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.90 m.
2025-08-11T14:54:20.842Z,1754924060.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.900002 m,
      nav range: 117.519295 m,
      bearing: 165.699505 deg,
      approach rate: -0.575379 m/s,
      LOS rate: -0.018315 deg/s,
      cmd heading: 159.013238 deg,
      new cmd heading: 158.992531 deg.

2025-08-11T14:54:20.889Z,1754924060.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264493
2025-08-11T14:54:21.146Z,1754924061.146 [DAT](INFO): DAT read: 14:54:21.4320 LVL= 29824, 32753, 31986, 32755, AGC= 69, IDX= 423, 0.21, 0.917,-0.978, 0.866, 0.517, PHS= 0.502,-1.451, 0.305, RAW= 144.7,   7.0, CAL= 144.3,   7.6, ROT=   5.7,  -7.6

2025-08-11T14:54:21.147Z,1754924061.147 [DAT](INFO): got valid direction response:
 14:54:21.4320 LVL= 29824, 32753, 31986, 32755, AGC= 69, IDX= 423, 0.21, 0.917,-0.978, 0.866, 0.517, PHS= 0.502,-1.451, 0.305, RAW= 144.7,   7.0, CAL= 144.3,   7.6, ROT=   5.7,  -7.6

2025-08-11T14:54:21.148Z,1754924061.148 [DAT](INFO): DAT read: Bearing 320.3,   8.2 (Local)

2025-08-11T14:54:21.148Z,1754924061.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.3,   8.2 (Local)

2025-08-11T14:54:21.150Z,1754924061.150 [DAT](INFO): DAT read: Range 11 to 50 : 119.1 m  (Round-trip  158.8 ms) speed  0.4 m/s

2025-08-11T14:54:21.151Z,1754924061.151 [DAT](INFO): DAT read: user:204>

2025-08-11T14:54:21.152Z,1754924061.152 [DAT](INFO): DAT read: Tx time:14:54:22.5190

2025-08-11T14:54:21.152Z,1754924061.152 [DAT](INFO): Ping request sent.
2025-08-11T14:54:21.152Z,1754924061.152 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:21.152Z,1754924061.152 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:21.153Z,1754924061.153 [DAT](INFO): direction in FSK: [0.986315,0.098447,0.132256]
2025-08-11T14:54:21.154Z,1754924061.154 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:21.154Z,1754924061.154 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:21.157Z,1754924061.157 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:21.157Z,1754924061.157 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:21.401Z,1754924061.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.099998 m,
      deltaT: 3.528089 s,
      deltaX: -1.800003 m,
      approachRate: -0.510192 m/s,
      rangeRepo size: 4

2025-08-11T14:54:21.408Z,1754924061.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.099998 m,
      bearing: 165.699403 deg,
      lat: 36.905868 deg,
      lon: -122.115918 deg,
      deltaT: 3.528089 s,
      deltaX: -1.800003 m,
      approachRate: -0.510192 m/s,
      posRepo size: 4

2025-08-11T14:54:21.408Z,1754924061.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-11T14:54:21.415Z,1754924061.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 117.295990 m,
      bearing: 165.699403 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018315 deg/s,
      cmd heading: 158.992529 deg,
      new cmd heading: 158.961327 deg.

2025-08-11T14:54:22.121Z,1754924062.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:22.125Z,1754924062.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-11T14:54:22.130Z,1754924062.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 116.865784 m,
      bearing: 165.690125 deg,
      approach rate: -0.595657 m/s,
      LOS rate: -0.012893 deg/s,
      cmd heading: 158.961328 deg,
      new cmd heading: 158.933392 deg.

2025-08-11T14:54:22.148Z,1754924062.148 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:22.148Z,1754924062.148 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:22.148Z,1754924062.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:22.400Z,1754924062.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247958
2025-08-11T14:54:22.601Z,1754924062.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-11T14:54:22.608Z,1754924062.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 116.589561 m,
      bearing: 165.684576 deg,
      approach rate: -0.578109 m/s,
      LOS rate: -0.011641 deg/s,
      cmd heading: 158.933393 deg,
      new cmd heading: 158.916707 deg.

2025-08-11T14:54:22.654Z,1754924062.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501416
2025-08-11T14:54:22.904Z,1754924062.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752031
2025-08-11T14:54:23.074Z,1754924063.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-11T14:54:23.081Z,1754924063.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 116.311539 m,
      bearing: 165.679195 deg,
      approach rate: -0.587462 m/s,
      LOS rate: -0.011397 deg/s,
      cmd heading: 158.916700 deg,
      new cmd heading: 158.900519 deg.

2025-08-11T14:54:23.156Z,1754924063.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004089
2025-08-11T14:54:23.408Z,1754924063.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255855
2025-08-11T14:54:23.473Z,1754924063.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-11T14:54:23.488Z,1754924063.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 116.074860 m,
      bearing: 165.675214 deg,
      approach rate: -0.593453 m/s,
      LOS rate: -0.010003 deg/s,
      cmd heading: 158.900512 deg,
      new cmd heading: 158.888545 deg.

2025-08-11T14:54:23.660Z,1754924063.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507985
2025-08-11T14:54:23.827Z,1754924063.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-11T14:54:23.830Z,1754924063.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 115.874008 m,
      bearing: 165.671964 deg,
      approach rate: -0.573301 m/s,
      LOS rate: -0.009292 deg/s,
      cmd heading: 158.888546 deg,
      new cmd heading: 158.878780 deg.

2025-08-11T14:54:23.913Z,1754924063.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760430
2025-08-11T14:54:24.164Z,1754924064.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012251
2025-08-11T14:54:24.242Z,1754924064.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:24.260Z,1754924064.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-11T14:54:24.263Z,1754924064.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 115.615601 m,
      bearing: 165.665952 deg,
      approach rate: -0.591354 m/s,
      LOS rate: -0.013790 deg/s,
      cmd heading: 158.878779 deg,
      new cmd heading: 158.860701 deg.

2025-08-11T14:54:24.416Z,1754924064.416 [DAT](INFO): DAT read: Rx Time:14:54:25.0791

2025-08-11T14:54:24.417Z,1754924064.417 [DAT](INFO): Rx dataTimestamp_ set to:1754924064.416376
2025-08-11T14:54:24.417Z,1754924064.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265089
2025-08-11T14:54:24.633Z,1754924064.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.10 m.
2025-08-11T14:54:24.640Z,1754924064.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.099998 m,
      nav range: 115.392586 m,
      bearing: 165.660937 deg,
      approach rate: -0.598078 m/s,
      LOS rate: -0.013473 deg/s,
      cmd heading: 158.860706 deg,
      new cmd heading: 158.845635 deg.

2025-08-11T14:54:24.668Z,1754924064.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516144
2025-08-11T14:54:24.934Z,1754924064.934 [DAT](INFO): DAT read: 14:54:25.0791 LVL= 31664, 32753, 29170, 32755, AGC= 68, IDX= 409, 0.12, 1.305,-0.563, 1.280, 0.989, PHS= 0.418,-1.507, 0.248, RAW= 145.4,   9.1, CAL= 145.0,  10.0, ROT=   5.0, -10.0

2025-08-11T14:54:24.944Z,1754924064.944 [DAT](INFO): got valid direction response:
 14:54:25.0791 LVL= 31664, 32753, 29170, 32755, AGC= 68, IDX= 409, 0.12, 1.305,-0.563, 1.280, 0.989, PHS= 0.418,-1.507, 0.248, RAW= 145.4,   9.1, CAL= 145.0,  10.0, ROT=   5.0, -10.0

2025-08-11T14:54:24.946Z,1754924064.946 [DAT](INFO): DAT read: Bearing 322.0,   7.0 (Local)

2025-08-11T14:54:24.946Z,1754924064.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.0,   7.0 (Local)

2025-08-11T14:54:24.962Z,1754924064.962 [DAT](INFO): DAT read: Range 11 to 50 : 116.9 m  (Round-trip  155.9 ms) speed  0.5 m/s

2025-08-11T14:54:24.971Z,1754924064.971 [DAT](INFO): DAT read: user:205>

2025-08-11T14:54:24.972Z,1754924064.972 [DAT](INFO): DAT read: Tx time:14:54:26.1690

2025-08-11T14:54:24.972Z,1754924064.972 [DAT](INFO): Ping request sent.
2025-08-11T14:54:24.972Z,1754924064.972 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:24.973Z,1754924064.973 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:24.974Z,1754924064.974 [DAT](INFO): direction in FSK: [0.981060,0.085832,0.173648]
2025-08-11T14:54:24.974Z,1754924064.974 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:24.974Z,1754924064.974 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:24.981Z,1754924064.981 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:24.982Z,1754924064.982 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:25.200Z,1754924065.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.900002 m,
      deltaT: 3.780326 s,
      deltaX: -2.199997 m,
      approachRate: -0.581960 m/s,
      rangeRepo size: 4

2025-08-11T14:54:25.202Z,1754924065.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.900002 m,
      bearing: 165.606586 deg,
      lat: 36.905872 deg,
      lon: -122.115918 deg,
      deltaT: 3.780326 s,
      deltaX: -2.199997 m,
      approachRate: -0.581960 m/s,
      posRepo size: 4

2025-08-11T14:54:25.202Z,1754924065.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-11T14:54:25.209Z,1754924065.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 114.733109 m,
      bearing: 165.606586 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013473 deg/s,
      cmd heading: 158.845639 deg,
      new cmd heading: 158.822933 deg.

2025-08-11T14:54:25.533Z,1754924065.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-11T14:54:25.536Z,1754924065.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 114.519005 m,
      bearing: 165.601704 deg,
      approach rate: -0.632960 m/s,
      LOS rate: -0.014457 deg/s,
      cmd heading: 158.822935 deg,
      new cmd heading: 158.808264 deg.

2025-08-11T14:54:25.965Z,1754924065.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-11T14:54:25.972Z,1754924065.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 114.278549 m,
      bearing: 165.596320 deg,
      approach rate: -0.556387 m/s,
      LOS rate: -0.012485 deg/s,
      cmd heading: 158.808264 deg,
      new cmd heading: 158.792076 deg.

2025-08-11T14:54:26.369Z,1754924066.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:26.371Z,1754924066.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-11T14:54:26.374Z,1754924066.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 114.044678 m,
      bearing: 165.593616 deg,
      approach rate: -0.576086 m/s,
      LOS rate: -0.006674 deg/s,
      cmd heading: 158.792076 deg,
      new cmd heading: 158.783948 deg.

2025-08-11T14:54:26.434Z,1754924066.434 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:26.434Z,1754924066.434 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:26.434Z,1754924066.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:26.684Z,1754924066.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711768
2025-08-11T14:54:26.760Z,1754924066.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-11T14:54:26.763Z,1754924066.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 113.821457 m,
      bearing: 165.591090 deg,
      approach rate: -0.600500 m/s,
      LOS rate: -0.006808 deg/s,
      cmd heading: 158.783948 deg,
      new cmd heading: 158.776356 deg.

2025-08-11T14:54:26.937Z,1754924066.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964689
2025-08-11T14:54:27.188Z,1754924067.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215838
2025-08-11T14:54:27.199Z,1754924067.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-11T14:54:27.202Z,1754924067.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 113.587280 m,
      bearing: 165.588410 deg,
      approach rate: -0.513649 m/s,
      LOS rate: -0.005891 deg/s,
      cmd heading: 158.776353 deg,
      new cmd heading: 158.768295 deg.

2025-08-11T14:54:27.441Z,1754924067.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468479
2025-08-11T14:54:27.548Z,1754924067.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-11T14:54:27.550Z,1754924067.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 113.385422 m,
      bearing: 165.586073 deg,
      approach rate: -0.579086 m/s,
      LOS rate: -0.006714 deg/s,
      cmd heading: 158.768294 deg,
      new cmd heading: 158.761272 deg.

2025-08-11T14:54:27.692Z,1754924067.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719723
2025-08-11T14:54:27.946Z,1754924067.946 [DAT](INFO): DAT read: Rx Time:14:54:28.7261

2025-08-11T14:54:27.946Z,1754924067.946 [DAT](INFO): Rx dataTimestamp_ set to:1754924067.945943
2025-08-11T14:54:27.948Z,1754924067.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975139
2025-08-11T14:54:27.994Z,1754924067.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-11T14:54:28.001Z,1754924068.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 113.147682 m,
      bearing: 165.583301 deg,
      approach rate: -0.531706 m/s,
      LOS rate: -0.006213 deg/s,
      cmd heading: 158.761272 deg,
      new cmd heading: 158.752939 deg.

2025-08-11T14:54:28.196Z,1754924068.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223708
2025-08-11T14:54:28.456Z,1754924068.456 [DAT](INFO): DAT read: 14:54:28.7261 LVL= 23952, 32753, 26914, 32755, AGC= 67, IDX= 412, 0.15, 1.402,-0.427, 1.388, 1.049, PHS= 0.455,-1.431, 0.294, RAW= 145.6,   7.6, CAL= 145.1,   8.2, ROT=   4.9,  -8.2

2025-08-11T14:54:28.457Z,1754924068.457 [DAT](INFO): got valid direction response:
 14:54:28.7261 LVL= 23952, 32753, 26914, 32755, AGC= 67, IDX= 412, 0.15, 1.402,-0.427, 1.388, 1.049, PHS= 0.455,-1.431, 0.294, RAW= 145.6,   7.6, CAL= 145.1,   8.2, ROT=   4.9,  -8.2

2025-08-11T14:54:28.458Z,1754924068.458 [DAT](INFO): DAT read: Bearing 319.6,   6.5 (Local)

2025-08-11T14:54:28.458Z,1754924068.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.6,   6.5 (Local)

2025-08-11T14:54:28.460Z,1754924068.460 [DAT](INFO): DAT read: Range 11 to 50 : 114.8 m  (Round-trip  153.1 ms) speed  0.5 m/s

2025-08-11T14:54:28.461Z,1754924068.461 [DAT](INFO): DAT read: user:206>

2025-08-11T14:54:28.461Z,1754924068.461 [DAT](INFO): DAT read: Tx time:14:54:29.8189

2025-08-11T14:54:28.462Z,1754924068.462 [DAT](INFO): Ping request sent.
2025-08-11T14:54:28.462Z,1754924068.462 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:28.462Z,1754924068.462 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:28.467Z,1754924068.467 [DAT](INFO): direction in FSK: [0.986159,0.084544,0.142629]
2025-08-11T14:54:28.467Z,1754924068.467 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:28.468Z,1754924068.468 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:28.471Z,1754924068.471 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:28.471Z,1754924068.471 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:28.558Z,1754924068.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.800003 m,
      deltaT: 3.528153 s,
      deltaX: -2.099998 m,
      approachRate: -0.595212 m/s,
      rangeRepo size: 4

2025-08-11T14:54:28.568Z,1754924068.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.800003 m,
      bearing: 165.476692 deg,
      lat: 36.905872 deg,
      lon: -122.115915 deg,
      deltaT: 3.528153 s,
      deltaX: -2.099998 m,
      approachRate: -0.595212 m/s,
      posRepo size: 4

2025-08-11T14:54:28.569Z,1754924068.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.80 m.
2025-08-11T14:54:28.583Z,1754924068.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.800003 m,
      nav range: 112.918854 m,
      bearing: 165.476692 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006213 deg/s,
      cmd heading: 158.752939 deg,
      new cmd heading: 158.742457 deg.

2025-08-11T14:54:28.964Z,1754924068.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:28.966Z,1754924068.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.80 m.
2025-08-11T14:54:28.973Z,1754924068.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.800003 m,
      nav range: 112.702072 m,
      bearing: 165.477656 deg,
      approach rate: -0.530120 m/s,
      LOS rate: 0.002361 deg/s,
      cmd heading: 158.742462 deg,
      new cmd heading: 158.745359 deg.

2025-08-11T14:54:29.204Z,1754924069.204 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:29.204Z,1754924069.204 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:29.204Z,1754924069.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:29.374Z,1754924069.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.80 m.
2025-08-11T14:54:29.382Z,1754924069.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.800003 m,
      nav range: 112.486794 m,
      bearing: 165.482225 deg,
      approach rate: -0.527115 m/s,
      LOS rate: 0.011209 deg/s,
      cmd heading: 158.745358 deg,
      new cmd heading: 158.759091 deg.

2025-08-11T14:54:29.457Z,1754924069.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995096
2025-08-11T14:54:29.708Z,1754924069.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246466
2025-08-11T14:54:29.769Z,1754924069.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.80 m.
2025-08-11T14:54:29.772Z,1754924069.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.800003 m,
      nav range: 112.281807 m,
      bearing: 165.486592 deg,
      approach rate: -0.518810 m/s,
      LOS rate: 0.011072 deg/s,
      cmd heading: 158.759087 deg,
      new cmd heading: 158.772211 deg.

2025-08-11T14:54:29.960Z,1754924069.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498264
2025-08-11T14:54:30.212Z,1754924070.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750398
2025-08-11T14:54:30.247Z,1754924070.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.80 m.
2025-08-11T14:54:30.250Z,1754924070.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.800003 m,
      nav range: 112.041344 m,
      bearing: 165.498534 deg,
      approach rate: -0.503418 m/s,
      LOS rate: 0.025056 deg/s,
      cmd heading: 158.772214 deg,
      new cmd heading: 158.808119 deg.

2025-08-11T14:54:30.465Z,1754924070.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003190
2025-08-11T14:54:30.595Z,1754924070.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.80 m.
2025-08-11T14:54:30.622Z,1754924070.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.800003 m,
      nav range: 111.872505 m,
      bearing: 165.506951 deg,
      approach rate: -0.485725 m/s,
      LOS rate: 0.024249 deg/s,
      cmd heading: 158.808114 deg,
      new cmd heading: 158.833400 deg.

2025-08-11T14:54:30.717Z,1754924070.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255429
2025-08-11T14:54:30.968Z,1754924070.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506442
2025-08-11T14:54:30.992Z,1754924070.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:30.994Z,1754924070.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.80 m.
2025-08-11T14:54:30.997Z,1754924070.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.800003 m,
      nav range: 111.678749 m,
      bearing: 165.516538 deg,
      approach rate: -0.484937 m/s,
      LOS rate: 0.024036 deg/s,
      cmd heading: 158.833399 deg,
      new cmd heading: 158.862210 deg.

2025-08-11T14:54:31.221Z,1754924071.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759509
2025-08-11T14:54:31.472Z,1754924071.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010385
2025-08-11T14:54:31.511Z,1754924071.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.80 m.
2025-08-11T14:54:31.514Z,1754924071.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.800003 m,
      nav range: 111.428955 m,
      bearing: 165.531993 deg,
      approach rate: -0.486871 m/s,
      LOS rate: 0.030192 deg/s,
      cmd heading: 158.862209 deg,
      new cmd heading: 158.908679 deg.

2025-08-11T14:54:31.724Z,1754924071.724 [DAT](INFO): DAT read: Rx Time:14:54:32.3737

2025-08-11T14:54:31.725Z,1754924071.725 [DAT](INFO): Rx dataTimestamp_ set to:1754924071.724596
2025-08-11T14:54:31.725Z,1754924071.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263642
2025-08-11T14:54:31.879Z,1754924071.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.80 m.
2025-08-11T14:54:31.882Z,1754924071.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.800003 m,
      nav range: 111.244186 m,
      bearing: 165.543423 deg,
      approach rate: -0.502375 m/s,
      LOS rate: 0.031129 deg/s,
      cmd heading: 158.908681 deg,
      new cmd heading: 158.943028 deg.

2025-08-11T14:54:31.977Z,1754924071.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514955
2025-08-11T14:54:32.234Z,1754924072.234 [DAT](INFO): DAT read: 14:54:32.3737 LVL= 25200, 31537, 27442, 32755, AGC= 66, IDX= 419, 0.12, 2.406, 0.566, 2.382, 2.055, PHS= 0.452,-1.444, 0.283, RAW= 145.4,   7.9, CAL= 144.9,   8.6, ROT=   5.1,  -8.6

2025-08-11T14:54:32.235Z,1754924072.235 [DAT](INFO): got valid direction response:
 14:54:32.3737 LVL= 25200, 31537, 27442, 32755, AGC= 66, IDX= 419, 0.12, 2.406, 0.566, 2.382, 2.055, PHS= 0.452,-1.444, 0.283, RAW= 145.4,   7.9, CAL= 144.9,   8.6, ROT=   5.1,  -8.6

2025-08-11T14:54:32.236Z,1754924072.236 [DAT](INFO): DAT read: Bearing 320.2,   7.0 (Local)

2025-08-11T14:54:32.236Z,1754924072.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.2,   7.0 (Local)

2025-08-11T14:54:32.238Z,1754924072.238 [DAT](INFO): DAT read: Range 11 to 50 : 112.9 m  (Round-trip  150.6 ms) speed  0.4 m/s

2025-08-11T14:54:32.238Z,1754924072.238 [DAT](INFO): DAT read: user:207>

2025-08-11T14:54:32.239Z,1754924072.239 [DAT](INFO): DAT read: Tx time:14:54:33.4689

2025-08-11T14:54:32.240Z,1754924072.240 [DAT](INFO): Ping request sent.
2025-08-11T14:54:32.240Z,1754924072.240 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:32.240Z,1754924072.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:32.241Z,1754924072.241 [DAT](INFO): direction in FSK: [0.984842,0.087895,0.149535]
2025-08-11T14:54:32.241Z,1754924072.241 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:32.241Z,1754924072.241 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:32.274Z,1754924072.274 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:32.274Z,1754924072.274 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:32.443Z,1754924072.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.900002 m,
      deltaT: 3.779229 s,
      deltaX: -1.900002 m,
      approachRate: -0.502748 m/s,
      rangeRepo size: 4

2025-08-11T14:54:32.449Z,1754924072.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 112.900002 m,
      bearing: 164.657126 deg,
      lat: 36.905877 deg,
      lon: -122.115897 deg,
      deltaT: 3.779229 s,
      deltaX: -1.900002 m,
      approachRate: -0.502748 m/s,
      posRepo size: 4

2025-08-11T14:54:32.450Z,1754924072.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.90 m.
2025-08-11T14:54:32.454Z,1754924072.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.900002 m,
      nav range: 110.843903 m,
      bearing: 164.657126 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031129 deg/s,
      cmd heading: 158.943024 deg,
      new cmd heading: 158.995858 deg.

2025-08-11T14:54:32.758Z,1754924072.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.90 m.
2025-08-11T14:54:32.765Z,1754924072.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.900002 m,
      nav range: 110.677734 m,
      bearing: 164.668134 deg,
      approach rate: -0.523567 m/s,
      LOS rate: 0.034737 deg/s,
      cmd heading: 158.995862 deg,
      new cmd heading: 159.028936 deg.

2025-08-11T14:54:33.213Z,1754924073.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:33.219Z,1754924073.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.90 m.
2025-08-11T14:54:33.222Z,1754924073.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.900002 m,
      nav range: 110.470825 m,
      bearing: 164.681879 deg,
      approach rate: -0.453066 m/s,
      LOS rate: 0.030153 deg/s,
      cmd heading: 159.028934 deg,
      new cmd heading: 159.070245 deg.

2025-08-11T14:54:33.236Z,1754924073.236 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:33.236Z,1754924073.236 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:33.236Z,1754924073.236 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:33.491Z,1754924073.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250859
2025-08-11T14:54:33.577Z,1754924073.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.90 m.
2025-08-11T14:54:33.580Z,1754924073.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.900002 m,
      nav range: 110.269104 m,
      bearing: 164.694750 deg,
      approach rate: -0.557162 m/s,
      LOS rate: 0.035616 deg/s,
      cmd heading: 159.070243 deg,
      new cmd heading: 159.108927 deg.

2025-08-11T14:54:33.741Z,1754924073.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501316
2025-08-11T14:54:33.962Z,1754924073.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.90 m.
2025-08-11T14:54:33.965Z,1754924073.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.900002 m,
      nav range: 110.080948 m,
      bearing: 164.706778 deg,
      approach rate: -0.488772 m/s,
      LOS rate: 0.031299 deg/s,
      cmd heading: 159.108929 deg,
      new cmd heading: 159.145075 deg.

2025-08-11T14:54:33.993Z,1754924073.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752866
2025-08-11T14:54:34.244Z,1754924074.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004552
2025-08-11T14:54:34.376Z,1754924074.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.90 m.
2025-08-11T14:54:34.379Z,1754924074.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.900002 m,
      nav range: 109.874977 m,
      bearing: 164.714821 deg,
      approach rate: -0.498645 m/s,
      LOS rate: 0.019507 deg/s,
      cmd heading: 159.145074 deg,
      new cmd heading: 159.169247 deg.

2025-08-11T14:54:34.497Z,1754924074.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257524
2025-08-11T14:54:34.748Z,1754924074.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508449
2025-08-11T14:54:34.804Z,1754924074.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.90 m.
2025-08-11T14:54:34.807Z,1754924074.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.900002 m,
      nav range: 109.661530 m,
      bearing: 164.723187 deg,
      approach rate: -0.498474 m/s,
      LOS rate: 0.019576 deg/s,
      cmd heading: 159.169253 deg,
      new cmd heading: 159.194400 deg.

2025-08-11T14:54:35.000Z,1754924075.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760444
2025-08-11T14:54:35.188Z,1754924075.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.90 m.
2025-08-11T14:54:35.216Z,1754924075.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.900002 m,
      nav range: 109.478355 m,
      bearing: 164.730370 deg,
      approach rate: -0.497928 m/s,
      LOS rate: 0.019559 deg/s,
      cmd heading: 159.194402 deg,
      new cmd heading: 159.215988 deg.

2025-08-11T14:54:35.252Z,1754924075.252 [DAT](INFO): DAT read: Rx Time:14:54:36.0213

2025-08-11T14:54:35.253Z,1754924075.253 [DAT](INFO): Rx dataTimestamp_ set to:1754924075.252347
2025-08-11T14:54:35.253Z,1754924075.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013518
2025-08-11T14:54:35.505Z,1754924075.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264918
2025-08-11T14:54:35.593Z,1754924075.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:35.595Z,1754924075.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.90 m.
2025-08-11T14:54:35.598Z,1754924075.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.900002 m,
      nav range: 109.258804 m,
      bearing: 164.731877 deg,
      approach rate: -0.518307 m/s,
      LOS rate: 0.003565 deg/s,
      cmd heading: 159.215985 deg,
      new cmd heading: 159.220516 deg.

2025-08-11T14:54:35.762Z,1754924075.762 [DAT](INFO): DAT read: 14:54:36.0213 LVL= 32752, 32753, 32642, 32755, AGC= 67, IDX= 411, 0.39,-0.947,-2.790,-0.994,-1.341, PHS= 0.495,-1.404, 0.302, RAW= 144.7,   6.8, CAL= 144.2,   7.4, ROT=   5.8,  -7.4

2025-08-11T14:54:35.763Z,1754924075.763 [DAT](INFO): got valid direction response:
 14:54:36.0213 LVL= 32752, 32753, 32642, 32755, AGC= 67, IDX= 411, 0.39,-0.947,-2.790,-0.994,-1.341, PHS= 0.495,-1.404, 0.302, RAW= 144.7,   6.8, CAL= 144.2,   7.4, ROT=   5.8,  -7.4

2025-08-11T14:54:35.764Z,1754924075.764 [DAT](INFO): DAT read: Bearing 318.9,   6.8 (Local)

2025-08-11T14:54:35.764Z,1754924075.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.9,   6.8 (Local)

2025-08-11T14:54:35.766Z,1754924075.766 [DAT](INFO): DAT read: Range 11 to 50 : 111.2 m  (Round-trip  148.3 ms) speed  0.5 m/s

2025-08-11T14:54:35.767Z,1754924075.767 [DAT](INFO): DAT read: user:208>

2025-08-11T14:54:35.767Z,1754924075.767 [DAT](INFO): DAT read: Tx time:14:54:37.1189

2025-08-11T14:54:35.768Z,1754924075.768 [DAT](INFO): Ping request sent.
2025-08-11T14:54:35.768Z,1754924075.768 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:35.768Z,1754924075.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:35.769Z,1754924075.769 [DAT](INFO): direction in FSK: [0.986595,0.100215,0.128796]
2025-08-11T14:54:35.769Z,1754924075.769 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:35.770Z,1754924075.770 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:35.773Z,1754924075.773 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:35.773Z,1754924075.773 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:35.988Z,1754924075.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.199997 m,
      deltaT: 3.528213 s,
      deltaX: -1.700005 m,
      approachRate: -0.481832 m/s,
      rangeRepo size: 4

2025-08-11T14:54:35.990Z,1754924075.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.199997 m,
      bearing: 164.733170 deg,
      lat: 36.905877 deg,
      lon: -122.115897 deg,
      deltaT: 3.528213 s,
      deltaX: -1.700005 m,
      approachRate: -0.481832 m/s,
      posRepo size: 4

2025-08-11T14:54:35.995Z,1754924075.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-08-11T14:54:35.998Z,1754924075.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.199997 m,
      nav range: 109.062859 m,
      bearing: 164.733170 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003565 deg/s,
      cmd heading: 159.220520 deg,
      new cmd heading: 159.224678 deg.

2025-08-11T14:54:36.393Z,1754924076.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-08-11T14:54:36.396Z,1754924076.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.199997 m,
      nav range: 108.830864 m,
      bearing: 164.729408 deg,
      approach rate: -0.566385 m/s,
      LOS rate: -0.009203 deg/s,
      cmd heading: 159.224673 deg,
      new cmd heading: 159.213364 deg.

2025-08-11T14:54:36.844Z,1754924076.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-08-11T14:54:36.847Z,1754924076.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.199997 m,
      nav range: 108.582542 m,
      bearing: 164.725282 deg,
      approach rate: -0.550751 m/s,
      LOS rate: -0.009173 deg/s,
      cmd heading: 159.213362 deg,
      new cmd heading: 159.200955 deg.

2025-08-11T14:54:37.248Z,1754924077.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-08-11T14:54:37.271Z,1754924077.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.199997 m,
      nav range: 108.391518 m,
      bearing: 164.722047 deg,
      approach rate: -0.479227 m/s,
      LOS rate: -0.008130 deg/s,
      cmd heading: 159.200959 deg,
      new cmd heading: 159.191237 deg.

2025-08-11T14:54:37.636Z,1754924077.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:37.638Z,1754924077.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-08-11T14:54:37.641Z,1754924077.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.199997 m,
      nav range: 108.150604 m,
      bearing: 164.712304 deg,
      approach rate: -0.608409 m/s,
      LOS rate: -0.024659 deg/s,
      cmd heading: 159.191233 deg,
      new cmd heading: 159.161940 deg.

2025-08-11T14:54:37.772Z,1754924077.772 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:37.772Z,1754924077.772 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:37.772Z,1754924077.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:38.015Z,1754924078.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-08-11T14:54:38.018Z,1754924078.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.199997 m,
      nav range: 107.947113 m,
      bearing: 164.704015 deg,
      approach rate: -0.540662 m/s,
      LOS rate: -0.022064 deg/s,
      cmd heading: 159.161945 deg,
      new cmd heading: 159.137032 deg.

2025-08-11T14:54:38.024Z,1754924078.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256532
2025-08-11T14:54:38.281Z,1754924078.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513006
2025-08-11T14:54:38.442Z,1754924078.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-08-11T14:54:38.444Z,1754924078.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.199997 m,
      nav range: 107.713341 m,
      bearing: 164.693569 deg,
      approach rate: -0.547911 m/s,
      LOS rate: -0.024538 deg/s,
      cmd heading: 159.137028 deg,
      new cmd heading: 159.105620 deg.

2025-08-11T14:54:38.531Z,1754924078.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762808
2025-08-11T14:54:38.784Z,1754924078.784 [DAT](INFO): DAT read: Rx Time:14:54:39.6688

2025-08-11T14:54:38.785Z,1754924078.785 [DAT](INFO): Rx dataTimestamp_ set to:1754924078.784489
2025-08-11T14:54:38.785Z,1754924078.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017579
2025-08-11T14:54:38.830Z,1754924078.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-08-11T14:54:38.837Z,1754924078.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.199997 m,
      nav range: 107.504089 m,
      bearing: 164.684124 deg,
      approach rate: -0.538026 m/s,
      LOS rate: -0.024332 deg/s,
      cmd heading: 159.105623 deg,
      new cmd heading: 159.077233 deg.

2025-08-11T14:54:39.036Z,1754924079.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268359
2025-08-11T14:54:39.203Z,1754924079.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.20 m.
2025-08-11T14:54:39.206Z,1754924079.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.199997 m,
      nav range: 107.297348 m,
      bearing: 164.674730 deg,
      approach rate: -0.555113 m/s,
      LOS rate: -0.025271 deg/s,
      cmd heading: 159.077237 deg,
      new cmd heading: 159.049001 deg.

2025-08-11T14:54:39.293Z,1754924079.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524137
2025-08-11T14:54:39.548Z,1754924079.548 [DAT](INFO): DAT read: 14:54:39.6688 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.27, 1.334,-0.575, 1.292, 0.962, PHS= 0.474,-1.492, 0.287, RAW= 145.0,   7.8, CAL= 144.6,   8.5, ROT=   5.4,  -8.5

2025-08-11T14:54:39.549Z,1754924079.549 [DAT](INFO): got valid direction response:
 14:54:39.6688 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.27, 1.334,-0.575, 1.292, 0.962, PHS= 0.474,-1.492, 0.287, RAW= 145.0,   7.8, CAL= 144.6,   8.5, ROT=   5.4,  -8.5

2025-08-11T14:54:39.550Z,1754924079.550 [DAT](INFO): DAT read: Bearing 320.7,   5.8 (Local)

2025-08-11T14:54:39.550Z,1754924079.550 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.7,   5.8 (Local)

2025-08-11T14:54:39.557Z,1754924079.557 [DAT](INFO): DAT read: Range 11 to 50 : 109.3 m  (Round-trip  145.8 ms) speed  0.6 m/s

2025-08-11T14:54:39.558Z,1754924079.558 [DAT](INFO): DAT read: user:209>

2025-08-11T14:54:39.558Z,1754924079.558 [DAT](INFO): DAT read: Tx time:14:54:40.7689

2025-08-11T14:54:39.559Z,1754924079.559 [DAT](INFO): Ping request sent.
2025-08-11T14:54:39.559Z,1754924079.559 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:39.559Z,1754924079.559 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:39.560Z,1754924079.560 [DAT](INFO): direction in FSK: [0.984627,0.093075,0.147809]
2025-08-11T14:54:39.561Z,1754924079.561 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:39.561Z,1754924079.561 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:39.565Z,1754924079.565 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:39.565Z,1754924079.565 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:39.760Z,1754924079.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.300003 m,
      deltaT: 3.784047 s,
      deltaX: -1.899994 m,
      approachRate: -0.502106 m/s,
      rangeRepo size: 4

2025-08-11T14:54:39.762Z,1754924079.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.300003 m,
      bearing: 164.649928 deg,
      lat: 36.905877 deg,
      lon: -122.115896 deg,
      deltaT: 3.784047 s,
      deltaX: -1.899994 m,
      approachRate: -0.502106 m/s,
      posRepo size: 4

2025-08-11T14:54:39.763Z,1754924079.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m.
2025-08-11T14:54:39.769Z,1754924079.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.300003 m,
      nav range: 107.003906 m,
      bearing: 164.649928 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025271 deg/s,
      cmd heading: 159.049001 deg,
      new cmd heading: 159.007155 deg.

2025-08-11T14:54:40.095Z,1754924080.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:40.098Z,1754924080.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m.
2025-08-11T14:54:40.101Z,1754924080.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.300003 m,
      nav range: 106.801544 m,
      bearing: 164.635989 deg,
      approach rate: -0.590254 m/s,
      LOS rate: -0.040735 deg/s,
      cmd heading: 159.007159 deg,
      new cmd heading: 158.965263 deg.

2025-08-11T14:54:40.298Z,1754924080.298 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:40.299Z,1754924080.299 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:40.300Z,1754924080.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:40.519Z,1754924080.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m.
2025-08-11T14:54:40.548Z,1754924080.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989558
2025-08-11T14:54:40.549Z,1754924080.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.300003 m,
      nav range: 106.562630 m,
      bearing: 164.619975 deg,
      approach rate: -0.567341 m/s,
      LOS rate: -0.038114 deg/s,
      cmd heading: 158.965263 deg,
      new cmd heading: 158.917112 deg.

2025-08-11T14:54:40.801Z,1754924080.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241857
2025-08-11T14:54:40.949Z,1754924080.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m.
2025-08-11T14:54:40.956Z,1754924080.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.300003 m,
      nav range: 106.332298 m,
      bearing: 164.604368 deg,
      approach rate: -0.535885 m/s,
      LOS rate: -0.036391 deg/s,
      cmd heading: 158.917110 deg,
      new cmd heading: 158.870186 deg.

2025-08-11T14:54:41.053Z,1754924081.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493938
2025-08-11T14:54:41.307Z,1754924081.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747703
2025-08-11T14:54:41.383Z,1754924081.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m.
2025-08-11T14:54:41.411Z,1754924081.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.300003 m,
      nav range: 106.073502 m,
      bearing: 164.588179 deg,
      approach rate: -0.596438 m/s,
      LOS rate: -0.037399 deg/s,
      cmd heading: 158.870186 deg,
      new cmd heading: 158.821503 deg.

2025-08-11T14:54:41.556Z,1754924081.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997701
2025-08-11T14:54:41.789Z,1754924081.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m.
2025-08-11T14:54:41.800Z,1754924081.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.300003 m,
      nav range: 105.851044 m,
      bearing: 164.574295 deg,
      approach rate: -0.547738 m/s,
      LOS rate: -0.034259 deg/s,
      cmd heading: 158.821501 deg,
      new cmd heading: 158.779759 deg.

2025-08-11T14:54:41.808Z,1754924081.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249475
2025-08-11T14:54:42.060Z,1754924082.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501478
2025-08-11T14:54:42.185Z,1754924082.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:42.188Z,1754924082.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m.
2025-08-11T14:54:42.191Z,1754924082.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.300003 m,
      nav range: 105.619072 m,
      bearing: 164.559866 deg,
      approach rate: -0.581708 m/s,
      LOS rate: -0.036261 deg/s,
      cmd heading: 158.779755 deg,
      new cmd heading: 158.736375 deg.

2025-08-11T14:54:42.316Z,1754924082.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757056
2025-08-11T14:54:42.564Z,1754924082.564 [DAT](INFO): DAT read: Rx Time:14:54:43.3160

2025-08-11T14:54:42.565Z,1754924082.565 [DAT](INFO): Rx dataTimestamp_ set to:1754924082.564484
2025-08-11T14:54:42.565Z,1754924082.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006672
2025-08-11T14:54:42.629Z,1754924082.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m.
2025-08-11T14:54:42.632Z,1754924082.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.300003 m,
      nav range: 105.376999 m,
      bearing: 164.547598 deg,
      approach rate: -0.548411 m/s,
      LOS rate: -0.027857 deg/s,
      cmd heading: 158.736369 deg,
      new cmd heading: 158.699481 deg.

2025-08-11T14:54:42.816Z,1754924082.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257406
2025-08-11T14:54:43.036Z,1754924083.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.30 m.
2025-08-11T14:54:43.039Z,1754924083.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.300003 m,
      nav range: 105.153900 m,
      bearing: 164.536242 deg,
      approach rate: -0.547702 m/s,
      LOS rate: -0.027939 deg/s,
      cmd heading: 158.699486 deg,
      new cmd heading: 158.665344 deg.

2025-08-11T14:54:43.085Z,1754924083.085 [DAT](INFO): DAT read: 14:54:43.3160 LVL= 27296, 31873, 25154, 32755, AGC= 67, IDX= 420, 0.40, 2.069, 0.252, 2.052, 1.718, PHS= 0.453,-1.421, 0.290, RAW= 145.5,   7.6, CAL= 145.0,   8.3, ROT=   5.0,  -8.3

2025-08-11T14:54:43.086Z,1754924083.086 [DAT](INFO): got valid direction response:
 14:54:43.3160 LVL= 27296, 31873, 25154, 32755, AGC= 67, IDX= 420, 0.40, 2.069, 0.252, 2.052, 1.718, PHS= 0.453,-1.421, 0.290, RAW= 145.5,   7.6, CAL= 145.0,   8.3, ROT=   5.0,  -8.3

2025-08-11T14:54:43.092Z,1754924083.092 [DAT](INFO): DAT read: Bearing 320.9,   5.2 (Local)

2025-08-11T14:54:43.092Z,1754924083.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.9,   5.2 (Local)

2025-08-11T14:54:43.094Z,1754924083.094 [DAT](INFO): DAT read: Range 11 to 50 : 107.1 m  (Round-trip  142.9 ms) speed  0.4 m/s

2025-08-11T14:54:43.099Z,1754924083.099 [DAT](INFO): DAT read: user:210>

2025-08-11T14:54:43.100Z,1754924083.100 [DAT](INFO): DAT read: Tx time:14:54:44.4189

2025-08-11T14:54:43.101Z,1754924083.101 [DAT](INFO): Ping request sent.
2025-08-11T14:54:43.101Z,1754924083.101 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:43.101Z,1754924083.101 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:43.102Z,1754924083.102 [DAT](INFO): direction in FSK: [0.985760,0.086243,0.144356]
2025-08-11T14:54:43.102Z,1754924083.102 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:43.102Z,1754924083.102 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:43.132Z,1754924083.132 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:43.133Z,1754924083.133 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:43.453Z,1754924083.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.099998 m,
      deltaT: 3.528126 s,
      deltaX: -2.200005 m,
      approachRate: -0.623562 m/s,
      rangeRepo size: 4

2025-08-11T14:54:43.455Z,1754924083.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.099998 m,
      bearing: 164.501483 deg,
      lat: 36.905868 deg,
      lon: -122.115893 deg,
      deltaT: 3.528126 s,
      deltaX: -2.200005 m,
      approachRate: -0.623562 m/s,
      posRepo size: 4

2025-08-11T14:54:43.456Z,1754924083.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-11T14:54:43.458Z,1754924083.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.099998 m,
      nav range: 105.937660 m,
      bearing: 164.501483 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027939 deg/s,
      cmd heading: 158.665349 deg,
      new cmd heading: 158.630485 deg.

2025-08-11T14:54:43.800Z,1754924083.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-11T14:54:43.802Z,1754924083.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.099998 m,
      nav range: 105.739395 m,
      bearing: 164.497597 deg,
      approach rate: -0.570322 m/s,
      LOS rate: -0.011199 deg/s,
      cmd heading: 158.630488 deg,
      new cmd heading: 158.618808 deg.

2025-08-11T14:54:44.213Z,1754924084.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:44.220Z,1754924084.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-11T14:54:44.222Z,1754924084.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.099998 m,
      nav range: 105.512619 m,
      bearing: 164.493137 deg,
      approach rate: -0.539892 m/s,
      LOS rate: -0.010641 deg/s,
      cmd heading: 158.618808 deg,
      new cmd heading: 158.605399 deg.

2025-08-11T14:54:44.330Z,1754924084.330 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:44.330Z,1754924084.330 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:44.331Z,1754924084.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:44.580Z,1754924084.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479545
2025-08-11T14:54:44.652Z,1754924084.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-11T14:54:44.655Z,1754924084.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.099998 m,
      nav range: 105.289337 m,
      bearing: 164.487438 deg,
      approach rate: -0.516722 m/s,
      LOS rate: -0.013217 deg/s,
      cmd heading: 158.605394 deg,
      new cmd heading: 158.588260 deg.

2025-08-11T14:54:44.832Z,1754924084.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731615
2025-08-11T14:54:45.012Z,1754924085.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-11T14:54:45.015Z,1754924085.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.099998 m,
      nav range: 105.095161 m,
      bearing: 164.482365 deg,
      approach rate: -0.538481 m/s,
      LOS rate: -0.014093 deg/s,
      cmd heading: 158.588264 deg,
      new cmd heading: 158.573018 deg.

2025-08-11T14:54:45.085Z,1754924085.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984479
2025-08-11T14:54:45.339Z,1754924085.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237872
2025-08-11T14:54:45.456Z,1754924085.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-11T14:54:45.459Z,1754924085.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.099998 m,
      nav range: 104.867378 m,
      bearing: 164.483874 deg,
      approach rate: -0.513534 m/s,
      LOS rate: 0.003409 deg/s,
      cmd heading: 158.573019 deg,
      new cmd heading: 158.577554 deg.

2025-08-11T14:54:45.588Z,1754924085.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487764
2025-08-11T14:54:45.827Z,1754924085.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-11T14:54:45.830Z,1754924085.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.099998 m,
      nav range: 104.677071 m,
      bearing: 164.485063 deg,
      approach rate: -0.513090 m/s,
      LOS rate: 0.003212 deg/s,
      cmd heading: 158.577554 deg,
      new cmd heading: 158.581128 deg.

2025-08-11T14:54:45.840Z,1754924085.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739578
2025-08-11T14:54:46.093Z,1754924086.093 [DAT](INFO): DAT read: Rx Time:14:54:46.9633

2025-08-11T14:54:46.094Z,1754924086.094 [DAT](INFO): Rx dataTimestamp_ set to:1754924086.093501
2025-08-11T14:54:46.095Z,1754924086.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994029
2025-08-11T14:54:46.230Z,1754924086.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:46.232Z,1754924086.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-11T14:54:46.235Z,1754924086.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.099998 m,
      nav range: 104.469749 m,
      bearing: 164.486235 deg,
      approach rate: -0.511845 m/s,
      LOS rate: 0.002898 deg/s,
      cmd heading: 158.581133 deg,
      new cmd heading: 158.584655 deg.

2025-08-11T14:54:46.344Z,1754924086.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243613
2025-08-11T14:54:46.599Z,1754924086.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498059
2025-08-11T14:54:46.698Z,1754924086.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.10 m.
2025-08-11T14:54:46.701Z,1754924086.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.099998 m,
      nav range: 104.227745 m,
      bearing: 164.487362 deg,
      approach rate: -0.518798 m/s,
      LOS rate: 0.002421 deg/s,
      cmd heading: 158.584657 deg,
      new cmd heading: 158.588046 deg.

2025-08-11T14:54:46.854Z,1754924086.854 [DAT](INFO): DAT read: 14:54:46.9633 LVL= 21904, 32753, 27122, 32755, AGC= 67, IDX= 409, 0.11, 3.076, 1.158, 3.061, 2.707, PHS= 0.471,-1.504, 0.310, RAW= 145.8,   7.7, CAL= 145.3,   8.3, ROT=   4.7,  -8.3

2025-08-11T14:54:46.858Z,1754924086.858 [DAT](INFO): got valid direction response:
 14:54:46.9633 LVL= 21904, 32753, 27122, 32755, AGC= 67, IDX= 409, 0.11, 3.076, 1.158, 3.061, 2.707, PHS= 0.471,-1.504, 0.310, RAW= 145.8,   7.7, CAL= 145.3,   8.3, ROT=   4.7,  -8.3

2025-08-11T14:54:46.860Z,1754924086.860 [DAT](INFO): DAT read: Bearing 321.8,   4.3 (Local)

2025-08-11T14:54:46.860Z,1754924086.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.8,   4.3 (Local)

2025-08-11T14:54:46.861Z,1754924086.861 [DAT](INFO): DAT read: Range 11 to 50 : 105.2 m  (Round-trip  140.3 ms) speed  0.4 m/s

2025-08-11T14:54:46.862Z,1754924086.862 [DAT](INFO): DAT read: user:211>

2025-08-11T14:54:46.863Z,1754924086.863 [DAT](INFO): DAT read: Tx time:14:54:48.0689

2025-08-11T14:54:46.884Z,1754924086.884 [DAT](INFO): Ping request sent.
2025-08-11T14:54:46.884Z,1754924086.884 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:46.885Z,1754924086.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:46.902Z,1754924086.902 [DAT](INFO): direction in FSK: [0.986198,0.081080,0.144356]
2025-08-11T14:54:46.936Z,1754924086.936 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:46.943Z,1754924086.943 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:46.980Z,1754924086.980 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:46.980Z,1754924086.980 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:47.077Z,1754924087.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.199997 m,
      deltaT: 3.779698 s,
      deltaX: -1.900002 m,
      approachRate: -0.502686 m/s,
      rangeRepo size: 4

2025-08-11T14:54:47.084Z,1754924087.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.199997 m,
      bearing: 164.502820 deg,
      lat: 36.905867 deg,
      lon: -122.115893 deg,
      deltaT: 3.779698 s,
      deltaX: -1.900002 m,
      approachRate: -0.502686 m/s,
      posRepo size: 4

2025-08-11T14:54:47.084Z,1754924087.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-11T14:54:47.087Z,1754924087.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.199997 m,
      nav range: 104.113556 m,
      bearing: 164.502820 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002421 deg/s,
      cmd heading: 158.588045 deg,
      new cmd heading: 158.590791 deg.

2025-08-11T14:54:47.474Z,1754924087.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-11T14:54:47.477Z,1754924087.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.199997 m,
      nav range: 103.900360 m,
      bearing: 164.505098 deg,
      approach rate: -0.535974 m/s,
      LOS rate: 0.005738 deg/s,
      cmd heading: 158.590791 deg,
      new cmd heading: 158.597638 deg.

2025-08-11T14:54:47.851Z,1754924087.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-11T14:54:47.854Z,1754924087.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.199997 m,
      nav range: 103.707901 m,
      bearing: 164.507141 deg,
      approach rate: -0.510705 m/s,
      LOS rate: 0.005431 deg/s,
      cmd heading: 158.597635 deg,
      new cmd heading: 158.603774 deg.

2025-08-11T14:54:48.249Z,1754924088.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:48.251Z,1754924088.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-11T14:54:48.254Z,1754924088.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.199997 m,
      nav range: 103.504189 m,
      bearing: 164.509410 deg,
      approach rate: -0.509815 m/s,
      LOS rate: 0.005691 deg/s,
      cmd heading: 158.603768 deg,
      new cmd heading: 158.610590 deg.

2025-08-11T14:54:48.360Z,1754924088.360 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:48.360Z,1754924088.360 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:48.360Z,1754924088.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:48.612Z,1754924088.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728334
2025-08-11T14:54:48.678Z,1754924088.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-11T14:54:48.697Z,1754924088.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.199997 m,
      nav range: 103.291206 m,
      bearing: 164.511438 deg,
      approach rate: -0.498855 m/s,
      LOS rate: 0.004758 deg/s,
      cmd heading: 158.610585 deg,
      new cmd heading: 158.616679 deg.

2025-08-11T14:54:48.864Z,1754924088.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980296
2025-08-11T14:54:49.064Z,1754924089.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-11T14:54:49.067Z,1754924089.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.199997 m,
      nav range: 103.099068 m,
      bearing: 164.513353 deg,
      approach rate: -0.498690 m/s,
      LOS rate: 0.004980 deg/s,
      cmd heading: 158.616677 deg,
      new cmd heading: 158.622434 deg.

2025-08-11T14:54:49.117Z,1754924089.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232999
2025-08-11T14:54:49.371Z,1754924089.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486741
2025-08-11T14:54:49.500Z,1754924089.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-11T14:54:49.503Z,1754924089.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.199997 m,
      nav range: 102.879646 m,
      bearing: 164.516637 deg,
      approach rate: -0.502203 m/s,
      LOS rate: 0.007532 deg/s,
      cmd heading: 158.622428 deg,
      new cmd heading: 158.632301 deg.

2025-08-11T14:54:49.620Z,1754924089.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736239
2025-08-11T14:54:49.873Z,1754924089.873 [DAT](INFO): DAT read: Rx Time:14:54:50.6109

2025-08-11T14:54:49.873Z,1754924089.873 [DAT](INFO): Rx dataTimestamp_ set to:1754924089.872710
2025-08-11T14:54:49.875Z,1754924089.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990609
2025-08-11T14:54:49.877Z,1754924089.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-11T14:54:49.883Z,1754924089.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.199997 m,
      nav range: 102.693169 m,
      bearing: 164.519585 deg,
      approach rate: -0.502075 m/s,
      LOS rate: 0.007952 deg/s,
      cmd heading: 158.632305 deg,
      new cmd heading: 158.641165 deg.

2025-08-11T14:54:50.124Z,1754924090.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240347
2025-08-11T14:54:50.310Z,1754924090.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:50.312Z,1754924090.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.20 m.
2025-08-11T14:54:50.315Z,1754924090.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.199997 m,
      nav range: 102.472008 m,
      bearing: 164.523220 deg,
      approach rate: -0.501804 m/s,
      LOS rate: 0.008264 deg/s,
      cmd heading: 158.641170 deg,
      new cmd heading: 158.652097 deg.

2025-08-11T14:54:50.389Z,1754924090.389 [DAT](INFO): DAT read: 14:54:50.6109 LVL= 26928, 28977, 26674, 32755, AGC= 66, IDX= 416,-0.03,-1.280,-3.121,-1.287,-1.644, PHS= 0.466,-1.433, 0.313, RAW= 145.8,   7.2, CAL= 145.4,   7.8, ROT=   4.6,  -7.8

2025-08-11T14:54:50.396Z,1754924090.396 [DAT](INFO): got valid direction response:
 14:54:50.6109 LVL= 26928, 28977, 26674, 32755, AGC= 66, IDX= 416,-0.03,-1.280,-3.121,-1.287,-1.644, PHS= 0.466,-1.433, 0.313, RAW= 145.8,   7.2, CAL= 145.4,   7.8, ROT=   4.6,  -7.8

2025-08-11T14:54:50.422Z,1754924090.422 [DAT](INFO): DAT read: Bearing 321.2,   4.0 (Local)

2025-08-11T14:54:50.424Z,1754924090.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.2,   4.0 (Local)

2025-08-11T14:54:50.457Z,1754924090.457 [DAT](INFO): DAT read: Range 11 to 50 : 103.3 m  (Round-trip  137.8 ms) speed  0.5 m/s

2025-08-11T14:54:50.472Z,1754924090.472 [DAT](INFO): DAT read: user:212>

2025-08-11T14:54:50.475Z,1754924090.475 [DAT](INFO): DAT read: Tx time:14:54:51.7189

2025-08-11T14:54:50.479Z,1754924090.479 [DAT](INFO): Ping request sent.
2025-08-11T14:54:50.480Z,1754924090.480 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:50.480Z,1754924090.480 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:50.481Z,1754924090.481 [DAT](INFO): direction in FSK: [0.987557,0.079457,0.135716]
2025-08-11T14:54:50.481Z,1754924090.481 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:50.481Z,1754924090.481 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:50.489Z,1754924090.489 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:50.489Z,1754924090.489 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:50.699Z,1754924090.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.300003 m,
      deltaT: 3.529163 s,
      deltaX: -1.899994 m,
      approachRate: -0.538370 m/s,
      rangeRepo size: 4

2025-08-11T14:54:50.701Z,1754924090.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.300003 m,
      bearing: 164.524419 deg,
      lat: 36.905867 deg,
      lon: -122.115893 deg,
      deltaT: 3.529163 s,
      deltaX: -1.899994 m,
      approachRate: -0.538370 m/s,
      posRepo size: 4

2025-08-11T14:54:50.702Z,1754924090.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.30 m.
2025-08-11T14:54:50.721Z,1754924090.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.300003 m,
      nav range: 102.283371 m,
      bearing: 164.524419 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008264 deg/s,
      cmd heading: 158.652098 deg,
      new cmd heading: 158.661677 deg.

2025-08-11T14:54:51.153Z,1754924091.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.30 m.
2025-08-11T14:54:51.155Z,1754924091.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.300003 m,
      nav range: 102.063911 m,
      bearing: 164.525911 deg,
      approach rate: -0.483205 m/s,
      LOS rate: 0.003292 deg/s,
      cmd heading: 158.661674 deg,
      new cmd heading: 158.666160 deg.

2025-08-11T14:54:51.570Z,1754924091.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.30 m.
2025-08-11T14:54:51.577Z,1754924091.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.300003 m,
      nav range: 101.856712 m,
      bearing: 164.527879 deg,
      approach rate: -0.496411 m/s,
      LOS rate: 0.004724 deg/s,
      cmd heading: 158.666155 deg,
      new cmd heading: 158.672070 deg.

2025-08-11T14:54:51.980Z,1754924091.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.30 m.
2025-08-11T14:54:51.983Z,1754924091.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.300003 m,
      nav range: 101.647667 m,
      bearing: 164.529854 deg,
      approach rate: -0.509631 m/s,
      LOS rate: 0.004826 deg/s,
      cmd heading: 158.672070 deg,
      new cmd heading: 158.678009 deg.

2025-08-11T14:54:52.336Z,1754924092.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:52.338Z,1754924092.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.30 m.
2025-08-11T14:54:52.341Z,1754924092.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.300003 m,
      nav range: 101.464806 m,
      bearing: 164.531562 deg,
      approach rate: -0.510354 m/s,
      LOS rate: 0.004774 deg/s,
      cmd heading: 158.678012 deg,
      new cmd heading: 158.683144 deg.

2025-08-11T14:54:52.393Z,1754924092.393 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:52.393Z,1754924092.393 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:52.394Z,1754924092.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:52.644Z,1754924092.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.164473
2025-08-11T14:54:52.740Z,1754924092.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.30 m.
2025-08-11T14:54:52.743Z,1754924092.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.300003 m,
      nav range: 101.269302 m,
      bearing: 164.532485 deg,
      approach rate: -0.486607 m/s,
      LOS rate: 0.002303 deg/s,
      cmd heading: 158.683149 deg,
      new cmd heading: 158.685924 deg.

2025-08-11T14:54:52.897Z,1754924092.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.417449
2025-08-11T14:54:53.121Z,1754924093.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.30 m.
2025-08-11T14:54:53.124Z,1754924093.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.300003 m,
      nav range: 101.084190 m,
      bearing: 164.533315 deg,
      approach rate: -0.486314 m/s,
      LOS rate: 0.002183 deg/s,
      cmd heading: 158.685922 deg,
      new cmd heading: 158.688414 deg.

2025-08-11T14:54:53.148Z,1754924093.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.668549
2025-08-11T14:54:53.401Z,1754924093.401 [DAT](INFO): DAT read: Rx Time:14:54:54.2585

2025-08-11T14:54:53.401Z,1754924093.401 [DAT](INFO): Rx dataTimestamp_ set to:1754924093.400821
2025-08-11T14:54:53.402Z,1754924093.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.922040
2025-08-11T14:54:53.562Z,1754924093.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.30 m.
2025-08-11T14:54:53.565Z,1754924093.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.300003 m,
      nav range: 100.855705 m,
      bearing: 164.533968 deg,
      approach rate: -0.518194 m/s,
      LOS rate: 0.001485 deg/s,
      cmd heading: 158.688408 deg,
      new cmd heading: 158.690372 deg.

2025-08-11T14:54:53.653Z,1754924093.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.173202
2025-08-11T14:54:53.908Z,1754924093.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.427287
2025-08-11T14:54:53.979Z,1754924093.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.30 m.
2025-08-11T14:54:53.982Z,1754924093.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.300003 m,
      nav range: 100.639572 m,
      bearing: 164.534531 deg,
      approach rate: -0.518379 m/s,
      LOS rate: 0.001354 deg/s,
      cmd heading: 158.690375 deg,
      new cmd heading: 158.692069 deg.

2025-08-11T14:54:54.166Z,1754924094.166 [DAT](INFO): DAT read: 14:54:54.2585 LVL= 29936, 32753, 27378, 32755, AGC= 66, IDX= 424, 0.15, 1.962, 0.134, 1.929, 1.612, PHS= 0.452,-1.433, 0.273, RAW= 145.1,   7.9, CAL= 144.6,   8.6, ROT=   5.4,  -8.6

2025-08-11T14:54:54.167Z,1754924094.167 [DAT](INFO): got valid direction response:
 14:54:54.2585 LVL= 29936, 32753, 27378, 32755, AGC= 66, IDX= 424, 0.15, 1.962, 0.134, 1.929, 1.612, PHS= 0.452,-1.433, 0.273, RAW= 145.1,   7.9, CAL= 144.6,   8.6, ROT=   5.4,  -8.6

2025-08-11T14:54:54.168Z,1754924094.168 [DAT](INFO): DAT read: Bearing 322.0,   4.6 (Local)

2025-08-11T14:54:54.168Z,1754924094.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.0,   4.6 (Local)

2025-08-11T14:54:54.170Z,1754924094.170 [DAT](INFO): DAT read: Range 11 to 50 : 101.6 m  (Round-trip  135.5 ms) speed  0.4 m/s

2025-08-11T14:54:54.170Z,1754924094.170 [DAT](INFO): DAT read: user:213>

2025-08-11T14:54:54.175Z,1754924094.175 [DAT](INFO): DAT read: Tx time:14:54:55.3689

2025-08-11T14:54:54.175Z,1754924094.175 [DAT](INFO): Ping request sent.
2025-08-11T14:54:54.176Z,1754924094.176 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:54.176Z,1754924094.176 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:54.177Z,1754924094.177 [DAT](INFO): direction in FSK: [0.984368,0.093050,0.149535]
2025-08-11T14:54:54.177Z,1754924094.177 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:54.177Z,1754924094.177 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:54.201Z,1754924094.201 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:54.201Z,1754924094.201 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:54.401Z,1754924094.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.599998 m,
      deltaT: 3.780850 s,
      deltaX: -1.700005 m,
      approachRate: -0.449636 m/s,
      rangeRepo size: 4

2025-08-11T14:54:54.403Z,1754924094.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.599998 m,
      bearing: 164.535029 deg,
      lat: 36.905867 deg,
      lon: -122.115893 deg,
      deltaT: 3.780850 s,
      deltaX: -1.700005 m,
      approachRate: -0.449636 m/s,
      posRepo size: 4

2025-08-11T14:54:54.409Z,1754924094.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-11T14:54:54.415Z,1754924094.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 100.440125 m,
      bearing: 164.535029 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001354 deg/s,
      cmd heading: 158.692069 deg,
      new cmd heading: 158.693780 deg.

2025-08-11T14:54:54.796Z,1754924094.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:54.798Z,1754924094.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-11T14:54:54.801Z,1754924094.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 100.223511 m,
      bearing: 164.534003 deg,
      approach rate: -0.544212 m/s,
      LOS rate: -0.002581 deg/s,
      cmd heading: 158.693776 deg,
      new cmd heading: 158.690694 deg.

2025-08-11T14:54:54.912Z,1754924094.912 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:54.912Z,1754924094.912 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:54.912Z,1754924094.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:55.164Z,1754924095.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988595
2025-08-11T14:54:55.174Z,1754924095.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-11T14:54:55.177Z,1754924095.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 100.014061 m,
      bearing: 164.533030 deg,
      approach rate: -0.557467 m/s,
      LOS rate: -0.002597 deg/s,
      cmd heading: 158.690689 deg,
      new cmd heading: 158.687762 deg.

2025-08-11T14:54:55.417Z,1754924095.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241696
2025-08-11T14:54:55.601Z,1754924095.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-11T14:54:55.603Z,1754924095.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 99.775467 m,
      bearing: 164.533947 deg,
      approach rate: -0.559076 m/s,
      LOS rate: 0.002154 deg/s,
      cmd heading: 158.687766 deg,
      new cmd heading: 158.690523 deg.

2025-08-11T14:54:55.668Z,1754924095.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492642
2025-08-11T14:54:55.921Z,1754924095.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745187
2025-08-11T14:54:55.988Z,1754924095.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-11T14:54:55.991Z,1754924095.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 99.560425 m,
      bearing: 164.534724 deg,
      approach rate: -0.554305 m/s,
      LOS rate: 0.002008 deg/s,
      cmd heading: 158.690525 deg,
      new cmd heading: 158.692862 deg.

2025-08-11T14:54:56.172Z,1754924096.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996498
2025-08-11T14:54:56.404Z,1754924096.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-11T14:54:56.406Z,1754924096.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 99.342598 m,
      bearing: 164.535559 deg,
      approach rate: -0.524506 m/s,
      LOS rate: 0.002016 deg/s,
      cmd heading: 158.692861 deg,
      new cmd heading: 158.695372 deg.

2025-08-11T14:54:56.424Z,1754924096.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248561
2025-08-11T14:54:56.676Z,1754924096.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500463
2025-08-11T14:54:56.793Z,1754924096.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-11T14:54:56.796Z,1754924096.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 99.109291 m,
      bearing: 164.535035 deg,
      approach rate: -0.598848 m/s,
      LOS rate: -0.001350 deg/s,
      cmd heading: 158.695375 deg,
      new cmd heading: 158.693797 deg.

2025-08-11T14:54:56.929Z,1754924096.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753487
2025-08-11T14:54:57.176Z,1754924097.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:57.178Z,1754924097.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-11T14:54:57.180Z,1754924097.180 [DAT](INFO): DAT read: Rx Time:14:54:57.9058

2025-08-11T14:54:57.181Z,1754924097.181 [DAT](INFO): Rx dataTimestamp_ set to:1754924097.180453
2025-08-11T14:54:57.181Z,1754924097.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005653
2025-08-11T14:54:57.183Z,1754924097.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 98.891113 m,
      bearing: 164.534590 deg,
      approach rate: -0.567570 m/s,
      LOS rate: -0.001159 deg/s,
      cmd heading: 158.693804 deg,
      new cmd heading: 158.692467 deg.

2025-08-11T14:54:57.432Z,1754924097.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256436
2025-08-11T14:54:57.652Z,1754924097.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.60 m.
2025-08-11T14:54:57.655Z,1754924097.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.599998 m,
      nav range: 98.632065 m,
      bearing: 164.527274 deg,
      approach rate: -0.545791 m/s,
      LOS rate: -0.015454 deg/s,
      cmd heading: 158.692465 deg,
      new cmd heading: 158.670460 deg.

2025-08-11T14:54:57.692Z,1754924097.692 [DAT](INFO): DAT read: 14:54:57.9058 LVL= 29776, 32753, 28914, 32755, AGC= 65, IDX= 414,-0.38,-1.657, 2.872,-1.690,-1.982, PHS= 0.426,-1.385, 0.247, RAW= 144.9,   8.3, CAL= 144.4,   9.0, ROT=   5.6,  -9.0

2025-08-11T14:54:57.694Z,1754924097.694 [DAT](INFO): got valid direction response:
 14:54:57.9058 LVL= 29776, 32753, 28914, 32755, AGC= 65, IDX= 414,-0.38,-1.657, 2.872,-1.690,-1.982, PHS= 0.426,-1.385, 0.247, RAW= 144.9,   8.3, CAL= 144.4,   9.0, ROT=   5.6,  -9.0

2025-08-11T14:54:57.695Z,1754924097.695 [DAT](INFO): DAT read: Bearing 322.3,   4.5 (Local)

2025-08-11T14:54:57.695Z,1754924097.695 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.3,   4.5 (Local)

2025-08-11T14:54:57.697Z,1754924097.697 [DAT](INFO): DAT read: Range 11 to 50 : 99.6 m  (Round-trip  132.9 ms) speed  0.5 m/s

2025-08-11T14:54:57.698Z,1754924097.698 [DAT](INFO): DAT read: user:214>

2025-08-11T14:54:57.700Z,1754924097.700 [DAT](INFO): DAT read: Tx time:14:54:59.0188

2025-08-11T14:54:57.700Z,1754924097.700 [DAT](INFO): Ping request sent.
2025-08-11T14:54:57.700Z,1754924097.700 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:54:57.701Z,1754924097.701 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:54:57.702Z,1754924097.702 [DAT](INFO): direction in FSK: [0.982974,0.096381,0.156434]
2025-08-11T14:54:57.702Z,1754924097.702 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:57.703Z,1754924097.703 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:57.712Z,1754924097.712 [DAT](INFO): publishing transmit ping time
2025-08-11T14:54:57.712Z,1754924097.712 [DAT](INFO): publishing direction and range info
2025-08-11T14:54:58.024Z,1754924098.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.599998 m,
      deltaT: 3.526122 s,
      deltaX: -2.000000 m,
      approachRate: -0.567195 m/s,
      rangeRepo size: 4

2025-08-11T14:54:58.026Z,1754924098.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.599998 m,
      bearing: 164.529866 deg,
      lat: 36.905867 deg,
      lon: -122.115893 deg,
      deltaT: 3.526122 s,
      deltaX: -2.000000 m,
      approachRate: -0.567195 m/s,
      posRepo size: 4

2025-08-11T14:54:58.026Z,1754924098.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.60 m.
2025-08-11T14:54:58.033Z,1754924098.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.599998 m,
      nav range: 98.490593 m,
      bearing: 164.529866 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015454 deg/s,
      cmd heading: 158.670458 deg,
      new cmd heading: 158.653473 deg.

2025-08-11T14:54:58.429Z,1754924098.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.60 m.
2025-08-11T14:54:58.436Z,1754924098.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.599998 m,
      nav range: 98.262444 m,
      bearing: 164.523393 deg,
      approach rate: -0.555860 m/s,
      LOS rate: -0.015808 deg/s,
      cmd heading: 158.653478 deg,
      new cmd heading: 158.634013 deg.

2025-08-11T14:54:58.816Z,1754924098.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.60 m.
2025-08-11T14:54:58.819Z,1754924098.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.599998 m,
      nav range: 98.039360 m,
      bearing: 164.511398 deg,
      approach rate: -0.576670 m/s,
      LOS rate: -0.031077 deg/s,
      cmd heading: 158.634012 deg,
      new cmd heading: 158.597946 deg.

2025-08-11T14:54:59.207Z,1754924099.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:54:59.227Z,1754924099.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.60 m.
2025-08-11T14:54:59.230Z,1754924099.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.599998 m,
      nav range: 97.817505 m,
      bearing: 164.499414 deg,
      approach rate: -0.540417 m/s,
      LOS rate: -0.029257 deg/s,
      cmd heading: 158.597949 deg,
      new cmd heading: 158.561916 deg.

2025-08-11T14:54:59.449Z,1754924099.449 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:54:59.449Z,1754924099.449 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:54:59.449Z,1754924099.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:54:59.648Z,1754924099.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.60 m.
2025-08-11T14:54:59.650Z,1754924099.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.599998 m,
      nav range: 97.558144 m,
      bearing: 164.485576 deg,
      approach rate: -0.616351 m/s,
      LOS rate: -0.032972 deg/s,
      cmd heading: 158.561913 deg,
      new cmd heading: 158.520289 deg.

2025-08-11T14:54:59.701Z,1754924099.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000585
2025-08-11T14:54:59.952Z,1754924099.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251804
2025-08-11T14:55:00.003Z,1754924100.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.60 m.
2025-08-11T14:55:00.005Z,1754924100.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.599998 m,
      nav range: 97.348053 m,
      bearing: 164.474329 deg,
      approach rate: -0.591416 m/s,
      LOS rate: -0.031731 deg/s,
      cmd heading: 158.520290 deg,
      new cmd heading: 158.486474 deg.

2025-08-11T14:55:00.204Z,1754924100.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503804
2025-08-11T14:55:00.417Z,1754924100.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.60 m.
2025-08-11T14:55:00.420Z,1754924100.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.599998 m,
      nav range: 97.103172 m,
      bearing: 164.461171 deg,
      approach rate: -0.591319 m/s,
      LOS rate: -0.031851 deg/s,
      cmd heading: 158.486480 deg,
      new cmd heading: 158.446909 deg.

2025-08-11T14:55:00.456Z,1754924100.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755839
2025-08-11T14:55:00.711Z,1754924100.711 [DAT](INFO): DAT read: Rx Time:14:55:01.5530

2025-08-11T14:55:00.712Z,1754924100.712 [DAT](INFO): Rx dataTimestamp_ set to:1754924100.711431
2025-08-11T14:55:00.712Z,1754924100.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011923
2025-08-11T14:55:00.932Z,1754924100.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.60 m.
2025-08-11T14:55:00.941Z,1754924100.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.599998 m,
      nav range: 96.830688 m,
      bearing: 164.443318 deg,
      approach rate: -0.533494 m/s,
      LOS rate: -0.035054 deg/s,
      cmd heading: 158.446906 deg,
      new cmd heading: 158.393194 deg.

2025-08-11T14:55:00.960Z,1754924100.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259869
2025-08-11T14:55:01.227Z,1754924101.227 [DAT](INFO): DAT read: 14:55:01.5530 LVL= 32752, 32753, 29378, 32755, AGC= 68, IDX= 416,-0.07,-2.230, 2.263,-2.259,-2.567, PHS= 0.439,-1.408, 0.264, RAW= 145.1,   8.0, CAL= 144.6,   8.8, ROT=   5.4,  -8.8

2025-08-11T14:55:01.228Z,1754924101.228 [DAT](INFO): got valid direction response:
 14:55:01.5530 LVL= 32752, 32753, 29378, 32755, AGC= 68, IDX= 416,-0.07,-2.230, 2.263,-2.259,-2.567, PHS= 0.439,-1.408, 0.264, RAW= 145.1,   8.0, CAL= 144.6,   8.8, ROT=   5.4,  -8.8

2025-08-11T14:55:01.229Z,1754924101.229 [DAT](INFO): DAT read: Bearing 321.7,   4.0 (Local)

2025-08-11T14:55:01.229Z,1754924101.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.7,   4.0 (Local)

2025-08-11T14:55:01.231Z,1754924101.231 [DAT](INFO): DAT read: Range 11 to 50 : 97.5 m  (Round-trip  130.0 ms) speed  0.4 m/s

2025-08-11T14:55:01.237Z,1754924101.237 [DAT](INFO): DAT read: user:215>

2025-08-11T14:55:01.238Z,1754924101.238 [DAT](INFO): DAT read: Tx time:14:55:02.6688

2025-08-11T14:55:01.238Z,1754924101.238 [DAT](INFO): Ping request sent.
2025-08-11T14:55:01.238Z,1754924101.238 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:01.238Z,1754924101.238 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:01.239Z,1754924101.239 [DAT](INFO): direction in FSK: [0.983843,0.093001,0.152986]
2025-08-11T14:55:01.240Z,1754924101.240 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:01.240Z,1754924101.240 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:01.255Z,1754924101.255 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:01.256Z,1754924101.256 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:01.409Z,1754924101.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.500000 m,
      deltaT: 3.529578 s,
      deltaX: -2.099998 m,
      approachRate: -0.594972 m/s,
      rangeRepo size: 4

2025-08-11T14:55:01.416Z,1754924101.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.500000 m,
      bearing: 164.971819 deg,
      lat: 36.905865 deg,
      lon: -122.115903 deg,
      deltaT: 3.529578 s,
      deltaX: -2.099998 m,
      approachRate: -0.594972 m/s,
      posRepo size: 4

2025-08-11T14:55:01.416Z,1754924101.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.50 m.
2025-08-11T14:55:01.423Z,1754924101.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.500000 m,
      nav range: 96.576454 m,
      bearing: 164.971819 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035054 deg/s,
      cmd heading: 158.393193 deg,
      new cmd heading: 158.342585 deg.

2025-08-11T14:55:01.780Z,1754924101.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:01.783Z,1754924101.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.50 m.
2025-08-11T14:55:01.785Z,1754924101.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.500000 m,
      nav range: 96.359619 m,
      bearing: 164.954120 deg,
      approach rate: -0.580036 m/s,
      LOS rate: -0.047453 deg/s,
      cmd heading: 158.342582 deg,
      new cmd heading: 158.289364 deg.

2025-08-11T14:55:01.968Z,1754924101.968 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:01.968Z,1754924101.968 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:01.969Z,1754924101.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:02.172Z,1754924102.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.50 m.
2025-08-11T14:55:02.175Z,1754924102.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.500000 m,
      nav range: 96.151100 m,
      bearing: 164.937024 deg,
      approach rate: -0.535317 m/s,
      LOS rate: -0.043986 deg/s,
      cmd heading: 158.289361 deg,
      new cmd heading: 158.237960 deg.

2025-08-11T14:55:02.221Z,1754924102.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982916
2025-08-11T14:55:02.472Z,1754924102.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233911
2025-08-11T14:55:02.557Z,1754924102.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.50 m.
2025-08-11T14:55:02.560Z,1754924102.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.500000 m,
      nav range: 95.940224 m,
      bearing: 164.919704 deg,
      approach rate: -0.548339 m/s,
      LOS rate: -0.045135 deg/s,
      cmd heading: 158.237957 deg,
      new cmd heading: 158.185884 deg.

2025-08-11T14:55:02.724Z,1754924102.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485981
2025-08-11T14:55:02.976Z,1754924102.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738147
2025-08-11T14:55:03.018Z,1754924103.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.50 m.
2025-08-11T14:55:03.025Z,1754924103.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.500000 m,
      nav range: 95.691154 m,
      bearing: 164.905319 deg,
      approach rate: -0.539510 m/s,
      LOS rate: -0.031240 deg/s,
      cmd heading: 158.185883 deg,
      new cmd heading: 158.142617 deg.

2025-08-11T14:55:03.228Z,1754924103.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989908
2025-08-11T14:55:03.404Z,1754924103.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.50 m.
2025-08-11T14:55:03.407Z,1754924103.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.500000 m,
      nav range: 95.487617 m,
      bearing: 164.893563 deg,
      approach rate: -0.527429 m/s,
      LOS rate: -0.030528 deg/s,
      cmd heading: 158.142621 deg,
      new cmd heading: 158.107278 deg.

2025-08-11T14:55:03.481Z,1754924103.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242539
2025-08-11T14:55:03.732Z,1754924103.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494029
2025-08-11T14:55:03.812Z,1754924103.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:03.814Z,1754924103.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.50 m.
2025-08-11T14:55:03.821Z,1754924103.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.500000 m,
      nav range: 95.265915 m,
      bearing: 164.886064 deg,
      approach rate: -0.540345 m/s,
      LOS rate: -0.018320 deg/s,
      cmd heading: 158.107282 deg,
      new cmd heading: 158.084731 deg.

2025-08-11T14:55:03.984Z,1754924103.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745904
2025-08-11T14:55:04.190Z,1754924104.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.50 m.
2025-08-11T14:55:04.193Z,1754924104.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.500000 m,
      nav range: 95.067375 m,
      bearing: 164.879364 deg,
      approach rate: -0.528715 m/s,
      LOS rate: -0.017879 deg/s,
      cmd heading: 158.084728 deg,
      new cmd heading: 158.064587 deg.

2025-08-11T14:55:04.237Z,1754924104.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999138
2025-08-11T14:55:04.488Z,1754924104.488 [DAT](INFO): DAT read: Rx Time:14:55:05.2002

2025-08-11T14:55:04.489Z,1754924104.489 [DAT](INFO): Rx dataTimestamp_ set to:1754924104.488418
2025-08-11T14:55:04.489Z,1754924104.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251134
2025-08-11T14:55:04.591Z,1754924104.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.50 m.
2025-08-11T14:55:04.594Z,1754924104.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.500000 m,
      nav range: 94.848511 m,
      bearing: 164.872004 deg,
      approach rate: -0.556583 m/s,
      LOS rate: -0.018761 deg/s,
      cmd heading: 158.064593 deg,
      new cmd heading: 158.042460 deg.

2025-08-11T14:55:04.740Z,1754924104.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502030
2025-08-11T14:55:04.998Z,1754924104.998 [DAT](INFO): DAT read: 14:55:05.2002 LVL= 28144, 32529, 27474, 32755, AGC= 63, IDX= 420, 0.27, 0.578,-1.353, 0.477, 0.163, PHS= 0.517,-1.471, 0.270, RAW= 143.5,   7.3, CAL= 143.0,   8.0, ROT=   7.0,  -8.0

2025-08-11T14:55:04.999Z,1754924104.999 [DAT](INFO): got valid direction response:
 14:55:05.2002 LVL= 28144, 32529, 27474, 32755, AGC= 63, IDX= 420, 0.27, 0.578,-1.353, 0.477, 0.163, PHS= 0.517,-1.471, 0.270, RAW= 143.5,   7.3, CAL= 143.0,   8.0, ROT=   7.0,  -8.0

2025-08-11T14:55:05.000Z,1754924105.000 [DAT](INFO): DAT read: Bearing 321.2,   5.7 (Local)

2025-08-11T14:55:05.001Z,1754924105.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.2,   5.7 (Local)

2025-08-11T14:55:05.002Z,1754924105.002 [DAT](INFO): DAT read: Range 11 to 50 : 95.4 m  (Round-trip  127.3 ms) speed  0.4 m/s

2025-08-11T14:55:05.003Z,1754924105.003 [DAT](INFO): DAT read: user:216>

2025-08-11T14:55:05.004Z,1754924105.004 [DAT](INFO): DAT read: Tx time:14:55:06.3188

2025-08-11T14:55:05.004Z,1754924105.004 [DAT](INFO): Ping request sent.
2025-08-11T14:55:05.004Z,1754924105.004 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:05.004Z,1754924105.004 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:05.005Z,1754924105.005 [DAT](INFO): direction in FSK: [0.982887,0.120683,0.139173]
2025-08-11T14:55:05.006Z,1754924105.006 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:05.006Z,1754924105.006 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:05.013Z,1754924105.013 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:05.013Z,1754924105.013 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:05.162Z,1754924105.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.400002 m,
      deltaT: 3.778644 s,
      deltaX: -2.099998 m,
      approachRate: -0.555755 m/s,
      rangeRepo size: 4

2025-08-11T14:55:05.168Z,1754924105.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.400002 m,
      bearing: 164.894414 deg,
      lat: 36.905863 deg,
      lon: -122.115903 deg,
      deltaT: 3.778644 s,
      deltaX: -2.099998 m,
      approachRate: -0.555755 m/s,
      posRepo size: 4

2025-08-11T14:55:05.169Z,1754924105.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m.
2025-08-11T14:55:05.182Z,1754924105.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.400002 m,
      nav range: 94.662643 m,
      bearing: 164.894414 deg,
      approach rate: 147476645413687879919788295660 m/s,
      LOS rate: -0.018761 deg/s,
      cmd heading: 158.042463 deg,
      new cmd heading: 158.009922 deg.

2025-08-11T14:55:05.612Z,1754924105.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m.
2025-08-11T14:55:05.632Z,1754924105.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.400002 m,
      nav range: 94.406914 m,
      bearing: 164.895262 deg,
      approach rate: -0.566970 m/s,
      LOS rate: 0.001886 deg/s,
      cmd heading: 158.009924 deg,
      new cmd heading: 158.012476 deg.

2025-08-11T14:55:06.061Z,1754924106.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:06.064Z,1754924106.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m.
2025-08-11T14:55:06.067Z,1754924106.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.400002 m,
      nav range: 94.177307 m,
      bearing: 164.901540 deg,
      approach rate: -0.509074 m/s,
      LOS rate: 0.013953 deg/s,
      cmd heading: 158.012479 deg,
      new cmd heading: 158.031358 deg.

2025-08-11T14:55:06.252Z,1754924106.252 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:06.252Z,1754924106.252 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:06.252Z,1754924106.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:06.447Z,1754924106.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m.
2025-08-11T14:55:06.450Z,1754924106.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.400002 m,
      nav range: 93.995598 m,
      bearing: 164.906656 deg,
      approach rate: -0.505505 m/s,
      LOS rate: 0.014260 deg/s,
      cmd heading: 158.031357 deg,
      new cmd heading: 158.046735 deg.

2025-08-11T14:55:06.504Z,1754924106.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500159
2025-08-11T14:55:06.758Z,1754924106.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753729
2025-08-11T14:55:06.880Z,1754924106.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m.
2025-08-11T14:55:06.883Z,1754924106.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.400002 m,
      nav range: 93.784370 m,
      bearing: 164.915091 deg,
      approach rate: -0.462088 m/s,
      LOS rate: 0.018495 deg/s,
      cmd heading: 158.046739 deg,
      new cmd heading: 158.072102 deg.

2025-08-11T14:55:07.008Z,1754924107.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004151
2025-08-11T14:55:07.209Z,1754924107.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m.
2025-08-11T14:55:07.211Z,1754924107.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.400002 m,
      nav range: 93.612457 m,
      bearing: 164.922081 deg,
      approach rate: -0.523202 m/s,
      LOS rate: 0.021312 deg/s,
      cmd heading: 158.072106 deg,
      new cmd heading: 158.093114 deg.

2025-08-11T14:55:07.261Z,1754924107.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257310
2025-08-11T14:55:07.512Z,1754924107.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508103
2025-08-11T14:55:07.620Z,1754924107.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m.
2025-08-11T14:55:07.622Z,1754924107.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.400002 m,
      nav range: 93.415230 m,
      bearing: 164.930203 deg,
      approach rate: -0.479575 m/s,
      LOS rate: 0.019791 deg/s,
      cmd heading: 158.093116 deg,
      new cmd heading: 158.117534 deg.

2025-08-11T14:55:07.765Z,1754924107.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760797
2025-08-11T14:55:08.016Z,1754924108.016 [DAT](INFO): DAT read: Rx Time:14:55:08.8478

2025-08-11T14:55:08.017Z,1754924108.017 [DAT](INFO): Rx dataTimestamp_ set to:1754924108.016417
2025-08-11T14:55:08.017Z,1754924108.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013195
2025-08-11T14:55:08.070Z,1754924108.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:08.073Z,1754924108.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m.
2025-08-11T14:55:08.076Z,1754924108.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.400002 m,
      nav range: 93.184715 m,
      bearing: 164.944209 deg,
      approach rate: -0.509005 m/s,
      LOS rate: 0.031002 deg/s,
      cmd heading: 158.117541 deg,
      new cmd heading: 158.159661 deg.

2025-08-11T14:55:08.268Z,1754924108.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264173
2025-08-11T14:55:08.447Z,1754924108.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.40 m.
2025-08-11T14:55:08.453Z,1754924108.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.400002 m,
      nav range: 93.014236 m,
      bearing: 164.954660 deg,
      approach rate: -0.455835 m/s,
      LOS rate: 0.027996 deg/s,
      cmd heading: 158.159656 deg,
      new cmd heading: 158.191066 deg.

2025-08-11T14:55:08.528Z,1754924108.528 [DAT](INFO): DAT read: 14:55:08.8478 LVL= 30432, 32753, 29890, 32755, AGC= 64, IDX= 411, 0.09, 2.919, 1.055, 2.825, 2.509, PHS= 0.512,-1.410, 0.272, RAW= 143.4,   7.0, CAL= 143.0,   7.6, ROT=   7.0,  -7.6

2025-08-11T14:55:08.530Z,1754924108.530 [DAT](INFO): got valid direction response:
 14:55:08.8478 LVL= 30432, 32753, 29890, 32755, AGC= 64, IDX= 411, 0.09, 2.919, 1.055, 2.825, 2.509, PHS= 0.512,-1.410, 0.272, RAW= 143.4,   7.0, CAL= 143.0,   7.6, ROT=   7.0,  -7.6

2025-08-11T14:55:08.531Z,1754924108.531 [DAT](INFO): DAT read: Bearing 320.0,   6.1 (Local)

2025-08-11T14:55:08.532Z,1754924108.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.0,   6.1 (Local)

2025-08-11T14:55:08.533Z,1754924108.533 [DAT](INFO): DAT read: Range 11 to 50 : 93.6 m  (Round-trip  124.9 ms) speed  0.4 m/s

2025-08-11T14:55:08.534Z,1754924108.534 [DAT](INFO): DAT read: user:217>

2025-08-11T14:55:08.535Z,1754924108.535 [DAT](INFO): DAT read: Tx time:14:55:09.9688

2025-08-11T14:55:08.535Z,1754924108.535 [DAT](INFO): Ping request sent.
2025-08-11T14:55:08.535Z,1754924108.535 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:08.536Z,1754924108.536 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:08.536Z,1754924108.536 [DAT](INFO): direction in FSK: [0.983827,0.120799,0.132256]
2025-08-11T14:55:08.537Z,1754924108.537 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:08.537Z,1754924108.537 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:08.561Z,1754924108.561 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:08.561Z,1754924108.561 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:08.991Z,1754924108.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.599998 m,
      deltaT: 3.527857 s,
      deltaX: -1.800003 m,
      approachRate: -0.510226 m/s,
      rangeRepo size: 4

2025-08-11T14:55:08.993Z,1754924108.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.599998 m,
      bearing: 165.245644 deg,
      lat: 36.905863 deg,
      lon: -122.115908 deg,
      deltaT: 3.527857 s,
      deltaX: -1.800003 m,
      approachRate: -0.510226 m/s,
      posRepo size: 4

2025-08-11T14:55:08.994Z,1754924108.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m.
2025-08-11T14:55:09.000Z,1754924109.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.599998 m,
      nav range: 92.736519 m,
      bearing: 165.245644 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027996 deg/s,
      cmd heading: 158.191061 deg,
      new cmd heading: 158.236688 deg.

2025-08-11T14:55:09.336Z,1754924109.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m.
2025-08-11T14:55:09.342Z,1754924109.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.599998 m,
      nav range: 92.555817 m,
      bearing: 165.253558 deg,
      approach rate: -0.524154 m/s,
      LOS rate: 0.023002 deg/s,
      cmd heading: 158.236686 deg,
      new cmd heading: 158.260476 deg.

2025-08-11T14:55:09.827Z,1754924109.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m.
2025-08-11T14:55:09.829Z,1754924109.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.599998 m,
      nav range: 92.323578 m,
      bearing: 165.267487 deg,
      approach rate: -0.472252 m/s,
      LOS rate: 0.028395 deg/s,
      cmd heading: 158.260469 deg,
      new cmd heading: 158.302361 deg.

2025-08-11T14:55:10.145Z,1754924110.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:10.147Z,1754924110.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m.
2025-08-11T14:55:10.150Z,1754924110.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.599998 m,
      nav range: 92.172607 m,
      bearing: 165.276579 deg,
      approach rate: -0.470618 m/s,
      LOS rate: 0.028390 deg/s,
      cmd heading: 158.302365 deg,
      new cmd heading: 158.329687 deg.

2025-08-11T14:55:10.286Z,1754924110.286 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:10.286Z,1754924110.286 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:10.286Z,1754924110.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:10.536Z,1754924110.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001083
2025-08-11T14:55:10.564Z,1754924110.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m.
2025-08-11T14:55:10.567Z,1754924110.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.599998 m,
      nav range: 91.976082 m,
      bearing: 165.288460 deg,
      approach rate: -0.471540 m/s,
      LOS rate: 0.028568 deg/s,
      cmd heading: 158.329686 deg,
      new cmd heading: 158.365405 deg.

2025-08-11T14:55:10.788Z,1754924110.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253061
2025-08-11T14:55:10.997Z,1754924110.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m.
2025-08-11T14:55:11.000Z,1754924111.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.599998 m,
      nav range: 91.762276 m,
      bearing: 165.298632 deg,
      approach rate: -0.493894 m/s,
      LOS rate: 0.023551 deg/s,
      cmd heading: 158.365408 deg,
      new cmd heading: 158.395994 deg.

2025-08-11T14:55:11.040Z,1754924111.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505203
2025-08-11T14:55:11.292Z,1754924111.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757299
2025-08-11T14:55:11.377Z,1754924111.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m.
2025-08-11T14:55:11.384Z,1754924111.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.599998 m,
      nav range: 91.587578 m,
      bearing: 165.307128 deg,
      approach rate: -0.466856 m/s,
      LOS rate: 0.022748 deg/s,
      cmd heading: 158.395994 deg,
      new cmd heading: 158.421531 deg.

2025-08-11T14:55:11.544Z,1754924111.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009029
2025-08-11T14:55:11.802Z,1754924111.802 [DAT](INFO): DAT read: Rx Time:14:55:12.4956

2025-08-11T14:55:11.803Z,1754924111.803 [DAT](INFO): Rx dataTimestamp_ set to:1754924111.802288
2025-08-11T14:55:11.803Z,1754924111.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268212
2025-08-11T14:55:11.825Z,1754924111.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m.
2025-08-11T14:55:11.829Z,1754924111.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.599998 m,
      nav range: 91.344009 m,
      bearing: 165.318242 deg,
      approach rate: -0.536957 m/s,
      LOS rate: 0.024565 deg/s,
      cmd heading: 158.421525 deg,
      new cmd heading: 158.454954 deg.

2025-08-11T14:55:12.052Z,1754924112.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517087
2025-08-11T14:55:12.210Z,1754924112.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:12.212Z,1754924112.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.60 m.
2025-08-11T14:55:12.215Z,1754924112.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.599998 m,
      nav range: 91.145355 m,
      bearing: 165.327327 deg,
      approach rate: -0.512971 m/s,
      LOS rate: 0.023513 deg/s,
      cmd heading: 158.454952 deg,
      new cmd heading: 158.482269 deg.

2025-08-11T14:55:12.312Z,1754924112.312 [DAT](INFO): DAT read: 14:55:12.4956 LVL= 24304, 32481, 25522, 32755, AGC= 66, IDX= 420,-0.04,-2.743, 1.583,-2.833, 3.130, PHS= 0.512,-1.502, 0.276, RAW= 143.9,   7.5, CAL= 143.4,   8.2, ROT=   6.6,  -8.2

2025-08-11T14:55:12.313Z,1754924112.313 [DAT](INFO): got valid direction response:
 14:55:12.4956 LVL= 24304, 32481, 25522, 32755, AGC= 66, IDX= 420,-0.04,-2.743, 1.583,-2.833, 3.130, PHS= 0.512,-1.502, 0.276, RAW= 143.9,   7.5, CAL= 143.4,   8.2, ROT=   6.6,  -8.2

2025-08-11T14:55:12.314Z,1754924112.314 [DAT](INFO): DAT read: Bearing 319.8,   5.6 (Local)

2025-08-11T14:55:12.314Z,1754924112.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.8,   5.6 (Local)

2025-08-11T14:55:12.316Z,1754924112.316 [DAT](INFO): DAT read: Range 11 to 50 : 91.9 m  (Round-trip  122.6 ms) speed  0.4 m/s

2025-08-11T14:55:12.317Z,1754924112.317 [DAT](INFO): DAT read: user:218>

2025-08-11T14:55:12.317Z,1754924112.317 [DAT](INFO): DAT read: Tx time:14:55:13.6188

2025-08-11T14:55:12.318Z,1754924112.318 [DAT](INFO): Ping request sent.
2025-08-11T14:55:12.318Z,1754924112.318 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:12.318Z,1754924112.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:12.320Z,1754924112.320 [DAT](INFO): direction in FSK: [0.983217,0.113762,0.142629]
2025-08-11T14:55:12.320Z,1754924112.320 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:12.320Z,1754924112.320 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:12.323Z,1754924112.323 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:12.324Z,1754924112.324 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:12.625Z,1754924112.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.900002 m,
      deltaT: 3.784395 s,
      deltaX: -1.699997 m,
      approachRate: -0.449212 m/s,
      rangeRepo size: 4

2025-08-11T14:55:12.627Z,1754924112.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.900002 m,
      bearing: 165.387089 deg,
      lat: 36.905860 deg,
      lon: -122.115908 deg,
      deltaT: 3.784395 s,
      deltaX: -1.699997 m,
      approachRate: -0.449212 m/s,
      posRepo size: 4

2025-08-11T14:55:12.633Z,1754924112.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-08-11T14:55:12.640Z,1754924112.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 91.169456 m,
      bearing: 165.387089 deg,
      approach rate: 11624899411968.000000 m/s,
      LOS rate: 0.023513 deg/s,
      cmd heading: 158.482273 deg,
      new cmd heading: 158.511327 deg.

2025-08-11T14:55:13.058Z,1754924113.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-08-11T14:55:13.065Z,1754924113.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 90.940544 m,
      bearing: 165.394952 deg,
      approach rate: -0.527080 m/s,
      LOS rate: 0.018152 deg/s,
      cmd heading: 158.511328 deg,
      new cmd heading: 158.534979 deg.

2025-08-11T14:55:13.418Z,1754924113.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-08-11T14:55:13.421Z,1754924113.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 90.740158 m,
      bearing: 165.401779 deg,
      approach rate: -0.557374 m/s,
      LOS rate: 0.019029 deg/s,
      cmd heading: 158.534974 deg,
      new cmd heading: 158.555498 deg.

2025-08-11T14:55:13.889Z,1754924113.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-08-11T14:55:13.892Z,1754924113.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 90.497673 m,
      bearing: 165.409282 deg,
      approach rate: -0.514920 m/s,
      LOS rate: 0.015976 deg/s,
      cmd heading: 158.555492 deg,
      new cmd heading: 158.578062 deg.

2025-08-11T14:55:14.233Z,1754924114.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:14.235Z,1754924114.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-08-11T14:55:14.238Z,1754924114.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 90.319389 m,
      bearing: 165.414824 deg,
      approach rate: -0.514563 m/s,
      LOS rate: 0.016028 deg/s,
      cmd heading: 158.578059 deg,
      new cmd heading: 158.594719 deg.

2025-08-11T14:55:14.320Z,1754924114.320 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:14.320Z,1754924114.320 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:14.321Z,1754924114.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:14.572Z,1754924114.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254395
2025-08-11T14:55:14.631Z,1754924114.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-08-11T14:55:14.634Z,1754924114.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 90.115318 m,
      bearing: 165.421195 deg,
      approach rate: -0.515599 m/s,
      LOS rate: 0.016133 deg/s,
      cmd heading: 158.594725 deg,
      new cmd heading: 158.613881 deg.

2025-08-11T14:55:14.828Z,1754924114.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509936
2025-08-11T14:55:15.072Z,1754924115.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-08-11T14:55:15.076Z,1754924115.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758601
2025-08-11T14:55:15.077Z,1754924115.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 89.880806 m,
      bearing: 165.427868 deg,
      approach rate: -0.531151 m/s,
      LOS rate: 0.015152 deg/s,
      cmd heading: 158.613877 deg,
      new cmd heading: 158.633946 deg.

2025-08-11T14:55:15.330Z,1754924115.330 [DAT](INFO): DAT read: Rx Time:14:55:16.1431

2025-08-11T14:55:15.330Z,1754924115.330 [DAT](INFO): Rx dataTimestamp_ set to:1754924115.329826
2025-08-11T14:55:15.331Z,1754924115.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012971
2025-08-11T14:55:15.438Z,1754924115.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.90 m.
2025-08-11T14:55:15.442Z,1754924115.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.900002 m,
      nav range: 89.686287 m,
      bearing: 165.432849 deg,
      approach rate: -0.531522 m/s,
      LOS rate: 0.013641 deg/s,
      cmd heading: 158.633944 deg,
      new cmd heading: 158.648921 deg.

2025-08-11T14:55:15.580Z,1754924115.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262404
2025-08-11T14:55:15.845Z,1754924115.845 [DAT](INFO): DAT read: 14:55:16.1431 LVL= 23152, 32753, 29026, 32755, AGC= 66, IDX= 411,-0.33, 1.709,-0.288, 1.621, 1.303, PHS= 0.508,-1.546, 0.275, RAW= 144.0,   7.9, CAL= 143.6,   8.6, ROT=   6.4,  -8.6

2025-08-11T14:55:15.852Z,1754924115.852 [DAT](INFO): got valid direction response:
 14:55:16.1431 LVL= 23152, 32753, 29026, 32755, AGC= 66, IDX= 411,-0.33, 1.709,-0.288, 1.621, 1.303, PHS= 0.508,-1.546, 0.275, RAW= 144.0,   7.9, CAL= 143.6,   8.6, ROT=   6.4,  -8.6

2025-08-11T14:55:15.853Z,1754924115.853 [DAT](INFO): DAT read: Bearing 319.9,   5.2 (Local)

2025-08-11T14:55:15.853Z,1754924115.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.9,   5.2 (Local)

2025-08-11T14:55:15.855Z,1754924115.855 [DAT](INFO): DAT read: Range 11 to 50 : 90.1 m  (Round-trip  120.2 ms) speed  0.4 m/s

2025-08-11T14:55:15.884Z,1754924115.884 [DAT](INFO): DAT read: user:219>

2025-08-11T14:55:15.885Z,1754924115.885 [DAT](INFO): DAT read: Tx time:14:55:17.2688

2025-08-11T14:55:15.885Z,1754924115.885 [DAT](INFO): Ping request sent.
2025-08-11T14:55:15.885Z,1754924115.885 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:15.885Z,1754924115.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:15.886Z,1754924115.886 [DAT](INFO): direction in FSK: [0.982594,0.110216,0.149535]
2025-08-11T14:55:15.886Z,1754924115.886 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:15.887Z,1754924115.887 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:15.906Z,1754924115.906 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:15.907Z,1754924115.907 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:16.042Z,1754924116.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.099998 m,
      deltaT: 3.529468 s,
      deltaX: -1.800003 m,
      approachRate: -0.509993 m/s,
      rangeRepo size: 4

2025-08-11T14:55:16.048Z,1754924116.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 90.099998 m,
      bearing: 165.504959 deg,
      lat: 36.905860 deg,
      lon: -122.115909 deg,
      deltaT: 3.529468 s,
      deltaX: -1.800003 m,
      approachRate: -0.509993 m/s,
      posRepo size: 4

2025-08-11T14:55:16.049Z,1754924116.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:16.055Z,1754924116.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 89.345535 m,
      bearing: 165.504959 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013641 deg/s,
      cmd heading: 158.648916 deg,
      new cmd heading: 158.673570 deg.

2025-08-11T14:55:16.341Z,1754924116.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:16.349Z,1754924116.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:16.357Z,1754924116.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 89.181473 m,
      bearing: 165.503954 deg,
      approach rate: -0.533145 m/s,
      LOS rate: -0.003271 deg/s,
      cmd heading: 158.673573 deg,
      new cmd heading: 158.670553 deg.

2025-08-11T14:55:16.592Z,1754924116.592 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:16.593Z,1754924116.593 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:16.593Z,1754924116.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:16.720Z,1754924116.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:16.723Z,1754924116.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 88.963173 m,
      bearing: 165.502616 deg,
      approach rate: -0.587701 m/s,
      LOS rate: -0.003613 deg/s,
      cmd heading: 158.670554 deg,
      new cmd heading: 158.666527 deg.

2025-08-11T14:55:16.844Z,1754924116.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.958286
2025-08-11T14:55:17.092Z,1754924117.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207073
2025-08-11T14:55:17.179Z,1754924117.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:17.182Z,1754924117.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 88.724709 m,
      bearing: 165.499210 deg,
      approach rate: -0.538528 m/s,
      LOS rate: -0.007713 deg/s,
      cmd heading: 158.666524 deg,
      new cmd heading: 158.656278 deg.

2025-08-11T14:55:17.346Z,1754924117.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460856
2025-08-11T14:55:17.538Z,1754924117.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:17.561Z,1754924117.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 88.528389 m,
      bearing: 165.496438 deg,
      approach rate: -0.523105 m/s,
      LOS rate: -0.007400 deg/s,
      cmd heading: 158.656279 deg,
      new cmd heading: 158.647947 deg.

2025-08-11T14:55:17.596Z,1754924117.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711342
2025-08-11T14:55:17.852Z,1754924117.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966461
2025-08-11T14:55:17.968Z,1754924117.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:17.971Z,1754924117.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 88.279022 m,
      bearing: 165.490643 deg,
      approach rate: -0.580220 m/s,
      LOS rate: -0.013523 deg/s,
      cmd heading: 158.647946 deg,
      new cmd heading: 158.630509 deg.

2025-08-11T14:55:18.101Z,1754924118.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215750
2025-08-11T14:55:18.352Z,1754924118.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467229
2025-08-11T14:55:18.362Z,1754924118.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:18.387Z,1754924118.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:18.390Z,1754924118.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 88.055435 m,
      bearing: 165.485418 deg,
      approach rate: -0.533221 m/s,
      LOS rate: -0.012491 deg/s,
      cmd heading: 158.630515 deg,
      new cmd heading: 158.614802 deg.

2025-08-11T14:55:18.604Z,1754924118.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719130
2025-08-11T14:55:18.752Z,1754924118.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:18.755Z,1754924118.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 87.835686 m,
      bearing: 165.480617 deg,
      approach rate: -0.602659 m/s,
      LOS rate: -0.013200 deg/s,
      cmd heading: 158.614806 deg,
      new cmd heading: 158.600366 deg.

2025-08-11T14:55:18.860Z,1754924118.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974493
2025-08-11T14:55:19.108Z,1754924119.108 [DAT](INFO): DAT read: Rx Time:14:55:19.7903

2025-08-11T14:55:19.109Z,1754924119.109 [DAT](INFO): Rx dataTimestamp_ set to:1754924119.108275
2025-08-11T14:55:19.109Z,1754924119.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224138
2025-08-11T14:55:19.185Z,1754924119.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:19.188Z,1754924119.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 87.593987 m,
      bearing: 165.469729 deg,
      approach rate: -0.558299 m/s,
      LOS rate: -0.025219 deg/s,
      cmd heading: 158.600367 deg,
      new cmd heading: 158.567612 deg.

2025-08-11T14:55:19.360Z,1754924119.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475143
2025-08-11T14:55:19.572Z,1754924119.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.10 m.
2025-08-11T14:55:19.582Z,1754924119.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.099998 m,
      nav range: 87.382530 m,
      bearing: 165.460478 deg,
      approach rate: -0.545701 m/s,
      LOS rate: -0.023933 deg/s,
      cmd heading: 158.567609 deg,
      new cmd heading: 158.539787 deg.

2025-08-11T14:55:19.618Z,1754924119.618 [DAT](INFO): DAT read: 14:55:19.7903 LVL= 31040, 32753, 32754, 32755, AGC= 67, IDX= 414, 0.26,-0.432,-2.358,-0.534,-0.832, PHS= 0.502,-1.482, 0.253, RAW= 143.4,   7.8, CAL= 143.0,   8.6, ROT=   7.0,  -8.6

2025-08-11T14:55:19.619Z,1754924119.619 [DAT](INFO): got valid direction response:
 14:55:19.7903 LVL= 31040, 32753, 32754, 32755, AGC= 67, IDX= 414, 0.26,-0.432,-2.358,-0.534,-0.832, PHS= 0.502,-1.482, 0.253, RAW= 143.4,   7.8, CAL= 143.0,   8.6, ROT=   7.0,  -8.6

2025-08-11T14:55:19.620Z,1754924119.620 [DAT](INFO): DAT read: Bearing 319.6,   5.7 (Local)

2025-08-11T14:55:19.620Z,1754924119.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.6,   5.7 (Local)

2025-08-11T14:55:19.622Z,1754924119.622 [DAT](INFO): DAT read: Range 11 to 50 : 87.9 m  (Round-trip  117.3 ms) speed  0.5 m/s

2025-08-11T14:55:19.623Z,1754924119.623 [DAT](INFO): DAT read: user:220>

2025-08-11T14:55:19.623Z,1754924119.623 [DAT](INFO): DAT read: Tx time:14:55:20.9188

2025-08-11T14:55:19.624Z,1754924119.624 [DAT](INFO): Ping request sent.
2025-08-11T14:55:19.624Z,1754924119.624 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:19.624Z,1754924119.624 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:19.625Z,1754924119.625 [DAT](INFO): direction in FSK: [0.981386,0.120499,0.149535]
2025-08-11T14:55:19.625Z,1754924119.625 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:19.626Z,1754924119.626 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:19.640Z,1754924119.640 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:19.641Z,1754924119.641 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:20.056Z,1754924120.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.900002 m,
      deltaT: 3.778068 s,
      deltaX: -2.199997 m,
      approachRate: -0.582307 m/s,
      rangeRepo size: 4

2025-08-11T14:55:20.059Z,1754924120.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.900002 m,
      bearing: 165.989753 deg,
      lat: 36.905858 deg,
      lon: -122.115918 deg,
      deltaT: 3.778068 s,
      deltaX: -2.199997 m,
      approachRate: -0.582307 m/s,
      posRepo size: 4

2025-08-11T14:55:20.060Z,1754924120.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-11T14:55:20.063Z,1754924120.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.900002 m,
      nav range: 87.132057 m,
      bearing: 165.989753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023933 deg/s,
      cmd heading: 158.539783 deg,
      new cmd heading: 158.505065 deg.

2025-08-11T14:55:20.420Z,1754924120.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:20.422Z,1754924120.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-11T14:55:20.425Z,1754924120.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.900002 m,
      nav range: 86.934540 m,
      bearing: 165.980639 deg,
      approach rate: -0.539313 m/s,
      LOS rate: -0.024944 deg/s,
      cmd heading: 158.505072 deg,
      new cmd heading: 158.477665 deg.

2025-08-11T14:55:20.620Z,1754924120.620 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:20.621Z,1754924120.621 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:20.621Z,1754924120.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:20.858Z,1754924120.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-11T14:55:20.864Z,1754924120.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.900002 m,
      nav range: 86.704224 m,
      bearing: 165.969958 deg,
      approach rate: -0.527764 m/s,
      LOS rate: -0.024538 deg/s,
      cmd heading: 158.477669 deg,
      new cmd heading: 158.445543 deg.

2025-08-11T14:55:20.876Z,1754924120.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250736
2025-08-11T14:55:21.124Z,1754924121.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500246
2025-08-11T14:55:21.323Z,1754924121.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-11T14:55:21.328Z,1754924121.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.900002 m,
      nav range: 86.444664 m,
      bearing: 165.958692 deg,
      approach rate: -0.559974 m/s,
      LOS rate: -0.024379 deg/s,
      cmd heading: 158.445540 deg,
      new cmd heading: 158.411640 deg.

2025-08-11T14:55:21.376Z,1754924121.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752393
2025-08-11T14:55:21.630Z,1754924121.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005785
2025-08-11T14:55:21.704Z,1754924121.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-11T14:55:21.706Z,1754924121.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.900002 m,
      nav range: 86.238892 m,
      bearing: 165.949785 deg,
      approach rate: -0.538935 m/s,
      LOS rate: -0.023385 deg/s,
      cmd heading: 158.411635 deg,
      new cmd heading: 158.384848 deg.

2025-08-11T14:55:21.883Z,1754924121.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258829
2025-08-11T14:55:22.132Z,1754924122.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508130
2025-08-11T14:55:22.150Z,1754924122.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-11T14:55:22.161Z,1754924122.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.900002 m,
      nav range: 86.016571 m,
      bearing: 165.941672 deg,
      approach rate: -0.498385 m/s,
      LOS rate: -0.018234 deg/s,
      cmd heading: 158.384847 deg,
      new cmd heading: 158.360445 deg.

2025-08-11T14:55:22.385Z,1754924122.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760764
2025-08-11T14:55:22.509Z,1754924122.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:22.511Z,1754924122.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-11T14:55:22.514Z,1754924122.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.900002 m,
      nav range: 85.829201 m,
      bearing: 165.934864 deg,
      approach rate: -0.519044 m/s,
      LOS rate: -0.018900 deg/s,
      cmd heading: 158.360449 deg,
      new cmd heading: 158.339981 deg.

2025-08-11T14:55:22.637Z,1754924122.637 [DAT](INFO): DAT read: Rx Time:14:55:23.4376

2025-08-11T14:55:22.638Z,1754924122.638 [DAT](INFO): Rx dataTimestamp_ set to:1754924122.637610
2025-08-11T14:55:22.639Z,1754924122.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014940
2025-08-11T14:55:22.888Z,1754924122.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264264
2025-08-11T14:55:23.005Z,1754924123.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-11T14:55:23.008Z,1754924123.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.900002 m,
      nav range: 85.577263 m,
      bearing: 165.935682 deg,
      approach rate: -0.509997 m/s,
      LOS rate: 0.001661 deg/s,
      cmd heading: 158.339986 deg,
      new cmd heading: 158.342448 deg.

2025-08-11T14:55:23.147Z,1754924123.147 [DAT](INFO): DAT read: 14:55:23.4376 LVL= 29872, 32753, 32754, 32755, AGC= 63, IDX= 419,-0.02,-2.073, 2.427,-2.091,-2.452, PHS= 0.481,-1.360, 0.317, RAW= 145.4,   6.4, CAL= 144.9,   7.0, ROT=   5.1,  -7.0

2025-08-11T14:55:23.148Z,1754924123.148 [DAT](INFO): got valid direction response:
 14:55:23.4376 LVL= 29872, 32753, 32754, 32755, AGC= 63, IDX= 419,-0.02,-2.073, 2.427,-2.091,-2.452, PHS= 0.481,-1.360, 0.317, RAW= 145.4,   6.4, CAL= 144.9,   7.0, ROT=   5.1,  -7.0

2025-08-11T14:55:23.149Z,1754924123.149 [DAT](INFO): DAT read: Bearing 317.9,   4.1 (Local)

2025-08-11T14:55:23.149Z,1754924123.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.9,   4.1 (Local)

2025-08-11T14:55:23.150Z,1754924123.150 [DAT](INFO): DAT read: Range 11 to 50 : 86.0 m  (Round-trip  114.7 ms) speed  0.4 m/s

2025-08-11T14:55:23.151Z,1754924123.151 [DAT](INFO): DAT read: user:221>

2025-08-11T14:55:23.152Z,1754924123.152 [DAT](INFO): DAT read: Tx time:14:55:24.5688

2025-08-11T14:55:23.152Z,1754924123.152 [DAT](INFO): Ping request sent.
2025-08-11T14:55:23.153Z,1754924123.153 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:23.153Z,1754924123.153 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:23.154Z,1754924123.154 [DAT](INFO): direction in FSK: [0.988617,0.088232,0.121869]
2025-08-11T14:55:23.154Z,1754924123.154 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:23.154Z,1754924123.154 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:23.161Z,1754924123.161 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:23.162Z,1754924123.162 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:23.411Z,1754924123.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.000000 m,
      deltaT: 3.527940 s,
      deltaX: -1.900002 m,
      approachRate: -0.538558 m/s,
      rangeRepo size: 4

2025-08-11T14:55:23.425Z,1754924123.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.000000 m,
      bearing: 165.381962 deg,
      lat: 36.905860 deg,
      lon: -122.115909 deg,
      deltaT: 3.527940 s,
      deltaX: -1.900002 m,
      approachRate: -0.538558 m/s,
      posRepo size: 4

2025-08-11T14:55:23.426Z,1754924123.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m.
2025-08-11T14:55:23.432Z,1754924123.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.000000 m,
      nav range: 85.365700 m,
      bearing: 165.381962 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001661 deg/s,
      cmd heading: 158.342445 deg,
      new cmd heading: 158.344463 deg.

2025-08-11T14:55:23.773Z,1754924123.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m.
2025-08-11T14:55:23.776Z,1754924123.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.000000 m,
      nav range: 85.170883 m,
      bearing: 165.381351 deg,
      approach rate: -0.536289 m/s,
      LOS rate: -0.001687 deg/s,
      cmd heading: 158.344467 deg,
      new cmd heading: 158.342628 deg.

2025-08-11T14:55:24.209Z,1754924124.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m.
2025-08-11T14:55:24.212Z,1754924124.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.000000 m,
      nav range: 84.952507 m,
      bearing: 165.387747 deg,
      approach rate: -0.501056 m/s,
      LOS rate: 0.014713 deg/s,
      cmd heading: 158.342623 deg,
      new cmd heading: 158.361860 deg.

2025-08-11T14:55:24.591Z,1754924124.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:24.593Z,1754924124.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m.
2025-08-11T14:55:24.620Z,1754924124.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.000000 m,
      nav range: 84.766014 m,
      bearing: 165.393235 deg,
      approach rate: -0.485624 m/s,
      LOS rate: 0.014322 deg/s,
      cmd heading: 158.361856 deg,
      new cmd heading: 158.378357 deg.

2025-08-11T14:55:24.652Z,1754924124.652 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:24.652Z,1754924124.652 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:24.653Z,1754924124.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:24.904Z,1754924124.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751584
2025-08-11T14:55:25.067Z,1754924125.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m.
2025-08-11T14:55:25.070Z,1754924125.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.000000 m,
      nav range: 84.525093 m,
      bearing: 165.406781 deg,
      approach rate: -0.508201 m/s,
      LOS rate: 0.028657 deg/s,
      cmd heading: 158.378358 deg,
      new cmd heading: 158.419113 deg.

2025-08-11T14:55:25.157Z,1754924125.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004146
2025-08-11T14:55:25.405Z,1754924125.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m.
2025-08-11T14:55:25.408Z,1754924125.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255685
2025-08-11T14:55:25.424Z,1754924125.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.000000 m,
      nav range: 84.356674 m,
      bearing: 165.416297 deg,
      approach rate: -0.497937 m/s,
      LOS rate: 0.028191 deg/s,
      cmd heading: 158.419107 deg,
      new cmd heading: 158.447712 deg.

2025-08-11T14:55:25.661Z,1754924125.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508050
2025-08-11T14:55:25.784Z,1754924125.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m.
2025-08-11T14:55:25.808Z,1754924125.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.000000 m,
      nav range: 84.168053 m,
      bearing: 165.426678 deg,
      approach rate: -0.497640 m/s,
      LOS rate: 0.027448 deg/s,
      cmd heading: 158.447712 deg,
      new cmd heading: 158.478923 deg.

2025-08-11T14:55:25.913Z,1754924125.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759815
2025-08-11T14:55:26.164Z,1754924126.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011777
2025-08-11T14:55:26.231Z,1754924126.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m.
2025-08-11T14:55:26.234Z,1754924126.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.000000 m,
      nav range: 83.948669 m,
      bearing: 165.449411 deg,
      approach rate: -0.491513 m/s,
      LOS rate: 0.051066 deg/s,
      cmd heading: 158.478926 deg,
      new cmd heading: 158.547304 deg.

2025-08-11T14:55:26.417Z,1754924126.417 [DAT](INFO): DAT read: Rx Time:14:55:27.0850

2025-08-11T14:55:26.418Z,1754924126.418 [DAT](INFO): Rx dataTimestamp_ set to:1754924126.417065
2025-08-11T14:55:26.419Z,1754924126.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265673
2025-08-11T14:55:26.668Z,1754924126.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515600
2025-08-11T14:55:26.757Z,1754924126.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:26.767Z,1754924126.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.00 m.
2025-08-11T14:55:26.770Z,1754924126.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.000000 m,
      nav range: 83.710800 m,
      bearing: 165.474005 deg,
      approach rate: -0.445224 m/s,
      LOS rate: 0.046163 deg/s,
      cmd heading: 158.547310 deg,
      new cmd heading: 158.621301 deg.

2025-08-11T14:55:26.934Z,1754924126.934 [DAT](INFO): DAT read: 14:55:27.0850 LVL= 27104, 32753, 26914, 32755, AGC= 66, IDX= 409, 0.46, 1.107,-0.800, 1.095, 0.719, PHS= 0.491,-1.473, 0.332, RAW= 145.8,   6.9, CAL= 145.4,   7.5, ROT=   4.6,  -7.5

2025-08-11T14:55:26.978Z,1754924126.978 [DAT](INFO): got valid direction response:
 14:55:27.0850 LVL= 27104, 32753, 26914, 32755, AGC= 66, IDX= 409, 0.46, 1.107,-0.800, 1.095, 0.719, PHS= 0.491,-1.473, 0.332, RAW= 145.8,   6.9, CAL= 145.4,   7.5, ROT=   4.6,  -7.5

2025-08-11T14:55:27.024Z,1754924127.024 [DAT](INFO): DAT read: Bearing 318.9,   3.2 (Local)

2025-08-11T14:55:27.024Z,1754924127.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.9,   3.2 (Local)

2025-08-11T14:55:27.025Z,1754924127.025 [DAT](INFO): DAT read: Range 11 to 50 : 84.1 m  (Round-trip  112.2 ms) speed  0.4 m/s

2025-08-11T14:55:27.026Z,1754924127.026 [DAT](INFO): DAT read: user:222>

2025-08-11T14:55:27.033Z,1754924127.033 [DAT](INFO): DAT read: Tx time:14:55:28.1687

2025-08-11T14:55:27.043Z,1754924127.043 [DAT](INFO): Ping request sent.
2025-08-11T14:55:27.043Z,1754924127.043 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:27.044Z,1754924127.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:27.045Z,1754924127.045 [DAT](INFO): direction in FSK: [0.988251,0.079513,0.130526]
2025-08-11T14:55:27.045Z,1754924127.045 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:27.045Z,1754924127.045 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:27.054Z,1754924127.054 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:27.055Z,1754924127.055 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:27.331Z,1754924127.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.099998 m,
      deltaT: 3.783149 s,
      deltaX: -1.900002 m,
      approachRate: -0.502228 m/s,
      rangeRepo size: 4

2025-08-11T14:55:27.333Z,1754924127.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.099998 m,
      bearing: 165.421397 deg,
      lat: 36.905861 deg,
      lon: -122.115908 deg,
      deltaT: 3.783149 s,
      deltaX: -1.900002 m,
      approachRate: -0.502228 m/s,
      posRepo size: 4

2025-08-11T14:55:27.334Z,1754924127.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m.
2025-08-11T14:55:27.337Z,1754924127.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.099998 m,
      nav range: 83.424606 m,
      bearing: 165.421397 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.046163 deg/s,
      cmd heading: 158.621294 deg,
      new cmd heading: 158.699535 deg.

2025-08-11T14:55:27.847Z,1754924127.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m.
2025-08-11T14:55:27.850Z,1754924127.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.099998 m,
      nav range: 83.162514 m,
      bearing: 165.448509 deg,
      approach rate: -0.506572 m/s,
      LOS rate: 0.052567 deg/s,
      cmd heading: 158.699541 deg,
      new cmd heading: 158.781133 deg.

2025-08-11T14:55:28.248Z,1754924128.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m.
2025-08-11T14:55:28.251Z,1754924128.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.099998 m,
      nav range: 82.953506 m,
      bearing: 165.472728 deg,
      approach rate: -0.521293 m/s,
      LOS rate: 0.060560 deg/s,
      cmd heading: 158.781134 deg,
      new cmd heading: 158.853977 deg.

2025-08-11T14:55:28.690Z,1754924128.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m.
2025-08-11T14:55:28.693Z,1754924128.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.099998 m,
      nav range: 82.722816 m,
      bearing: 165.499471 deg,
      approach rate: -0.522558 m/s,
      LOS rate: 0.060746 deg/s,
      cmd heading: 158.853972 deg,
      new cmd heading: 158.934423 deg.

2025-08-11T14:55:29.111Z,1754924129.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:29.113Z,1754924129.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m.
2025-08-11T14:55:29.116Z,1754924129.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.099998 m,
      nav range: 82.507935 m,
      bearing: 165.519110 deg,
      approach rate: -0.507338 m/s,
      LOS rate: 0.046488 deg/s,
      cmd heading: 158.934418 deg,
      new cmd heading: 158.993488 deg.

2025-08-11T14:55:29.188Z,1754924129.188 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:29.188Z,1754924129.188 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:29.189Z,1754924129.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:29.440Z,1754924129.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.405478
2025-08-11T14:55:29.446Z,1754924129.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m.
2025-08-11T14:55:29.449Z,1754924129.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.099998 m,
      nav range: 82.339752 m,
      bearing: 165.534167 deg,
      approach rate: -0.504811 m/s,
      LOS rate: 0.045289 deg/s,
      cmd heading: 158.993485 deg,
      new cmd heading: 159.038750 deg.

2025-08-11T14:55:29.693Z,1754924129.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.658234
2025-08-11T14:55:29.867Z,1754924129.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m.
2025-08-11T14:55:29.870Z,1754924129.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.099998 m,
      nav range: 82.133965 m,
      bearing: 165.552500 deg,
      approach rate: -0.489054 m/s,
      LOS rate: 0.043677 deg/s,
      cmd heading: 159.038756 deg,
      new cmd heading: 159.093891 deg.

2025-08-11T14:55:29.945Z,1754924129.945 [DAT](INFO): DAT read: Rx Time:14:55:30.6826

2025-08-11T14:55:29.946Z,1754924129.946 [DAT](INFO): Rx dataTimestamp_ set to:1754924129.945352
2025-08-11T14:55:29.946Z,1754924129.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.911424
2025-08-11T14:55:30.197Z,1754924130.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.161926
2025-08-11T14:55:30.283Z,1754924130.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.10 m.
2025-08-11T14:55:30.286Z,1754924130.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.099998 m,
      nav range: 81.900841 m,
      bearing: 165.567293 deg,
      approach rate: -0.560770 m/s,
      LOS rate: 0.035684 deg/s,
      cmd heading: 159.093889 deg,
      new cmd heading: 159.138393 deg.

2025-08-11T14:55:30.456Z,1754924130.456 [DAT](INFO): DAT read: 14:55:30.6826 LVL= 26720, 32753, 28258, 32755, AGC= 66, IDX= 416, 0.21,-1.357, 3.026,-1.400,-1.768, PHS= 0.513,-1.445, 0.324, RAW= 145.0,   6.6, CAL= 144.5,   7.1, ROT=   5.5,  -7.1

2025-08-11T14:55:30.457Z,1754924130.457 [DAT](INFO): got valid direction response:
 14:55:30.6826 LVL= 26720, 32753, 28258, 32755, AGC= 66, IDX= 416, 0.21,-1.357, 3.026,-1.400,-1.768, PHS= 0.513,-1.445, 0.324, RAW= 145.0,   6.6, CAL= 144.5,   7.1, ROT=   5.5,  -7.1

2025-08-11T14:55:30.458Z,1754924130.458 [DAT](INFO): DAT read: Bearing 318.9,   3.1 (Local)

2025-08-11T14:55:30.458Z,1754924130.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.9,   3.1 (Local)

2025-08-11T14:55:30.460Z,1754924130.460 [DAT](INFO): DAT read: Range 11 to 50 : 82.2 m  (Round-trip  109.7 ms) speed  0.6 m/s

2025-08-11T14:55:30.461Z,1754924130.461 [DAT](INFO): DAT read: user:223>

2025-08-11T14:55:30.461Z,1754924130.461 [DAT](INFO): DAT read: Tx time:14:55:31.7687

2025-08-11T14:55:30.462Z,1754924130.462 [DAT](INFO): Ping request sent.
2025-08-11T14:55:30.462Z,1754924130.462 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:30.462Z,1754924130.462 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:30.463Z,1754924130.463 [DAT](INFO): direction in FSK: [0.987763,0.095111,0.123601]
2025-08-11T14:55:30.464Z,1754924130.464 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:30.464Z,1754924130.464 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:30.467Z,1754924130.467 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:30.491Z,1754924130.491 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:30.712Z,1754924130.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.199997 m,
      deltaT: 3.525119 s,
      deltaX: -1.900002 m,
      approachRate: -0.538989 m/s,
      rangeRepo size: 4

2025-08-11T14:55:30.714Z,1754924130.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.199997 m,
      bearing: 164.811738 deg,
      lat: 36.905861 deg,
      lon: -122.115895 deg,
      deltaT: 3.525119 s,
      deltaX: -1.900002 m,
      approachRate: -0.538989 m/s,
      posRepo size: 4

2025-08-11T14:55:30.714Z,1754924130.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-08-11T14:55:30.718Z,1754924130.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 81.929794 m,
      bearing: 164.811738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.035684 deg/s,
      cmd heading: 159.138394 deg,
      new cmd heading: 159.183757 deg.

2025-08-11T14:55:31.152Z,1754924131.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:31.154Z,1754924131.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-08-11T14:55:31.158Z,1754924131.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 81.680405 m,
      bearing: 164.811480 deg,
      approach rate: -0.557135 m/s,
      LOS rate: -0.000578 deg/s,
      cmd heading: 159.183760 deg,
      new cmd heading: 159.182984 deg.

2025-08-11T14:55:31.204Z,1754924131.204 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:31.204Z,1754924131.204 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:31.204Z,1754924131.204 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:31.456Z,1754924131.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994352
2025-08-11T14:55:31.507Z,1754924131.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-08-11T14:55:31.510Z,1754924131.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 81.493561 m,
      bearing: 164.810698 deg,
      approach rate: -0.529672 m/s,
      LOS rate: -0.002222 deg/s,
      cmd heading: 159.182982 deg,
      new cmd heading: 159.180631 deg.

2025-08-11T14:55:31.710Z,1754924131.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247552
2025-08-11T14:55:31.932Z,1754924131.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-08-11T14:55:31.936Z,1754924131.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 81.277481 m,
      bearing: 164.809789 deg,
      approach rate: -0.509451 m/s,
      LOS rate: -0.002148 deg/s,
      cmd heading: 159.180632 deg,
      new cmd heading: 159.177899 deg.

2025-08-11T14:55:31.960Z,1754924131.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498247
2025-08-11T14:55:32.216Z,1754924132.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753906
2025-08-11T14:55:32.378Z,1754924132.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-08-11T14:55:32.381Z,1754924132.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 81.025612 m,
      bearing: 164.801914 deg,
      approach rate: -0.563100 m/s,
      LOS rate: -0.017662 deg/s,
      cmd heading: 159.177900 deg,
      new cmd heading: 159.154201 deg.

2025-08-11T14:55:32.465Z,1754924132.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002867
2025-08-11T14:55:32.716Z,1754924132.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254299
2025-08-11T14:55:32.754Z,1754924132.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-08-11T14:55:32.757Z,1754924132.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 80.821648 m,
      bearing: 164.795359 deg,
      approach rate: -0.543447 m/s,
      LOS rate: -0.017509 deg/s,
      cmd heading: 159.154199 deg,
      new cmd heading: 159.134485 deg.

2025-08-11T14:55:32.968Z,1754924132.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506255
2025-08-11T14:55:33.190Z,1754924133.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:33.196Z,1754924133.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-08-11T14:55:33.204Z,1754924133.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 80.584221 m,
      bearing: 164.780325 deg,
      approach rate: -0.536310 m/s,
      LOS rate: -0.034059 deg/s,
      cmd heading: 159.134487 deg,
      new cmd heading: 159.089254 deg.

2025-08-11T14:55:33.220Z,1754924133.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758590
2025-08-11T14:55:33.472Z,1754924133.472 [DAT](INFO): DAT read: Rx Time:14:55:34.2801

2025-08-11T14:55:33.473Z,1754924133.473 [DAT](INFO): Rx dataTimestamp_ set to:1754924133.472265
2025-08-11T14:55:33.473Z,1754924133.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011250
2025-08-11T14:55:33.560Z,1754924133.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.20 m.
2025-08-11T14:55:33.562Z,1754924133.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.199997 m,
      nav range: 80.381653 m,
      bearing: 164.767319 deg,
      approach rate: -0.557483 m/s,
      LOS rate: -0.035883 deg/s,
      cmd heading: 159.089258 deg,
      new cmd heading: 159.050143 deg.

2025-08-11T14:55:33.724Z,1754924133.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262355
2025-08-11T14:55:33.982Z,1754924133.982 [DAT](INFO): DAT read: 14:55:34.2801 LVL= 21616, 32753, 25394, 32115, AGC= 65, IDX= 423, 0.34, 1.586,-0.405, 1.538, 1.164, PHS= 0.524,-1.525, 0.329, RAW= 145.1,   6.9, CAL= 144.6,   7.5, ROT=   5.4,  -7.5

2025-08-11T14:55:33.983Z,1754924133.983 [DAT](INFO): got valid direction response:
 14:55:34.2801 LVL= 21616, 32753, 25394, 32115, AGC= 65, IDX= 423, 0.34, 1.586,-0.405, 1.538, 1.164, PHS= 0.524,-1.525, 0.329, RAW= 145.1,   6.9, CAL= 144.6,   7.5, ROT=   5.4,  -7.5

2025-08-11T14:55:33.984Z,1754924133.984 [DAT](INFO): DAT read: Bearing 320.6,   3.2 (Local)

2025-08-11T14:55:33.985Z,1754924133.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.6,   3.2 (Local)

2025-08-11T14:55:33.986Z,1754924133.986 [DAT](INFO): DAT read: Range 11 to 50 : 80.4 m  (Round-trip  107.3 ms) speed  0.7 m/s

2025-08-11T14:55:33.987Z,1754924133.987 [DAT](INFO): DAT read: user:224>

2025-08-11T14:55:33.988Z,1754924133.988 [DAT](INFO): DAT read: Tx time:14:55:35.3687

2025-08-11T14:55:33.988Z,1754924133.988 [DAT](INFO): Ping request sent.
2025-08-11T14:55:33.988Z,1754924133.988 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:33.988Z,1754924133.988 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:33.989Z,1754924133.989 [DAT](INFO): direction in FSK: [0.987045,0.093303,0.130526]
2025-08-11T14:55:33.989Z,1754924133.989 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:33.990Z,1754924133.990 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:34.001Z,1754924134.001 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:34.001Z,1754924134.001 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:34.070Z,1754924134.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.400002 m,
      deltaT: 3.527868 s,
      deltaX: -1.799995 m,
      approachRate: -0.510222 m/s,
      rangeRepo size: 4

2025-08-11T14:55:34.086Z,1754924134.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.400002 m,
      bearing: 164.751485 deg,
      lat: 36.905861 deg,
      lon: -122.115895 deg,
      deltaT: 3.527868 s,
      deltaX: -1.799995 m,
      approachRate: -0.510222 m/s,
      posRepo size: 4

2025-08-11T14:55:34.120Z,1754924134.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:34.122Z,1754924134.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 80.138809 m,
      bearing: 164.751485 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035883 deg/s,
      cmd heading: 159.050148 deg,
      new cmd heading: 158.996097 deg.

2025-08-11T14:55:34.548Z,1754924134.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:34.551Z,1754924134.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 79.833771 m,
      bearing: 164.722474 deg,
      approach rate: -0.627199 m/s,
      LOS rate: -0.059879 deg/s,
      cmd heading: 158.996094 deg,
      new cmd heading: 158.908728 deg.

2025-08-11T14:55:34.945Z,1754924134.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:34.952Z,1754924134.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 79.618797 m,
      bearing: 164.701894 deg,
      approach rate: -0.542128 m/s,
      LOS rate: -0.052040 deg/s,
      cmd heading: 158.908722 deg,
      new cmd heading: 158.846816 deg.

2025-08-11T14:55:35.352Z,1754924135.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:35.354Z,1754924135.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:35.357Z,1754924135.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 79.395218 m,
      bearing: 164.677001 deg,
      approach rate: -0.546139 m/s,
      LOS rate: -0.060977 deg/s,
      cmd heading: 158.846814 deg,
      new cmd heading: 158.771924 deg.

2025-08-11T14:55:35.492Z,1754924135.492 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:35.492Z,1754924135.492 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:35.492Z,1754924135.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:35.736Z,1754924135.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:35.739Z,1754924135.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 79.203712 m,
      bearing: 164.655235 deg,
      approach rate: -0.507953 m/s,
      LOS rate: -0.057872 deg/s,
      cmd heading: 158.771927 deg,
      new cmd heading: 158.706472 deg.

2025-08-11T14:55:35.744Z,1754924135.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756260
2025-08-11T14:55:35.996Z,1754924135.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008433
2025-08-11T14:55:36.183Z,1754924136.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:36.186Z,1754924136.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 78.955811 m,
      bearing: 164.621625 deg,
      approach rate: -0.549024 m/s,
      LOS rate: -0.074669 deg/s,
      cmd heading: 158.706467 deg,
      new cmd heading: 158.605321 deg.

2025-08-11T14:55:36.249Z,1754924136.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261089
2025-08-11T14:55:36.500Z,1754924136.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512183
2025-08-11T14:55:36.505Z,1754924136.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:36.508Z,1754924136.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 78.782295 m,
      bearing: 164.597729 deg,
      approach rate: -0.537804 m/s,
      LOS rate: -0.074229 deg/s,
      cmd heading: 158.605325 deg,
      new cmd heading: 158.533478 deg.

2025-08-11T14:55:36.752Z,1754924136.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764424
2025-08-11T14:55:36.908Z,1754924136.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:36.912Z,1754924136.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 78.567017 m,
      bearing: 164.567837 deg,
      approach rate: -0.535550 m/s,
      LOS rate: -0.074567 deg/s,
      cmd heading: 158.533472 deg,
      new cmd heading: 158.443550 deg.

2025-08-11T14:55:37.005Z,1754924137.005 [DAT](INFO): DAT read: Rx Time:14:55:37.8774

2025-08-11T14:55:37.006Z,1754924137.006 [DAT](INFO): Rx dataTimestamp_ set to:1754924137.005589
2025-08-11T14:55:37.007Z,1754924137.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018638
2025-08-11T14:55:37.256Z,1754924137.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268097
2025-08-11T14:55:37.348Z,1754924137.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:37.350Z,1754924137.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 78.334000 m,
      bearing: 164.538266 deg,
      approach rate: -0.529246 m/s,
      LOS rate: -0.067363 deg/s,
      cmd heading: 158.443545 deg,
      new cmd heading: 158.354570 deg.

2025-08-11T14:55:37.518Z,1754924137.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522798
2025-08-11T14:55:37.719Z,1754924137.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:37.721Z,1754924137.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-08-11T14:55:37.724Z,1754924137.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 78.136658 m,
      bearing: 164.513054 deg,
      approach rate: -0.528426 m/s,
      LOS rate: -0.067680 deg/s,
      cmd heading: 158.354575 deg,
      new cmd heading: 158.278750 deg.

2025-08-11T14:55:37.769Z,1754924137.769 [DAT](INFO): DAT read: 14:55:37.8774 LVL= 26768, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.41, 2.272, 0.530, 2.309, 1.965, PHS= 0.408,-1.390, 0.299, RAW= 146.9,   7.9, CAL= 146.4,   8.5, ROT=   3.6,  -8.5

2025-08-11T14:55:37.771Z,1754924137.771 [DAT](INFO): got valid direction response:
 14:55:37.8774 LVL= 26768, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.41, 2.272, 0.530, 2.309, 1.965, PHS= 0.408,-1.390, 0.299, RAW= 146.9,   7.9, CAL= 146.4,   8.5, ROT=   3.6,  -8.5

2025-08-11T14:55:37.772Z,1754924137.772 [DAT](INFO): DAT read: Bearing 322.3,   1.7 (Local)

2025-08-11T14:55:37.773Z,1754924137.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.3,   1.7 (Local)

2025-08-11T14:55:37.776Z,1754924137.776 [DAT](INFO): DAT read: Range 11 to 50 : 78.3 m  (Round-trip  104.5 ms) speed  0.7 m/s

2025-08-11T14:55:37.777Z,1754924137.777 [DAT](INFO): DAT read: user:225>

2025-08-11T14:55:37.779Z,1754924137.779 [DAT](INFO): DAT read: Tx time:14:55:38.9687

2025-08-11T14:55:37.789Z,1754924137.789 [DAT](INFO): Ping request sent.
2025-08-11T14:55:37.789Z,1754924137.789 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:37.790Z,1754924137.790 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:37.799Z,1754924137.799 [DAT](INFO): direction in FSK: [0.987064,0.062101,0.147809]
2025-08-11T14:55:37.800Z,1754924137.800 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:37.802Z,1754924137.802 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:37.816Z,1754924137.816 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:37.817Z,1754924137.817 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:38.216Z,1754924138.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.300003 m,
      deltaT: 3.784324 s,
      deltaX: -2.099998 m,
      approachRate: -0.554920 m/s,
      rangeRepo size: 4

2025-08-11T14:55:38.218Z,1754924138.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.300003 m,
      bearing: 164.149314 deg,
      lat: 36.905864 deg,
      lon: -122.115891 deg,
      deltaT: 3.784324 s,
      deltaX: -2.099998 m,
      approachRate: -0.554920 m/s,
      posRepo size: 4

2025-08-11T14:55:38.218Z,1754924138.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.30 m.
2025-08-11T14:55:38.221Z,1754924138.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.300003 m,
      nav range: 77.715324 m,
      bearing: 164.149314 deg,
      approach rate: 907193518228032257066414900575 m/s,
      LOS rate: -0.067680 deg/s,
      cmd heading: 158.278747 deg,
      new cmd heading: 158.179348 deg.

2025-08-11T14:55:38.609Z,1754924138.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.30 m.
2025-08-11T14:55:38.628Z,1754924138.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.300003 m,
      nav range: 77.492485 m,
      bearing: 164.125230 deg,
      approach rate: -0.559981 m/s,
      LOS rate: -0.060694 deg/s,
      cmd heading: 158.179354 deg,
      new cmd heading: 158.106896 deg.

2025-08-11T14:55:38.985Z,1754924138.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.30 m.
2025-08-11T14:55:38.988Z,1754924138.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.300003 m,
      nav range: 77.289673 m,
      bearing: 164.103261 deg,
      approach rate: -0.538646 m/s,
      LOS rate: -0.058502 deg/s,
      cmd heading: 158.106899 deg,
      new cmd heading: 158.040817 deg.

2025-08-11T14:55:39.418Z,1754924139.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.30 m.
2025-08-11T14:55:39.421Z,1754924139.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.300003 m,
      nav range: 77.059135 m,
      bearing: 164.084563 deg,
      approach rate: -0.532888 m/s,
      LOS rate: -0.043348 deg/s,
      cmd heading: 158.040810 deg,
      new cmd heading: 157.984551 deg.

2025-08-11T14:55:39.952Z,1754924139.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:39.954Z,1754924139.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.30 m.
2025-08-11T14:55:39.961Z,1754924139.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.300003 m,
      nav range: 76.787155 m,
      bearing: 164.062907 deg,
      approach rate: -0.506758 m/s,
      LOS rate: -0.040493 deg/s,
      cmd heading: 157.984557 deg,
      new cmd heading: 157.919358 deg.

2025-08-11T14:55:40.028Z,1754924140.028 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:40.029Z,1754924140.029 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:40.029Z,1754924140.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:40.281Z,1754924140.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492462
2025-08-11T14:55:40.362Z,1754924140.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.30 m.
2025-08-11T14:55:40.365Z,1754924140.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.300003 m,
      nav range: 76.561882 m,
      bearing: 164.051462 deg,
      approach rate: -0.553256 m/s,
      LOS rate: -0.028191 deg/s,
      cmd heading: 157.919356 deg,
      new cmd heading: 157.884920 deg.

2025-08-11T14:55:40.532Z,1754924140.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743432
2025-08-11T14:55:40.699Z,1754924140.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.30 m.
2025-08-11T14:55:40.702Z,1754924140.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.300003 m,
      nav range: 76.386078 m,
      bearing: 164.042795 deg,
      approach rate: -0.520796 m/s,
      LOS rate: -0.025735 deg/s,
      cmd heading: 157.884918 deg,
      new cmd heading: 157.858856 deg.

2025-08-11T14:55:40.785Z,1754924140.785 [DAT](INFO): DAT read: Rx Time:14:55:41.4749

2025-08-11T14:55:40.786Z,1754924140.786 [DAT](INFO): Rx dataTimestamp_ set to:1754924140.785623
2025-08-11T14:55:40.788Z,1754924140.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998882
2025-08-11T14:55:41.036Z,1754924141.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247344
2025-08-11T14:55:41.232Z,1754924141.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.30 m.
2025-08-11T14:55:41.239Z,1754924141.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.300003 m,
      nav range: 76.154045 m,
      bearing: 164.031507 deg,
      approach rate: -0.435206 m/s,
      LOS rate: -0.021237 deg/s,
      cmd heading: 157.858854 deg,
      new cmd heading: 157.824886 deg.

2025-08-11T14:55:41.301Z,1754924141.301 [DAT](INFO): DAT read: 14:55:41.4749 LVL= 28656, 32753, 27186, 32755, AGC= 67, IDX= 417,-0.06, 1.723,-0.139, 1.741, 1.393, PHS= 0.432,-1.486, 0.305, RAW= 146.6,   8.1, CAL= 146.1,   8.8, ROT=   3.9,  -8.8

2025-08-11T14:55:41.302Z,1754924141.302 [DAT](INFO): got valid direction response:
 14:55:41.4749 LVL= 28656, 32753, 27186, 32755, AGC= 67, IDX= 417,-0.06, 1.723,-0.139, 1.741, 1.393, PHS= 0.432,-1.486, 0.305, RAW= 146.6,   8.1, CAL= 146.1,   8.8, ROT=   3.9,  -8.8

2025-08-11T14:55:41.304Z,1754924141.304 [DAT](INFO): DAT read: Bearing 322.7,   0.9 (Local)

2025-08-11T14:55:41.304Z,1754924141.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.7,   0.9 (Local)

2025-08-11T14:55:41.306Z,1754924141.306 [DAT](INFO): DAT read: Range 11 to 50 : 76.5 m  (Round-trip  102.0 ms) speed  0.4 m/s

2025-08-11T14:55:41.308Z,1754924141.308 [DAT](INFO): DAT read: user:226>

2025-08-11T14:55:41.309Z,1754924141.309 [DAT](INFO): DAT read: Tx time:14:55:42.5687

2025-08-11T14:55:41.309Z,1754924141.309 [DAT](INFO): Ping request sent.
2025-08-11T14:55:41.309Z,1754924141.309 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:41.310Z,1754924141.310 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:41.311Z,1754924141.311 [DAT](INFO): direction in FSK: [0.985940,0.067215,0.152986]
2025-08-11T14:55:41.311Z,1754924141.311 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:41.312Z,1754924141.312 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:41.314Z,1754924141.314 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:41.315Z,1754924141.315 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:41.603Z,1754924141.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.500000 m,
      deltaT: 3.528795 s,
      deltaX: -1.800003 m,
      approachRate: -0.510090 m/s,
      rangeRepo size: 4

2025-08-11T14:55:41.605Z,1754924141.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.500000 m,
      bearing: 164.122375 deg,
      lat: 36.905862 deg,
      lon: -122.115892 deg,
      deltaT: 3.528795 s,
      deltaX: -1.800003 m,
      approachRate: -0.510090 m/s,
      posRepo size: 4

2025-08-11T14:55:41.606Z,1754924141.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-08-11T14:55:41.608Z,1754924141.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 76.069923 m,
      bearing: 164.122375 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021237 deg/s,
      cmd heading: 157.824881 deg,
      new cmd heading: 157.801335 deg.

2025-08-11T14:55:42.009Z,1754924142.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:42.011Z,1754924142.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-08-11T14:55:42.014Z,1754924142.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 75.858368 m,
      bearing: 164.119657 deg,
      approach rate: -0.517281 m/s,
      LOS rate: -0.006664 deg/s,
      cmd heading: 157.801330 deg,
      new cmd heading: 157.793154 deg.

2025-08-11T14:55:42.045Z,1754924142.045 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:42.045Z,1754924142.045 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:42.045Z,1754924142.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:42.298Z,1754924142.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987947
2025-08-11T14:55:42.414Z,1754924142.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-08-11T14:55:42.417Z,1754924142.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 75.660088 m,
      bearing: 164.123711 deg,
      approach rate: -0.491578 m/s,
      LOS rate: 0.010077 deg/s,
      cmd heading: 157.793148 deg,
      new cmd heading: 157.805341 deg.

2025-08-11T14:55:42.548Z,1754924142.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238796
2025-08-11T14:55:42.800Z,1754924142.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491031
2025-08-11T14:55:42.824Z,1754924142.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-08-11T14:55:42.831Z,1754924142.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 75.467339 m,
      bearing: 164.128016 deg,
      approach rate: -0.470001 m/s,
      LOS rate: 0.010523 deg/s,
      cmd heading: 157.805346 deg,
      new cmd heading: 157.818292 deg.

2025-08-11T14:55:43.053Z,1754924143.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743935
2025-08-11T14:55:43.196Z,1754924143.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-08-11T14:55:43.227Z,1754924143.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 75.278214 m,
      bearing: 164.132702 deg,
      approach rate: -0.511788 m/s,
      LOS rate: 0.012715 deg/s,
      cmd heading: 157.818296 deg,
      new cmd heading: 157.832392 deg.

2025-08-11T14:55:43.304Z,1754924143.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994982
2025-08-11T14:55:43.556Z,1754924143.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247225
2025-08-11T14:55:43.654Z,1754924143.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-08-11T14:55:43.661Z,1754924143.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 75.053757 m,
      bearing: 164.144164 deg,
      approach rate: -0.487466 m/s,
      LOS rate: 0.024967 deg/s,
      cmd heading: 157.832394 deg,
      new cmd heading: 157.866882 deg.

2025-08-11T14:55:43.810Z,1754924143.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500309
2025-08-11T14:55:44.025Z,1754924144.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:44.027Z,1754924144.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-08-11T14:55:44.030Z,1754924144.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 74.854675 m,
      bearing: 164.154847 deg,
      approach rate: -0.534087 m/s,
      LOS rate: 0.028734 deg/s,
      cmd heading: 157.866886 deg,
      new cmd heading: 157.899019 deg.

2025-08-11T14:55:44.061Z,1754924144.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751637
2025-08-11T14:55:44.312Z,1754924144.312 [DAT](INFO): DAT read: Rx Time:14:55:45.0725

2025-08-11T14:55:44.313Z,1754924144.313 [DAT](INFO): Rx dataTimestamp_ set to:1754924144.312338
2025-08-11T14:55:44.313Z,1754924144.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003933
2025-08-11T14:55:44.461Z,1754924144.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-08-11T14:55:44.464Z,1754924144.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.500000 m,
      nav range: 74.634300 m,
      bearing: 164.167011 deg,
      approach rate: -0.508283 m/s,
      LOS rate: 0.028139 deg/s,
      cmd heading: 157.899015 deg,
      new cmd heading: 157.935616 deg.

2025-08-11T14:55:44.564Z,1754924144.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254944
2025-08-11T14:55:44.822Z,1754924144.822 [DAT](INFO): DAT read: 14:55:45.0725 LVL= 21616, 32753, 21442, 31571, AGC= 64, IDX= 425,-0.19,-1.352, 3.035,-1.428,-1.744, PHS= 0.494,-1.459, 0.272, RAW= 144.0,   7.5, CAL= 143.6,   8.2, ROT=   6.4,  -8.2

2025-08-11T14:55:44.823Z,1754924144.823 [DAT](INFO): got valid direction response:
 14:55:45.0725 LVL= 21616, 32753, 21442, 31571, AGC= 64, IDX= 425,-0.19,-1.352, 3.035,-1.428,-1.744, PHS= 0.494,-1.459, 0.272, RAW= 144.0,   7.5, CAL= 143.6,   8.2, ROT=   6.4,  -8.2

2025-08-11T14:55:44.824Z,1754924144.824 [DAT](INFO): DAT read: Bearing 321.3,   3.1 (Local)

2025-08-11T14:55:44.824Z,1754924144.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.3,   3.1 (Local)

2025-08-11T14:55:44.825Z,1754924144.825 [DAT](INFO): DAT read: Range 11 to 50 : 74.7 m  (Round-trip  99.7 ms) speed  0.5 m/s

2025-08-11T14:55:44.826Z,1754924144.826 [DAT](INFO): DAT read: user:227>

2025-08-11T14:55:44.827Z,1754924144.827 [DAT](INFO): DAT read: Tx time:14:55:46.1687

2025-08-11T14:55:44.827Z,1754924144.827 [DAT](INFO): Ping request sent.
2025-08-11T14:55:44.827Z,1754924144.827 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:44.828Z,1754924144.828 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:44.829Z,1754924144.829 [DAT](INFO): direction in FSK: [0.983608,0.110329,0.142629]
2025-08-11T14:55:44.829Z,1754924144.829 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:44.829Z,1754924144.829 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:44.832Z,1754924144.832 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:44.832Z,1754924144.832 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:44.885Z,1754924144.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.699997 m,
      deltaT: 3.526519 s,
      deltaX: -1.800003 m,
      approachRate: -0.510419 m/s,
      rangeRepo size: 4

2025-08-11T14:55:44.891Z,1754924144.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.699997 m,
      bearing: 164.430239 deg,
      lat: 36.905861 deg,
      lon: -122.115895 deg,
      deltaT: 3.526519 s,
      deltaX: -1.800003 m,
      approachRate: -0.510419 m/s,
      posRepo size: 4

2025-08-11T14:55:44.892Z,1754924144.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m.
2025-08-11T14:55:44.895Z,1754924144.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.699997 m,
      nav range: 74.457375 m,
      bearing: 164.430239 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028139 deg/s,
      cmd heading: 157.935612 deg,
      new cmd heading: 157.971377 deg.

2025-08-11T14:55:45.310Z,1754924145.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m.
2025-08-11T14:55:45.317Z,1754924145.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.699997 m,
      nav range: 74.234680 m,
      bearing: 164.444599 deg,
      approach rate: -0.523018 m/s,
      LOS rate: 0.033825 deg/s,
      cmd heading: 157.971375 deg,
      new cmd heading: 158.014581 deg.

2025-08-11T14:55:45.675Z,1754924145.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m.
2025-08-11T14:55:45.678Z,1754924145.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.699997 m,
      nav range: 74.051338 m,
      bearing: 164.455436 deg,
      approach rate: -0.507878 m/s,
      LOS rate: 0.030094 deg/s,
      cmd heading: 158.014582 deg,
      new cmd heading: 158.047174 deg.

2025-08-11T14:55:46.038Z,1754924146.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:46.041Z,1754924146.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m.
2025-08-11T14:55:46.044Z,1754924146.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.699997 m,
      nav range: 73.851128 m,
      bearing: 164.467854 deg,
      approach rate: -0.540706 m/s,
      LOS rate: 0.033630 deg/s,
      cmd heading: 158.047176 deg,
      new cmd heading: 158.084533 deg.

2025-08-11T14:55:46.076Z,1754924146.076 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:46.076Z,1754924146.076 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:46.076Z,1754924146.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:46.329Z,1754924146.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501961
2025-08-11T14:55:46.469Z,1754924146.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m.
2025-08-11T14:55:46.472Z,1754924146.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.699997 m,
      nav range: 73.631226 m,
      bearing: 164.475048 deg,
      approach rate: -0.514733 m/s,
      LOS rate: 0.016888 deg/s,
      cmd heading: 158.084537 deg,
      new cmd heading: 158.106181 deg.

2025-08-11T14:55:46.580Z,1754924146.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752897
2025-08-11T14:55:46.832Z,1754924146.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004958
2025-08-11T14:55:46.851Z,1754924146.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m.
2025-08-11T14:55:46.854Z,1754924146.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.699997 m,
      nav range: 73.434631 m,
      bearing: 164.482018 deg,
      approach rate: -0.513792 m/s,
      LOS rate: 0.018266 deg/s,
      cmd heading: 158.106175 deg,
      new cmd heading: 158.127143 deg.

2025-08-11T14:55:47.084Z,1754924147.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256761
2025-08-11T14:55:47.326Z,1754924147.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m.
2025-08-11T14:55:47.333Z,1754924147.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.699997 m,
      nav range: 73.220047 m,
      bearing: 164.490162 deg,
      approach rate: -0.452162 m/s,
      LOS rate: 0.017210 deg/s,
      cmd heading: 158.127144 deg,
      new cmd heading: 158.151647 deg.

2025-08-11T14:55:47.336Z,1754924147.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508946
2025-08-11T14:55:47.589Z,1754924147.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762133
2025-08-11T14:55:47.691Z,1754924147.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m.
2025-08-11T14:55:47.693Z,1754924147.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.699997 m,
      nav range: 72.994621 m,
      bearing: 164.491524 deg,
      approach rate: -0.618006 m/s,
      LOS rate: 0.003747 deg/s,
      cmd heading: 158.151651 deg,
      new cmd heading: 158.155750 deg.

2025-08-11T14:55:47.840Z,1754924147.840 [DAT](INFO): DAT read: Rx Time:14:55:48.6700

2025-08-11T14:55:47.841Z,1754924147.841 [DAT](INFO): Rx dataTimestamp_ set to:1754924147.840396
2025-08-11T14:55:47.841Z,1754924147.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013948
2025-08-11T14:55:48.092Z,1754924148.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265181
2025-08-11T14:55:48.164Z,1754924148.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:48.166Z,1754924148.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.70 m.
2025-08-11T14:55:48.173Z,1754924148.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.699997 m,
      nav range: 72.753342 m,
      bearing: 164.493414 deg,
      approach rate: -0.507484 m/s,
      LOS rate: 0.003988 deg/s,
      cmd heading: 158.155749 deg,
      new cmd heading: 158.161436 deg.

2025-08-11T14:55:48.356Z,1754924148.356 [DAT](INFO): DAT read: 14:55:48.6700 LVL= 32752, 32753, 26210, 32755, AGC= 66, IDX= 416, 0.15,-2.519, 1.843,-2.638,-2.918, PHS= 0.501,-1.477, 0.236, RAW= 142.9,   8.0, CAL= 142.5,   8.8, ROT=   7.5,  -8.8

2025-08-11T14:55:48.358Z,1754924148.358 [DAT](INFO): got valid direction response:
 14:55:48.6700 LVL= 32752, 32753, 26210, 32755, AGC= 66, IDX= 416, 0.15,-2.519, 1.843,-2.638,-2.918, PHS= 0.501,-1.477, 0.236, RAW= 142.9,   8.0, CAL= 142.5,   8.8, ROT=   7.5,  -8.8

2025-08-11T14:55:48.368Z,1754924148.368 [DAT](INFO): DAT read: Bearing 320.0,   3.8 (Local)

2025-08-11T14:55:48.368Z,1754924148.368 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.0,   3.8 (Local)

2025-08-11T14:55:48.370Z,1754924148.370 [DAT](INFO): DAT read: Range 11 to 50 : 72.9 m  (Round-trip  97.2 ms) speed  0.4 m/s

2025-08-11T14:55:48.382Z,1754924148.382 [DAT](INFO): DAT read: user:228>

2025-08-11T14:55:48.383Z,1754924148.383 [DAT](INFO): DAT read: Tx time:14:55:49.7686

2025-08-11T14:55:48.383Z,1754924148.383 [DAT](INFO): Ping request sent.
2025-08-11T14:55:48.383Z,1754924148.383 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:48.384Z,1754924148.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:48.384Z,1754924148.384 [DAT](INFO): direction in FSK: [0.979774,0.128990,0.152986]
2025-08-11T14:55:48.385Z,1754924148.385 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:48.385Z,1754924148.385 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:48.397Z,1754924148.397 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:48.398Z,1754924148.398 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:48.728Z,1754924148.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.900002 m,
      deltaT: 3.529788 s,
      deltaX: -1.799995 m,
      approachRate: -0.509944 m/s,
      rangeRepo size: 4

2025-08-11T14:55:48.730Z,1754924148.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.900002 m,
      bearing: 164.946465 deg,
      lat: 36.905860 deg,
      lon: -122.115902 deg,
      deltaT: 3.529788 s,
      deltaX: -1.799995 m,
      approachRate: -0.509944 m/s,
      posRepo size: 4

2025-08-11T14:55:48.731Z,1754924148.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.90 m.
2025-08-11T14:55:48.733Z,1754924148.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.900002 m,
      nav range: 72.429184 m,
      bearing: 164.946465 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003988 deg/s,
      cmd heading: 158.161431 deg,
      new cmd heading: 158.168141 deg.

2025-08-11T14:55:49.215Z,1754924149.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.90 m.
2025-08-11T14:55:49.218Z,1754924149.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.900002 m,
      nav range: 72.176552 m,
      bearing: 164.936629 deg,
      approach rate: -0.517595 m/s,
      LOS rate: -0.020222 deg/s,
      cmd heading: 158.168139 deg,
      new cmd heading: 158.138528 deg.

2025-08-11T14:55:49.648Z,1754924149.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.90 m.
2025-08-11T14:55:49.667Z,1754924149.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.900002 m,
      nav range: 71.942780 m,
      bearing: 164.923915 deg,
      approach rate: -0.539267 m/s,
      LOS rate: -0.029425 deg/s,
      cmd heading: 158.138523 deg,
      new cmd heading: 158.100256 deg.

2025-08-11T14:55:50.033Z,1754924150.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.90 m.
2025-08-11T14:55:50.059Z,1754924150.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.900002 m,
      nav range: 71.736160 m,
      bearing: 164.912742 deg,
      approach rate: -0.537693 m/s,
      LOS rate: -0.029159 deg/s,
      cmd heading: 158.100260 deg,
      new cmd heading: 158.066645 deg.

2025-08-11T14:55:50.435Z,1754924150.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:50.438Z,1754924150.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.90 m.
2025-08-11T14:55:50.441Z,1754924150.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.900002 m,
      nav range: 71.522133 m,
      bearing: 164.897651 deg,
      approach rate: -0.528242 m/s,
      LOS rate: -0.037359 deg/s,
      cmd heading: 158.066642 deg,
      new cmd heading: 158.021232 deg.

2025-08-11T14:55:50.615Z,1754924150.615 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:50.615Z,1754924150.615 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:50.616Z,1754924150.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:50.844Z,1754924150.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.90 m.
2025-08-11T14:55:50.846Z,1754924150.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.900002 m,
      nav range: 71.307098 m,
      bearing: 164.882397 deg,
      approach rate: -0.530956 m/s,
      LOS rate: -0.037777 deg/s,
      cmd heading: 158.021235 deg,
      new cmd heading: 157.975336 deg.

2025-08-11T14:55:50.864Z,1754924150.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481301
2025-08-11T14:55:51.116Z,1754924151.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733149
2025-08-11T14:55:51.233Z,1754924151.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.90 m.
2025-08-11T14:55:51.236Z,1754924151.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.900002 m,
      nav range: 71.100731 m,
      bearing: 164.867697 deg,
      approach rate: -0.528781 m/s,
      LOS rate: -0.037777 deg/s,
      cmd heading: 157.975336 deg,
      new cmd heading: 157.931106 deg.

2025-08-11T14:55:51.372Z,1754924151.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988428
2025-08-11T14:55:51.620Z,1754924151.620 [DAT](INFO): DAT read: Rx Time:14:55:52.2673

2025-08-11T14:55:51.621Z,1754924151.621 [DAT](INFO): Rx dataTimestamp_ set to:1754924151.620274
2025-08-11T14:55:51.621Z,1754924151.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238112
2025-08-11T14:55:51.690Z,1754924151.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.90 m.
2025-08-11T14:55:51.697Z,1754924151.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.900002 m,
      nav range: 70.861153 m,
      bearing: 164.853509 deg,
      approach rate: -0.524568 m/s,
      LOS rate: -0.031170 deg/s,
      cmd heading: 157.931104 deg,
      new cmd heading: 157.888396 deg.

2025-08-11T14:55:51.872Z,1754924151.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489193
2025-08-11T14:55:52.086Z,1754924152.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.90 m.
2025-08-11T14:55:52.089Z,1754924152.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.900002 m,
      nav range: 70.651123 m,
      bearing: 164.840991 deg,
      approach rate: -0.529607 m/s,
      LOS rate: -0.031658 deg/s,
      cmd heading: 157.888401 deg,
      new cmd heading: 157.850737 deg.

2025-08-11T14:55:52.133Z,1754924152.133 [DAT](INFO): DAT read: 14:55:52.2673 LVL= 31824, 32753, 31810, 32755, AGC= 67, IDX= 421, 0.17, 1.253,-0.717, 1.069, 0.825, PHS= 0.530,-1.497, 0.201, RAW= 141.3,   8.2, CAL= 140.9,   9.0, ROT=   9.1,  -9.0

2025-08-11T14:55:52.134Z,1754924152.134 [DAT](INFO): got valid direction response:
 14:55:52.2673 LVL= 31824, 32753, 31810, 32755, AGC= 67, IDX= 421, 0.17, 1.253,-0.717, 1.069, 0.825, PHS= 0.530,-1.497, 0.201, RAW= 141.3,   8.2, CAL= 140.9,   9.0, ROT=   9.1,  -9.0

2025-08-11T14:55:52.136Z,1754924152.136 [DAT](INFO): DAT read: Bearing 319.9,   5.5 (Local)

2025-08-11T14:55:52.137Z,1754924152.137 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.9,   5.5 (Local)

2025-08-11T14:55:52.139Z,1754924152.139 [DAT](INFO): DAT read: Range 11 to 50 : 70.9 m  (Round-trip  94.6 ms) speed  0.6 m/s

2025-08-11T14:55:52.140Z,1754924152.140 [DAT](INFO): DAT read: user:229>

2025-08-11T14:55:52.141Z,1754924152.141 [DAT](INFO): DAT read: Tx time:14:55:53.3686

2025-08-11T14:55:52.141Z,1754924152.141 [DAT](INFO): Ping request sent.
2025-08-11T14:55:52.141Z,1754924152.141 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:52.142Z,1754924152.142 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:52.156Z,1754924152.156 [DAT](INFO): direction in FSK: [0.975257,0.156211,0.156434]
2025-08-11T14:55:52.157Z,1754924152.157 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:52.157Z,1754924152.157 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:52.165Z,1754924152.165 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:52.165Z,1754924152.165 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:52.513Z,1754924152.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.900002 m,
      deltaT: 3.778886 s,
      deltaX: -2.000000 m,
      approachRate: -0.529257 m/s,
      rangeRepo size: 4

2025-08-11T14:55:52.515Z,1754924152.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.900002 m,
      bearing: 164.864555 deg,
      lat: 36.905858 deg,
      lon: -122.115902 deg,
      deltaT: 3.778886 s,
      deltaX: -2.000000 m,
      approachRate: -0.529257 m/s,
      posRepo size: 4

2025-08-11T14:55:52.516Z,1754924152.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-11T14:55:52.518Z,1754924152.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.900002 m,
      nav range: 70.562027 m,
      bearing: 164.864555 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031658 deg/s,
      cmd heading: 157.850740 deg,
      new cmd heading: 157.810298 deg.

2025-08-11T14:55:52.881Z,1754924152.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:52.883Z,1754924152.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-11T14:55:52.886Z,1754924152.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.900002 m,
      nav range: 70.362434 m,
      bearing: 164.857684 deg,
      approach rate: -0.538767 m/s,
      LOS rate: -0.018598 deg/s,
      cmd heading: 157.810305 deg,
      new cmd heading: 157.789635 deg.

2025-08-11T14:55:53.134Z,1754924153.134 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:53.134Z,1754924153.134 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:53.134Z,1754924153.134 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:53.285Z,1754924153.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-11T14:55:53.288Z,1754924153.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.900002 m,
      nav range: 70.146370 m,
      bearing: 164.849921 deg,
      approach rate: -0.536661 m/s,
      LOS rate: -0.019342 deg/s,
      cmd heading: 157.789637 deg,
      new cmd heading: 157.766276 deg.

2025-08-11T14:55:53.389Z,1754924153.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247209
2025-08-11T14:55:53.636Z,1754924153.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494786
2025-08-11T14:55:53.716Z,1754924153.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-11T14:55:53.718Z,1754924153.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.900002 m,
      nav range: 69.913940 m,
      bearing: 164.852456 deg,
      approach rate: -0.540426 m/s,
      LOS rate: 0.005914 deg/s,
      cmd heading: 157.766278 deg,
      new cmd heading: 157.773908 deg.

2025-08-11T14:55:53.888Z,1754924153.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746733
2025-08-11T14:55:54.093Z,1754924154.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-11T14:55:54.095Z,1754924154.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.900002 m,
      nav range: 69.718903 m,
      bearing: 164.854125 deg,
      approach rate: -0.517180 m/s,
      LOS rate: 0.004437 deg/s,
      cmd heading: 157.773914 deg,
      new cmd heading: 157.778934 deg.

2025-08-11T14:55:54.141Z,1754924154.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999981
2025-08-11T14:55:54.395Z,1754924154.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253196
2025-08-11T14:55:54.519Z,1754924154.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-11T14:55:54.522Z,1754924154.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.900002 m,
      nav range: 69.487045 m,
      bearing: 164.868197 deg,
      approach rate: -0.543748 m/s,
      LOS rate: 0.033113 deg/s,
      cmd heading: 157.778927 deg,
      new cmd heading: 157.821285 deg.

2025-08-11T14:55:54.644Z,1754924154.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502735
2025-08-11T14:55:54.888Z,1754924154.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:54.890Z,1754924154.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-11T14:55:54.893Z,1754924154.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.900002 m,
      nav range: 69.292343 m,
      bearing: 164.879688 deg,
      approach rate: -0.524327 m/s,
      LOS rate: 0.031031 deg/s,
      cmd heading: 157.821288 deg,
      new cmd heading: 157.855857 deg.

2025-08-11T14:55:54.896Z,1754924154.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754879
2025-08-11T14:55:55.148Z,1754924155.148 [DAT](INFO): DAT read: Rx Time:14:55:55.8646

2025-08-11T14:55:55.149Z,1754924155.149 [DAT](INFO): Rx dataTimestamp_ set to:1754924155.148537
2025-08-11T14:55:55.149Z,1754924155.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008022
2025-08-11T14:55:55.296Z,1754924155.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-11T14:55:55.299Z,1754924155.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.900002 m,
      nav range: 69.079170 m,
      bearing: 164.892216 deg,
      approach rate: -0.524813 m/s,
      LOS rate: 0.030938 deg/s,
      cmd heading: 157.855862 deg,
      new cmd heading: 157.893562 deg.

2025-08-11T14:55:55.403Z,1754924155.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261226
2025-08-11T14:55:55.658Z,1754924155.658 [DAT](INFO): DAT read: 14:55:55.8646 LVL= 26944, 32753, 24914, 32755, AGC= 62, IDX= 409, 0.22,-0.722,-2.557,-0.757,-1.117, PHS= 0.497,-1.395, 0.316, RAW= 145.0,   6.5, CAL= 144.6,   7.1, ROT=   5.4,  -7.1

2025-08-11T14:55:55.659Z,1754924155.659 [DAT](INFO): got valid direction response:
 14:55:55.8646 LVL= 26944, 32753, 24914, 32755, AGC= 62, IDX= 409, 0.22,-0.722,-2.557,-0.757,-1.117, PHS= 0.497,-1.395, 0.316, RAW= 145.0,   6.5, CAL= 144.6,   7.1, ROT=   5.4,  -7.1

2025-08-11T14:55:55.660Z,1754924155.660 [DAT](INFO): DAT read: Bearing 318.1,   2.4 (Local)

2025-08-11T14:55:55.660Z,1754924155.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.1,   2.4 (Local)

2025-08-11T14:55:55.662Z,1754924155.662 [DAT](INFO): DAT read: Range 11 to 50 : 68.8 m  (Round-trip  91.8 ms) speed  0.4 m/s

2025-08-11T14:55:55.662Z,1754924155.662 [DAT](INFO): DAT read: user:230>

2025-08-11T14:55:55.667Z,1754924155.667 [DAT](INFO): DAT read: Tx time:14:55:56.9686

2025-08-11T14:55:55.667Z,1754924155.667 [DAT](INFO): Ping request sent.
2025-08-11T14:55:55.667Z,1754924155.667 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:55.668Z,1754924155.668 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:55.669Z,1754924155.669 [DAT](INFO): direction in FSK: [0.987928,0.093387,0.123601]
2025-08-11T14:55:55.669Z,1754924155.669 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:55.669Z,1754924155.669 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:55.672Z,1754924155.672 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:55.673Z,1754924155.673 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:55.857Z,1754924155.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.800003 m,
      deltaT: 3.527432 s,
      deltaX: -2.099998 m,
      approachRate: -0.595334 m/s,
      rangeRepo size: 4

2025-08-11T14:55:55.863Z,1754924155.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.800003 m,
      bearing: 164.923292 deg,
      lat: 36.905858 deg,
      lon: -122.115902 deg,
      deltaT: 3.527432 s,
      deltaX: -2.099998 m,
      approachRate: -0.595334 m/s,
      posRepo size: 4

2025-08-11T14:55:55.864Z,1754924155.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m.
2025-08-11T14:55:55.867Z,1754924155.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.800003 m,
      nav range: 68.802696 m,
      bearing: 164.923292 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030938 deg/s,
      cmd heading: 157.893565 deg,
      new cmd heading: 157.945534 deg.

2025-08-11T14:55:56.206Z,1754924156.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m.
2025-08-11T14:55:56.209Z,1754924156.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.800003 m,
      nav range: 68.612938 m,
      bearing: 164.944674 deg,
      approach rate: -0.543206 m/s,
      LOS rate: 0.061377 deg/s,
      cmd heading: 157.945529 deg,
      new cmd heading: 158.009851 deg.

2025-08-11T14:55:56.651Z,1754924156.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m.
2025-08-11T14:55:56.654Z,1754924156.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.800003 m,
      nav range: 68.384506 m,
      bearing: 164.975935 deg,
      approach rate: -0.513402 m/s,
      LOS rate: 0.070494 deg/s,
      cmd heading: 158.009856 deg,
      new cmd heading: 158.103953 deg.

2025-08-11T14:55:57.032Z,1754924157.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:57.034Z,1754924157.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m.
2025-08-11T14:55:57.038Z,1754924157.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.800003 m,
      nav range: 68.195892 m,
      bearing: 165.001796 deg,
      approach rate: -0.491824 m/s,
      LOS rate: 0.067620 deg/s,
      cmd heading: 158.103948 deg,
      new cmd heading: 158.181745 deg.

2025-08-11T14:55:57.164Z,1754924157.164 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:55:57.164Z,1754924157.164 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:55:57.164Z,1754924157.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:55:57.421Z,1754924157.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752787
2025-08-11T14:55:57.508Z,1754924157.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m.
2025-08-11T14:55:57.511Z,1754924157.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.800003 m,
      nav range: 67.946495 m,
      bearing: 165.036756 deg,
      approach rate: -0.525815 m/s,
      LOS rate: 0.073978 deg/s,
      cmd heading: 158.181744 deg,
      new cmd heading: 158.287009 deg.

2025-08-11T14:55:57.668Z,1754924157.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000567
2025-08-11T14:55:57.839Z,1754924157.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m.
2025-08-11T14:55:57.842Z,1754924157.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.800003 m,
      nav range: 67.778618 m,
      bearing: 165.060436 deg,
      approach rate: -0.507607 m/s,
      LOS rate: 0.071779 deg/s,
      cmd heading: 158.287011 deg,
      new cmd heading: 158.358228 deg.

2025-08-11T14:55:57.921Z,1754924157.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253589
2025-08-11T14:55:58.172Z,1754924158.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504693
2025-08-11T14:55:58.240Z,1754924158.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m.
2025-08-11T14:55:58.245Z,1754924158.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.800003 m,
      nav range: 67.577286 m,
      bearing: 165.088788 deg,
      approach rate: -0.504556 m/s,
      LOS rate: 0.071265 deg/s,
      cmd heading: 158.358223 deg,
      new cmd heading: 158.443533 deg.

2025-08-11T14:55:58.427Z,1754924158.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759320
2025-08-11T14:55:58.665Z,1754924158.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m.
2025-08-11T14:55:58.672Z,1754924158.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.800003 m,
      nav range: 67.363777 m,
      bearing: 165.115294 deg,
      approach rate: -0.499772 m/s,
      LOS rate: 0.062240 deg/s,
      cmd heading: 158.443532 deg,
      new cmd heading: 158.523301 deg.

2025-08-11T14:55:58.676Z,1754924158.676 [DAT](INFO): DAT read: Rx Time:14:55:59.4624

2025-08-11T14:55:58.677Z,1754924158.677 [DAT](INFO): Rx dataTimestamp_ set to:1754924158.676406
2025-08-11T14:55:58.677Z,1754924158.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009756
2025-08-11T14:55:58.929Z,1754924158.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261429
2025-08-11T14:55:59.039Z,1754924159.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:55:59.041Z,1754924159.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.80 m.
2025-08-11T14:55:59.048Z,1754924159.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.800003 m,
      nav range: 67.166679 m,
      bearing: 165.139685 deg,
      approach rate: -0.524206 m/s,
      LOS rate: 0.065061 deg/s,
      cmd heading: 158.523295 deg,
      new cmd heading: 158.596682 deg.

2025-08-11T14:55:59.186Z,1754924159.186 [DAT](INFO): DAT read: 14:55:59.4624 LVL= 28496, 32593, 27714, 32755, AGC= 65, IDX= 418,-0.47, 2.294, 0.339, 2.169, 1.887, PHS= 0.509,-1.503, 0.238, RAW= 142.9,   8.0, CAL= 142.4,   8.8, ROT=   7.6,  -8.8

2025-08-11T14:55:59.187Z,1754924159.187 [DAT](INFO): got valid direction response:
 14:55:59.4624 LVL= 28496, 32593, 27714, 32755, AGC= 65, IDX= 418,-0.47, 2.294, 0.339, 2.169, 1.887, PHS= 0.509,-1.503, 0.238, RAW= 142.9,   8.0, CAL= 142.4,   8.8, ROT=   7.6,  -8.8

2025-08-11T14:55:59.188Z,1754924159.188 [DAT](INFO): DAT read: Bearing 320.1,   3.8 (Local)

2025-08-11T14:55:59.188Z,1754924159.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.1,   3.8 (Local)

2025-08-11T14:55:59.190Z,1754924159.190 [DAT](INFO): DAT read: Range 11 to 50 : 67.2 m  (Round-trip  89.6 ms) speed  0.4 m/s

2025-08-11T14:55:59.190Z,1754924159.190 [DAT](INFO): DAT read: user:231>

2025-08-11T14:55:59.196Z,1754924159.196 [DAT](INFO): DAT read: Tx time:14:56:00.5686

2025-08-11T14:55:59.196Z,1754924159.196 [DAT](INFO): Ping request sent.
2025-08-11T14:55:59.196Z,1754924159.196 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:55:59.196Z,1754924159.196 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:55:59.197Z,1754924159.197 [DAT](INFO): direction in FSK: [0.979547,0.130700,0.152986]
2025-08-11T14:55:59.198Z,1754924159.198 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:59.198Z,1754924159.198 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:59.201Z,1754924159.201 [DAT](INFO): publishing transmit ping time
2025-08-11T14:55:59.201Z,1754924159.201 [DAT](INFO): publishing direction and range info
2025-08-11T14:55:59.516Z,1754924159.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 67.199997 m,
      deltaT: 3.528238 s,
      deltaX: -1.600006 m,
      approachRate: -0.453486 m/s,
      rangeRepo size: 4

2025-08-11T14:55:59.518Z,1754924159.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 67.199997 m,
      bearing: 165.526654 deg,
      lat: 36.905858 deg,
      lon: -122.115907 deg,
      deltaT: 3.528238 s,
      deltaX: -1.600006 m,
      approachRate: -0.453486 m/s,
      posRepo size: 4

2025-08-11T14:55:59.518Z,1754924159.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.20 m.
2025-08-11T14:55:59.525Z,1754924159.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.199997 m,
      nav range: 66.834251 m,
      bearing: 165.526654 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.065061 deg/s,
      cmd heading: 158.596678 deg,
      new cmd heading: 158.688282 deg.

2025-08-11T14:55:59.877Z,1754924159.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.20 m.
2025-08-11T14:55:59.880Z,1754924159.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.199997 m,
      nav range: 66.627434 m,
      bearing: 165.549609 deg,
      approach rate: -0.564759 m/s,
      LOS rate: 0.062877 deg/s,
      cmd heading: 158.688285 deg,
      new cmd heading: 158.757363 deg.

2025-08-11T14:56:00.278Z,1754924160.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.20 m.
2025-08-11T14:56:00.284Z,1754924160.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.199997 m,
      nav range: 66.425156 m,
      bearing: 165.571758 deg,
      approach rate: -0.504962 m/s,
      LOS rate: 0.055461 deg/s,
      cmd heading: 158.757365 deg,
      new cmd heading: 158.824015 deg.

2025-08-11T14:56:00.681Z,1754924160.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.20 m.
2025-08-11T14:56:00.684Z,1754924160.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.199997 m,
      nav range: 66.207787 m,
      bearing: 165.582978 deg,
      approach rate: -0.538625 m/s,
      LOS rate: 0.027894 deg/s,
      cmd heading: 158.824014 deg,
      new cmd heading: 158.857785 deg.

2025-08-11T14:56:01.050Z,1754924161.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:01.052Z,1754924161.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.20 m.
2025-08-11T14:56:01.055Z,1754924161.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.199997 m,
      nav range: 66.012169 m,
      bearing: 165.592953 deg,
      approach rate: -0.526760 m/s,
      LOS rate: 0.026941 deg/s,
      cmd heading: 158.857783 deg,
      new cmd heading: 158.887797 deg.

2025-08-11T14:56:01.196Z,1754924161.196 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:01.196Z,1754924161.196 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:01.196Z,1754924161.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:01.450Z,1754924161.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254144
2025-08-11T14:56:01.488Z,1754924161.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.20 m.
2025-08-11T14:56:01.506Z,1754924161.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.199997 m,
      nav range: 65.795097 m,
      bearing: 165.603897 deg,
      approach rate: -0.504820 m/s,
      LOS rate: 0.025536 deg/s,
      cmd heading: 158.887795 deg,
      new cmd heading: 158.920736 deg.

2025-08-11T14:56:01.700Z,1754924161.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504075
2025-08-11T14:56:01.953Z,1754924161.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756763
2025-08-11T14:56:02.163Z,1754924162.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.20 m.
2025-08-11T14:56:02.166Z,1754924162.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.199997 m,
      nav range: 65.416000 m,
      bearing: 165.613523 deg,
      approach rate: -0.560329 m/s,
      LOS rate: 0.014311 deg/s,
      cmd heading: 158.920730 deg,
      new cmd heading: 158.949776 deg.

2025-08-11T14:56:02.204Z,1754924162.204 [DAT](INFO): DAT read: Rx Time:14:56:03.0599

2025-08-11T14:56:02.205Z,1754924162.205 [DAT](INFO): Rx dataTimestamp_ set to:1754924162.204634
2025-08-11T14:56:02.205Z,1754924162.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009445
2025-08-11T14:56:02.456Z,1754924162.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260350
2025-08-11T14:56:02.660Z,1754924162.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.20 m.
2025-08-11T14:56:02.667Z,1754924162.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 67.199997 m,
      nav range: 65.132484 m,
      bearing: 165.614868 deg,
      approach rate: -0.565436 m/s,
      LOS rate: 0.002694 deg/s,
      cmd heading: 158.949772 deg,
      new cmd heading: 158.953824 deg.

2025-08-11T14:56:02.740Z,1754924162.740 [DAT](INFO): DAT read: 14:56:03.0599 LVL= 31120, 32753, 31378, 32755, AGC= 68, IDX= 409,-0.19,-0.146,-2.030,-0.214,-0.456, PHS= 0.412,-1.529, 0.198, RAW= 144.2,  10.0, CAL= 143.8,  10.9, ROT=   6.2, -10.9

2025-08-11T14:56:02.743Z,1754924162.743 [DAT](INFO): got valid direction response:
 14:56:03.0599 LVL= 31120, 32753, 31378, 32755, AGC= 68, IDX= 409,-0.19,-0.146,-2.030,-0.214,-0.456, PHS= 0.412,-1.529, 0.198, RAW= 144.2,  10.0, CAL= 143.8,  10.9, ROT=   6.2, -10.9

2025-08-11T14:56:02.752Z,1754924162.752 [DAT](INFO): DAT read: Bearing 322.5,   2.0 (Local)

2025-08-11T14:56:02.753Z,1754924162.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.5,   2.0 (Local)

2025-08-11T14:56:02.761Z,1754924162.761 [DAT](INFO): DAT read: Range 11 to 50 : 65.4 m  (Round-trip  87.2 ms) speed  0.6 m/s

2025-08-11T14:56:02.762Z,1754924162.762 [DAT](INFO): DAT read: user:232>

2025-08-11T14:56:02.763Z,1754924162.763 [DAT](INFO): DAT read: Tx time:14:56:04.1686

2025-08-11T14:56:02.771Z,1754924162.771 [DAT](INFO): Ping request sent.
2025-08-11T14:56:02.771Z,1754924162.771 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:02.772Z,1754924162.772 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:02.773Z,1754924162.773 [DAT](INFO): direction in FSK: [0.976215,0.106051,0.189095]
2025-08-11T14:56:02.773Z,1754924162.773 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:02.773Z,1754924162.773 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:02.781Z,1754924162.781 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:02.781Z,1754924162.781 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:03.152Z,1754924163.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.400002 m,
      deltaT: 3.529076 s,
      deltaX: -1.799995 m,
      approachRate: -0.510047 m/s,
      rangeRepo size: 4

2025-08-11T14:56:03.154Z,1754924163.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.400002 m,
      bearing: 165.248186 deg,
      lat: 36.905858 deg,
      lon: -122.115902 deg,
      deltaT: 3.529076 s,
      deltaX: -1.799995 m,
      approachRate: -0.510047 m/s,
      posRepo size: 4

2025-08-11T14:56:03.154Z,1754924163.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-11T14:56:03.158Z,1754924163.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 64.965408 m,
      bearing: 165.248186 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002694 deg/s,
      cmd heading: 158.953829 deg,
      new cmd heading: 158.957791 deg.

2025-08-11T14:56:03.613Z,1754924163.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:03.615Z,1754924163.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-11T14:56:03.618Z,1754924163.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 64.696838 m,
      bearing: 165.245258 deg,
      approach rate: -0.578740 m/s,
      LOS rate: -0.006335 deg/s,
      cmd heading: 158.957790 deg,
      new cmd heading: 158.948971 deg.

2025-08-11T14:56:03.716Z,1754924163.716 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:03.716Z,1754924163.716 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:03.716Z,1754924163.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:03.960Z,1754924163.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-11T14:56:03.963Z,1754924163.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 64.500465 m,
      bearing: 165.242900 deg,
      approach rate: -0.568854 m/s,
      LOS rate: -0.006852 deg/s,
      cmd heading: 158.948966 deg,
      new cmd heading: 158.941870 deg.

2025-08-11T14:56:03.968Z,1754924163.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.196856
2025-08-11T14:56:04.222Z,1754924164.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450341
2025-08-11T14:56:04.351Z,1754924164.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-11T14:56:04.372Z,1754924164.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 64.273674 m,
      bearing: 165.240158 deg,
      approach rate: -0.580677 m/s,
      LOS rate: -0.007044 deg/s,
      cmd heading: 158.941876 deg,
      new cmd heading: 158.933623 deg.

2025-08-11T14:56:04.472Z,1754924164.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700808
2025-08-11T14:56:04.726Z,1754924164.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954740
2025-08-11T14:56:04.795Z,1754924164.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-11T14:56:04.798Z,1754924164.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 64.030754 m,
      bearing: 165.231147 deg,
      approach rate: -0.551442 m/s,
      LOS rate: -0.020533 deg/s,
      cmd heading: 158.933625 deg,
      new cmd heading: 158.906489 deg.

2025-08-11T14:56:04.976Z,1754924164.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204756
2025-08-11T14:56:05.164Z,1754924165.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-11T14:56:05.167Z,1754924165.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 63.807949 m,
      bearing: 165.222822 deg,
      approach rate: -0.597331 m/s,
      LOS rate: -0.022398 deg/s,
      cmd heading: 158.906496 deg,
      new cmd heading: 158.881432 deg.

2025-08-11T14:56:05.229Z,1754924165.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457165
2025-08-11T14:56:05.480Z,1754924165.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708751
2025-08-11T14:56:05.607Z,1754924165.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-11T14:56:05.610Z,1754924165.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 63.562485 m,
      bearing: 165.212941 deg,
      approach rate: -0.554490 m/s,
      LOS rate: -0.022407 deg/s,
      cmd heading: 158.881429 deg,
      new cmd heading: 158.851671 deg.

2025-08-11T14:56:05.734Z,1754924165.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962994
2025-08-11T14:56:05.984Z,1754924165.984 [DAT](INFO): DAT read: Rx Time:14:56:06.6571

2025-08-11T14:56:05.985Z,1754924165.985 [DAT](INFO): Rx dataTimestamp_ set to:1754924165.984439
2025-08-11T14:56:05.985Z,1754924165.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213924
2025-08-11T14:56:05.990Z,1754924165.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:05.992Z,1754924165.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-11T14:56:05.995Z,1754924165.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 63.334679 m,
      bearing: 165.202527 deg,
      approach rate: -0.590558 m/s,
      LOS rate: -0.027092 deg/s,
      cmd heading: 158.851677 deg,
      new cmd heading: 158.820324 deg.

2025-08-11T14:56:06.237Z,1754924166.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465162
2025-08-11T14:56:06.364Z,1754924166.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.40 m.
2025-08-11T14:56:06.367Z,1754924166.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.400002 m,
      nav range: 63.119446 m,
      bearing: 165.192391 deg,
      approach rate: -0.579182 m/s,
      LOS rate: -0.027370 deg/s,
      cmd heading: 158.820326 deg,
      new cmd heading: 158.789813 deg.

2025-08-11T14:56:06.494Z,1754924166.494 [DAT](INFO): DAT read: 14:56:06.6571 LVL= 29424, 29425, 25266, 32755, AGC= 66, IDX= 412,-0.18, 1.284,-0.625, 1.230, 0.932, PHS= 0.454,-1.511, 0.254, RAW= 144.7,   8.6, CAL= 144.3,   9.4, ROT=   5.7,  -9.4

2025-08-11T14:56:06.495Z,1754924166.495 [DAT](INFO): got valid direction response:
 14:56:06.6571 LVL= 29424, 29425, 25266, 32755, AGC= 66, IDX= 412,-0.18, 1.284,-0.625, 1.230, 0.932, PHS= 0.454,-1.511, 0.254, RAW= 144.7,   8.6, CAL= 144.3,   9.4, ROT=   5.7,  -9.4

2025-08-11T14:56:06.496Z,1754924166.496 [DAT](INFO): DAT read: Bearing 322.0,   1.5 (Local)

2025-08-11T14:56:06.496Z,1754924166.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.0,   1.5 (Local)

2025-08-11T14:56:06.498Z,1754924166.498 [DAT](INFO): DAT read: Range 11 to 50 : 63.2 m  (Round-trip  84.3 ms) speed  0.7 m/s

2025-08-11T14:56:06.498Z,1754924166.498 [DAT](INFO): DAT read: user:233>

2025-08-11T14:56:06.499Z,1754924166.499 [DAT](INFO): DAT read: Tx time:14:56:07.7702

2025-08-11T14:56:06.499Z,1754924166.499 [DAT](INFO): Ping request sent.
2025-08-11T14:56:06.499Z,1754924166.499 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:06.500Z,1754924166.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:06.501Z,1754924166.501 [DAT](INFO): direction in FSK: [0.981694,0.097986,0.163326]
2025-08-11T14:56:06.501Z,1754924166.501 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:06.501Z,1754924166.501 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:06.504Z,1754924166.504 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:06.505Z,1754924166.505 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:06.797Z,1754924166.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.200001 m,
      deltaT: 3.778762 s,
      deltaX: -2.200001 m,
      approachRate: -0.582201 m/s,
      rangeRepo size: 4

2025-08-11T14:56:06.799Z,1754924166.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.200001 m,
      bearing: 164.971373 deg,
      lat: 36.905859 deg,
      lon: -122.115899 deg,
      deltaT: 3.778762 s,
      deltaX: -2.200001 m,
      approachRate: -0.582201 m/s,
      posRepo size: 4

2025-08-11T14:56:06.800Z,1754924166.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-11T14:56:06.802Z,1754924166.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.200001 m,
      nav range: 62.900604 m,
      bearing: 164.971373 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027370 deg/s,
      cmd heading: 158.789809 deg,
      new cmd heading: 158.754347 deg.

2025-08-11T14:56:07.168Z,1754924167.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-11T14:56:07.170Z,1754924167.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.200001 m,
      nav range: 62.687485 m,
      bearing: 164.961466 deg,
      approach rate: -0.573829 m/s,
      LOS rate: -0.026765 deg/s,
      cmd heading: 158.754346 deg,
      new cmd heading: 158.724525 deg.

2025-08-11T14:56:07.643Z,1754924167.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-11T14:56:07.646Z,1754924167.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.200001 m,
      nav range: 62.424538 m,
      bearing: 164.948643 deg,
      approach rate: -0.553211 m/s,
      LOS rate: -0.027091 deg/s,
      cmd heading: 158.724526 deg,
      new cmd heading: 158.685895 deg.

2025-08-11T14:56:07.980Z,1754924167.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-11T14:56:07.983Z,1754924167.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.200001 m,
      nav range: 62.227119 m,
      bearing: 164.938570 deg,
      approach rate: -0.586925 m/s,
      LOS rate: -0.030043 deg/s,
      cmd heading: 158.685894 deg,
      new cmd heading: 158.655579 deg.

2025-08-11T14:56:08.377Z,1754924168.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:08.380Z,1754924168.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-11T14:56:08.382Z,1754924168.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.200001 m,
      nav range: 62.000210 m,
      bearing: 164.926526 deg,
      approach rate: -0.566358 m/s,
      LOS rate: -0.030172 deg/s,
      cmd heading: 158.655582 deg,
      new cmd heading: 158.619316 deg.

2025-08-11T14:56:08.504Z,1754924168.504 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:08.504Z,1754924168.504 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:08.505Z,1754924168.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:08.756Z,1754924168.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256736
2025-08-11T14:56:08.827Z,1754924168.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-11T14:56:08.830Z,1754924168.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.200001 m,
      nav range: 61.761078 m,
      bearing: 164.913292 deg,
      approach rate: -0.534970 m/s,
      LOS rate: -0.029720 deg/s,
      cmd heading: 158.619314 deg,
      new cmd heading: 158.579459 deg.

2025-08-11T14:56:09.008Z,1754924169.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508571
2025-08-11T14:56:09.182Z,1754924169.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-11T14:56:09.185Z,1754924169.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.200001 m,
      nav range: 61.544640 m,
      bearing: 164.900784 deg,
      approach rate: -0.608311 m/s,
      LOS rate: -0.035278 deg/s,
      cmd heading: 158.579453 deg,
      new cmd heading: 158.541797 deg.

2025-08-11T14:56:09.261Z,1754924169.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761497
2025-08-11T14:56:09.512Z,1754924169.512 [DAT](INFO): DAT read: Rx Time:14:56:10.2558

2025-08-11T14:56:09.513Z,1754924169.513 [DAT](INFO): Rx dataTimestamp_ set to:1754924169.512390
2025-08-11T14:56:09.513Z,1754924169.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013779
2025-08-11T14:56:09.659Z,1754924169.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.20 m.
2025-08-11T14:56:09.662Z,1754924169.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.200001 m,
      nav range: 61.298599 m,
      bearing: 164.886050 deg,
      approach rate: -0.520653 m/s,
      LOS rate: -0.031304 deg/s,
      cmd heading: 158.541791 deg,
      new cmd heading: 158.497412 deg.

2025-08-11T14:56:09.764Z,1754924169.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264720
2025-08-11T14:56:10.022Z,1754924170.022 [DAT](INFO): DAT read: 14:56:10.2558 LVL= 27104, 32081, 26098, 32755, AGC= 63, IDX= 415, 0.24, 1.382,-0.423, 1.506, 1.130, PHS= 0.354,-1.508, 0.331, RAW= 149.4,   8.9, CAL= 149.0,   9.7, ROT=   1.0,  -9.7

2025-08-11T14:56:10.032Z,1754924170.032 [DAT](INFO): got valid direction response:
 14:56:10.2558 LVL= 27104, 32081, 26098, 32755, AGC= 63, IDX= 415, 0.24, 1.382,-0.423, 1.506, 1.130, PHS= 0.354,-1.508, 0.331, RAW= 149.4,   8.9, CAL= 149.0,   9.7, ROT=   1.0,  -9.7

2025-08-11T14:56:10.033Z,1754924170.033 [DAT](INFO): DAT read: Bearing 323.1,  -3.2 (Local)

2025-08-11T14:56:10.033Z,1754924170.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.1,  -3.2 (Local)

2025-08-11T14:56:10.034Z,1754924170.034 [DAT](INFO): DAT read: Range 11 to 50 : 61.1 m  (Round-trip  81.5 ms) speed  0.4 m/s

2025-08-11T14:56:10.035Z,1754924170.035 [DAT](INFO): DAT read: user:234>

2025-08-11T14:56:10.036Z,1754924170.036 [DAT](INFO): DAT read: Tx time:14:56:11.3686

2025-08-11T14:56:10.036Z,1754924170.036 [DAT](INFO): Ping request sent.
2025-08-11T14:56:10.036Z,1754924170.036 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:10.037Z,1754924170.037 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:10.037Z,1754924170.037 [DAT](INFO): direction in FSK: [0.985553,0.017203,0.168489]
2025-08-11T14:56:10.038Z,1754924170.038 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:10.038Z,1754924170.038 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:10.057Z,1754924170.057 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:10.057Z,1754924170.057 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:10.128Z,1754924170.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.099998 m,
      deltaT: 3.528023 s,
      deltaX: -2.100002 m,
      approachRate: -0.595235 m/s,
      rangeRepo size: 4

2025-08-11T14:56:10.130Z,1754924170.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.099998 m,
      bearing: 164.702869 deg,
      lat: 36.905860 deg,
      lon: -122.115897 deg,
      deltaT: 3.528023 s,
      deltaX: -2.100002 m,
      approachRate: -0.595235 m/s,
      posRepo size: 4

2025-08-11T14:56:10.131Z,1754924170.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-11T14:56:10.138Z,1754924170.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 60.962990 m,
      bearing: 164.702869 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.031304 deg/s,
      cmd heading: 158.497408 deg,
      new cmd heading: 158.453463 deg.

2025-08-11T14:56:10.463Z,1754924170.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:10.465Z,1754924170.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-11T14:56:10.488Z,1754924170.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 60.772301 m,
      bearing: 164.704412 deg,
      approach rate: -0.557373 m/s,
      LOS rate: 0.004522 deg/s,
      cmd heading: 158.453463 deg,
      new cmd heading: 158.458104 deg.

2025-08-11T14:56:10.520Z,1754924170.520 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:10.520Z,1754924170.520 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:10.520Z,1754924170.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:10.772Z,1754924170.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.736231
2025-08-11T14:56:10.901Z,1754924170.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-11T14:56:10.904Z,1754924170.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 60.554123 m,
      bearing: 164.712559 deg,
      approach rate: -0.500193 m/s,
      LOS rate: 0.018747 deg/s,
      cmd heading: 158.458107 deg,
      new cmd heading: 158.482639 deg.

2025-08-11T14:56:11.024Z,1754924171.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987995
2025-08-11T14:56:11.276Z,1754924171.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239804
2025-08-11T14:56:11.290Z,1754924171.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-11T14:56:11.296Z,1754924171.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 60.369656 m,
      bearing: 164.718902 deg,
      approach rate: -0.475181 m/s,
      LOS rate: 0.016389 deg/s,
      cmd heading: 158.482642 deg,
      new cmd heading: 158.501729 deg.

2025-08-11T14:56:11.528Z,1754924171.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491952
2025-08-11T14:56:11.761Z,1754924171.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-11T14:56:11.764Z,1754924171.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 60.121872 m,
      bearing: 164.733829 deg,
      approach rate: -0.525298 m/s,
      LOS rate: 0.031775 deg/s,
      cmd heading: 158.501725 deg,
      new cmd heading: 158.546691 deg.

2025-08-11T14:56:11.783Z,1754924171.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746319
2025-08-11T14:56:12.033Z,1754924172.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996277
2025-08-11T14:56:12.097Z,1754924172.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-11T14:56:12.100Z,1754924172.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 59.951084 m,
      bearing: 164.743779 deg,
      approach rate: -0.508280 m/s,
      LOS rate: 0.029696 deg/s,
      cmd heading: 158.546695 deg,
      new cmd heading: 158.576630 deg.

2025-08-11T14:56:12.284Z,1754924172.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247941
2025-08-11T14:56:12.494Z,1754924172.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:12.516Z,1754924172.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-11T14:56:12.519Z,1754924172.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 59.748329 m,
      bearing: 164.755436 deg,
      approach rate: -0.483629 m/s,
      LOS rate: 0.027900 deg/s,
      cmd heading: 158.576625 deg,
      new cmd heading: 158.611715 deg.

2025-08-11T14:56:12.536Z,1754924172.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500074
2025-08-11T14:56:12.790Z,1754924172.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754197
2025-08-11T14:56:12.968Z,1754924172.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-11T14:56:12.970Z,1754924172.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 59.523052 m,
      bearing: 164.772422 deg,
      approach rate: -0.499276 m/s,
      LOS rate: 0.037788 deg/s,
      cmd heading: 158.611718 deg,
      new cmd heading: 158.662869 deg.

2025-08-11T14:56:13.047Z,1754924173.047 [DAT](INFO): DAT read: Rx Time:14:56:13.8519

2025-08-11T14:56:13.047Z,1754924173.047 [DAT](INFO): Rx dataTimestamp_ set to:1754924173.047101
2025-08-11T14:56:13.048Z,1754924173.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011710
2025-08-11T14:56:13.300Z,1754924173.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264073
2025-08-11T14:56:13.309Z,1754924173.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-11T14:56:13.312Z,1754924173.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 59.342487 m,
      bearing: 164.785624 deg,
      approach rate: -0.528649 m/s,
      LOS rate: 0.038768 deg/s,
      cmd heading: 158.662863 deg,
      new cmd heading: 158.702588 deg.

2025-08-11T14:56:13.558Z,1754924173.558 [DAT](INFO): DAT read: 14:56:13.8519 LVL= 28208, 32753, 25154, 32755, AGC= 63, IDX= 423,-0.34, 2.233, 0.464, 2.343, 1.944, PHS= 0.391,-1.435, 0.355, RAW= 149.0,   7.7, CAL= 148.5,   8.3, ROT=   1.5,  -8.3

2025-08-11T14:56:13.560Z,1754924173.560 [DAT](INFO): got valid direction response:
 14:56:13.8519 LVL= 28208, 32753, 25154, 32755, AGC= 63, IDX= 423,-0.34, 2.233, 0.464, 2.343, 1.944, PHS= 0.391,-1.435, 0.355, RAW= 149.0,   7.7, CAL= 148.5,   8.3, ROT=   1.5,  -8.3

2025-08-11T14:56:13.561Z,1754924173.561 [DAT](INFO): DAT read: Bearing 322.6,  -1.7 (Local)

2025-08-11T14:56:13.562Z,1754924173.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.6,  -1.7 (Local)

2025-08-11T14:56:13.564Z,1754924173.564 [DAT](INFO): DAT read: Range 11 to 50 : 59.3 m  (Round-trip  79.1 ms) speed  0.4 m/s

2025-08-11T14:56:13.565Z,1754924173.565 [DAT](INFO): DAT read: user:235>

2025-08-11T14:56:13.566Z,1754924173.566 [DAT](INFO): DAT read: Tx time:14:56:14.9686

2025-08-11T14:56:13.566Z,1754924173.566 [DAT](INFO): Ping request sent.
2025-08-11T14:56:13.566Z,1754924173.566 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:13.567Z,1754924173.567 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:13.569Z,1754924173.569 [DAT](INFO): direction in FSK: [0.989187,0.025903,0.144356]
2025-08-11T14:56:13.569Z,1754924173.569 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:13.569Z,1754924173.569 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:13.573Z,1754924173.573 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:13.573Z,1754924173.573 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:13.844Z,1754924173.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.299999 m,
      deltaT: 3.535966 s,
      deltaX: -1.799999 m,
      approachRate: -0.509054 m/s,
      rangeRepo size: 4

2025-08-11T14:56:13.846Z,1754924173.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.299999 m,
      bearing: 164.798302 deg,
      lat: 36.905860 deg,
      lon: -122.115897 deg,
      deltaT: 3.535966 s,
      deltaX: -1.799999 m,
      approachRate: -0.509054 m/s,
      posRepo size: 4

2025-08-11T14:56:13.847Z,1754924173.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-08-11T14:56:13.851Z,1754924173.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-08-11T14:56:13.854Z,1754924173.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 59.084167 m,
      bearing: 164.798302 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038768 deg/s,
      cmd heading: 158.702587 deg,
      new cmd heading: 158.764181 deg.

2025-08-11T14:56:13.897Z,1754924173.897 [DockingStepper](INFO): Changing to mode: 2
2025-08-11T14:56:14.250Z,1754924174.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-08-11T14:56:14.251Z,1754924174.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-08-11T14:56:14.258Z,1754924174.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.867699 m,
      bearing: 164.808622 deg,
      approach rate: -0.526294 m/s,
      LOS rate: 0.025181 deg/s,
      cmd heading: 158.764182 deg,
      new cmd heading: 158.795254 deg.

2025-08-11T14:56:14.652Z,1754924174.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:14.661Z,1754924174.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-08-11T14:56:14.663Z,1754924174.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-08-11T14:56:14.704Z,1754924174.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.671906 m,
      bearing: 164.817865 deg,
      approach rate: -0.478893 m/s,
      LOS rate: 0.022685 deg/s,
      cmd heading: 158.795259 deg,
      new cmd heading: 158.823083 deg.

2025-08-11T14:56:14.813Z,1754924174.813 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:14.813Z,1754924174.813 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:14.813Z,1754924174.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:15.064Z,1754924175.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497881
2025-08-11T14:56:15.088Z,1754924175.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-08-11T14:56:15.088Z,1754924175.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-08-11T14:56:15.096Z,1754924175.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.449688 m,
      bearing: 164.825144 deg,
      approach rate: -0.518091 m/s,
      LOS rate: 0.017034 deg/s,
      cmd heading: 158.823085 deg,
      new cmd heading: 158.845003 deg.

2025-08-11T14:56:15.317Z,1754924175.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750247
2025-08-11T14:56:15.532Z,1754924175.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-08-11T14:56:15.533Z,1754924175.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-08-11T14:56:15.536Z,1754924175.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.204567 m,
      bearing: 164.833024 deg,
      approach rate: -0.551343 m/s,
      LOS rate: 0.017800 deg/s,
      cmd heading: 158.844997 deg,
      new cmd heading: 158.868737 deg.

2025-08-11T14:56:15.568Z,1754924175.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001970
2025-08-11T14:56:15.820Z,1754924175.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253868
2025-08-11T14:56:15.947Z,1754924175.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-08-11T14:56:15.952Z,1754924175.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-08-11T14:56:15.954Z,1754924175.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.998295 m,
      bearing: 164.831261 deg,
      approach rate: -0.502757 m/s,
      LOS rate: -0.004313 deg/s,
      cmd heading: 158.868738 deg,
      new cmd heading: 158.863430 deg.

2025-08-11T14:56:16.072Z,1754924176.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505943
2025-08-11T14:56:16.309Z,1754924176.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-08-11T14:56:16.309Z,1754924176.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-08-11T14:56:16.313Z,1754924176.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.802299 m,
      bearing: 164.829352 deg,
      approach rate: -0.535305 m/s,
      LOS rate: -0.005231 deg/s,
      cmd heading: 158.863425 deg,
      new cmd heading: 158.857679 deg.

2025-08-11T14:56:16.324Z,1754924176.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758014
2025-08-11T14:56:16.576Z,1754924176.576 [DAT](INFO): DAT read: Rx Time:14:56:17.4497

2025-08-11T14:56:16.577Z,1754924176.577 [DAT](INFO): Rx dataTimestamp_ set to:1754924176.576317
2025-08-11T14:56:16.577Z,1754924176.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010887
2025-08-11T14:56:16.748Z,1754924176.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:16.750Z,1754924176.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-08-11T14:56:16.750Z,1754924176.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-08-11T14:56:16.753Z,1754924176.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.562580 m,
      bearing: 164.827000 deg,
      approach rate: -0.543706 m/s,
      LOS rate: -0.005357 deg/s,
      cmd heading: 158.857674 deg,
      new cmd heading: 158.850587 deg.

2025-08-11T14:56:16.829Z,1754924176.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262453
2025-08-11T14:56:17.085Z,1754924177.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518535
2025-08-11T14:56:17.186Z,1754924177.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-08-11T14:56:17.186Z,1754924177.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-08-11T14:56:17.189Z,1754924177.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.315819 m,
      bearing: 164.817707 deg,
      approach rate: -0.566005 m/s,
      LOS rate: -0.021407 deg/s,
      cmd heading: 158.850584 deg,
      new cmd heading: 158.822585 deg.

2025-08-11T14:56:17.338Z,1754924177.338 [DAT](INFO): DAT read: 14:56:17.4497 LVL= 24528, 32161, 24370, 27283, AGC= 62, IDX= 416,-0.14, 1.970, 0.254, 2.212, 1.691, PHS= 0.381,-1.391, 0.477, RAW= 152.6,   5.9, CAL= 151.9,   6.0, ROT= 358.1,  -6.0

2025-08-11T14:56:17.339Z,1754924177.339 [DAT](INFO): got valid direction response:
 14:56:17.4497 LVL= 24528, 32161, 24370, 27283, AGC= 62, IDX= 416,-0.14, 1.970, 0.254, 2.212, 1.691, PHS= 0.381,-1.391, 0.477, RAW= 152.6,   5.9, CAL= 151.9,   6.0, ROT= 358.1,  -6.0

2025-08-11T14:56:17.340Z,1754924177.340 [DAT](INFO): DAT read: Bearing 320.8,  -3.3 (Local)

2025-08-11T14:56:17.340Z,1754924177.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.8,  -3.3 (Local)

2025-08-11T14:56:17.342Z,1754924177.342 [DAT](INFO): DAT read: Range 11 to 50 : 57.6 m  (Round-trip  76.9 ms) speed  0.4 m/s

2025-08-11T14:56:17.342Z,1754924177.342 [DAT](INFO): DAT read: user:236>

2025-08-11T14:56:17.343Z,1754924177.343 [DAT](INFO): DAT read: Tx time:14:56:18.5686

2025-08-11T14:56:17.344Z,1754924177.344 [DAT](INFO): Ping request sent.
2025-08-11T14:56:17.344Z,1754924177.344 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:17.344Z,1754924177.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:17.345Z,1754924177.345 [DAT](INFO): direction in FSK: [0.993975,-0.032973,0.104528]
2025-08-11T14:56:17.345Z,1754924177.345 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:17.346Z,1754924177.346 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:17.349Z,1754924177.349 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:17.349Z,1754924177.349 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:17.596Z,1754924177.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.599998 m,
      deltaT: 3.779978 s,
      deltaX: -1.700001 m,
      approachRate: -0.449738 m/s,
      rangeRepo size: 4

2025-08-11T14:56:17.598Z,1754924177.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.599998 m,
      bearing: 162.358617 deg,
      lat: 36.905867 deg,
      lon: -122.115871 deg,
      deltaT: 3.779978 s,
      deltaX: -1.700001 m,
      approachRate: -0.449738 m/s,
      posRepo size: 4

2025-08-11T14:56:17.599Z,1754924177.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-11T14:56:17.600Z,1754924177.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-11T14:56:17.602Z,1754924177.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.599998 m,
      nav range: 57.004871 m,
      bearing: 162.358617 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021407 deg/s,
      cmd heading: 158.822580 deg,
      new cmd heading: 158.796272 deg.

2025-08-11T14:56:18.005Z,1754924178.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-11T14:56:18.005Z,1754924178.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-11T14:56:18.008Z,1754924178.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.599998 m,
      nav range: 56.753353 m,
      bearing: 162.331041 deg,
      approach rate: -0.614238 m/s,
      LOS rate: -0.067641 deg/s,
      cmd heading: 158.796270 deg,
      new cmd heading: 158.713177 deg.

2025-08-11T14:56:18.381Z,1754924178.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-11T14:56:18.382Z,1754924178.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-11T14:56:18.385Z,1754924178.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.599998 m,
      nav range: 56.537178 m,
      bearing: 162.306889 deg,
      approach rate: -0.574196 m/s,
      LOS rate: -0.064397 deg/s,
      cmd heading: 158.713174 deg,
      new cmd heading: 158.640441 deg.

2025-08-11T14:56:18.784Z,1754924178.784 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-11T14:56:18.785Z,1754924178.785 [BPC1](ERROR): Battery stick #18 (s/n: 0186) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-11T14:56:18.785Z,1754924178.785 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-11T14:56:18.786Z,1754924178.786 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-11T14:56:18.787Z,1754924178.787 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-11T14:56:18.788Z,1754924178.788 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-11T14:56:18.789Z,1754924178.789 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-11T14:56:18.789Z,1754924178.789 [BPC1](INFO): Calculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 3.
2025-08-11T14:56:18.793Z,1754924178.793 [BPC1](ERROR): Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.
2025-08-11T14:56:18.864Z,1754924178.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:18.866Z,1754924178.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-11T14:56:18.866Z,1754924178.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-11T14:56:18.873Z,1754924178.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.599998 m,
      nav range: 56.273251 m,
      bearing: 162.269370 deg,
      approach rate: -0.544829 m/s,
      LOS rate: -0.077815 deg/s,
      cmd heading: 158.640446 deg,
      new cmd heading: 158.527360 deg.

2025-08-11T14:56:19.096Z,1754924179.096 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:19.096Z,1754924179.096 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:19.096Z,1754924179.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:19.190Z,1754924179.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-11T14:56:19.192Z,1754924179.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-11T14:56:19.198Z,1754924179.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.599998 m,
      nav range: 56.061104 m,
      bearing: 162.238722 deg,
      approach rate: -0.655604 m/s,
      LOS rate: -0.095069 deg/s,
      cmd heading: 158.527366 deg,
      new cmd heading: 158.435075 deg.

2025-08-11T14:56:19.348Z,1754924179.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004391
2025-08-11T14:56:19.600Z,1754924179.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256419
2025-08-11T14:56:19.602Z,1754924179.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-11T14:56:19.603Z,1754924179.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-11T14:56:19.603Z,1754924179.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.60 m.
2025-08-11T14:56:19.603Z,1754924179.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-11T14:56:19.606Z,1754924179.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.599998 m,
      nav range: 55.818295 m,
      bearing: 162.202991 deg,
      approach rate: -0.588154 m/s,
      LOS rate: -0.086928 deg/s,
      cmd heading: 158.435076 deg,
      new cmd heading: 158.327416 deg.

2025-08-11T14:56:19.852Z,1754924179.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508399
2025-08-11T14:56:20.026Z,1754924180.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-11T14:56:20.029Z,1754924180.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.599998 m,
      nav range: 55.569046 m,
      bearing: 162.157869 deg,
      approach rate: -0.588572 m/s,
      LOS rate: -0.107028 deg/s,
      cmd heading: 158.327419 deg,
      new cmd heading: 158.191446 deg.

2025-08-11T14:56:20.030Z,1754924180.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.760962 target range: 57.599998 and range: 57.60 m.
2025-08-11T14:56:20.104Z,1754924180.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760522
2025-08-11T14:56:20.356Z,1754924180.356 [DAT](INFO): DAT read: Rx Time:14:56:21.0467

2025-08-11T14:56:20.357Z,1754924180.357 [DAT](INFO): Rx dataTimestamp_ set to:1754924180.356459
2025-08-11T14:56:20.357Z,1754924180.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013516
2025-08-11T14:56:20.432Z,1754924180.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-11T14:56:20.435Z,1754924180.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.599998 m,
      nav range: 55.339645 m,
      bearing: 162.115484 deg,
      approach rate: -0.564291 m/s,
      LOS rate: -0.104693 deg/s,
      cmd heading: 158.191443 deg,
      new cmd heading: 158.063761 deg.

2025-08-11T14:56:20.436Z,1754924180.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.758733 target range: 57.599998 and range: 57.60 m.
2025-08-11T14:56:20.608Z,1754924180.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264325
2025-08-11T14:56:20.851Z,1754924180.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.60 m.
2025-08-11T14:56:20.854Z,1754924180.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.599998 m,
      nav range: 55.083687 m,
      bearing: 162.066223 deg,
      approach rate: -0.611297 m/s,
      LOS rate: -0.118194 deg/s,
      cmd heading: 158.063760 deg,
      new cmd heading: 157.915292 deg.

2025-08-11T14:56:20.855Z,1754924180.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.756142 target range: 57.599998 and range: 57.60 m.
2025-08-11T14:56:20.866Z,1754924180.866 [DAT](INFO): DAT read: 14:56:21.0467 LVL= 32752, 32753, 29170, 32755, AGC= 65, IDX= 419,-0.17,-1.506, 3.047,-1.244,-1.720, PHS= 0.316,-1.471, 0.432, RAW= 153.1,   7.9, CAL= 152.6,   8.3, ROT= 357.4,  -8.3

2025-08-11T14:56:20.868Z,1754924180.868 [DAT](INFO): got valid direction response:
 14:56:21.0467 LVL= 32752, 32753, 29170, 32755, AGC= 65, IDX= 419,-0.17,-1.506, 3.047,-1.244,-1.720, PHS= 0.316,-1.471, 0.432, RAW= 153.1,   7.9, CAL= 152.6,   8.3, ROT= 357.4,  -8.3

2025-08-11T14:56:20.869Z,1754924180.869 [DAT](INFO): DAT read: Bearing 323.5,  -2.9 (Local)

2025-08-11T14:56:20.869Z,1754924180.869 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.5,  -2.9 (Local)

2025-08-11T14:56:20.871Z,1754924180.871 [DAT](INFO): DAT read: Range 11 to 50 : 55.5 m  (Round-trip  74.1 ms) speed  0.6 m/s

2025-08-11T14:56:20.871Z,1754924180.871 [DAT](INFO): DAT read: user:237>

2025-08-11T14:56:20.872Z,1754924180.872 [DAT](INFO): DAT read: Tx time:14:56:22.1685

2025-08-11T14:56:20.872Z,1754924180.872 [DAT](INFO): Ping request sent.
2025-08-11T14:56:20.872Z,1754924180.872 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:20.873Z,1754924180.873 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:20.874Z,1754924180.874 [DAT](INFO): direction in FSK: [0.988507,-0.044888,0.144356]
2025-08-11T14:56:20.874Z,1754924180.874 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:20.874Z,1754924180.874 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:20.898Z,1754924180.898 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:20.898Z,1754924180.898 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:21.245Z,1754924181.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.500000 m,
      deltaT: 3.528283 s,
      deltaX: -2.099998 m,
      approachRate: -0.595190 m/s,
      rangeRepo size: 4

2025-08-11T14:56:21.247Z,1754924181.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.500000 m,
      bearing: 160.701590 deg,
      lat: 36.905872 deg,
      lon: -122.115858 deg,
      deltaT: 3.528283 s,
      deltaX: -2.099998 m,
      approachRate: -0.595190 m/s,
      posRepo size: 4

2025-08-11T14:56:21.248Z,1754924181.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-11T14:56:21.251Z,1754924181.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 54.708893 m,
      bearing: 160.701590 deg,
      approach rate: -57032878296073070828573385886 m/s,
      LOS rate: -0.118194 deg/s,
      cmd heading: 157.915299 deg,
      new cmd heading: 157.775842 deg.

2025-08-11T14:56:21.252Z,1754924181.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.753708 target range: 55.500000 and range: 55.50 m.
2025-08-11T14:56:21.625Z,1754924181.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:21.628Z,1754924181.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-11T14:56:21.631Z,1754924181.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 54.482307 m,
      bearing: 160.651432 deg,
      approach rate: -0.592100 m/s,
      LOS rate: -0.131616 deg/s,
      cmd heading: 157.775840 deg,
      new cmd heading: 157.624740 deg.

2025-08-11T14:56:21.632Z,1754924181.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.751071 target range: 55.500000 and range: 55.50 m.
2025-08-11T14:56:21.872Z,1754924181.872 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:21.872Z,1754924181.872 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:21.872Z,1754924181.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:22.082Z,1754924182.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-11T14:56:22.085Z,1754924182.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 54.227764 m,
      bearing: 160.591144 deg,
      approach rate: -0.558958 m/s,
      LOS rate: -0.133008 deg/s,
      cmd heading: 157.624742 deg,
      new cmd heading: 157.443032 deg.

2025-08-11T14:56:22.086Z,1754924182.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.747899 target range: 55.500000 and range: 55.50 m.
2025-08-11T14:56:22.120Z,1754924182.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247827
2025-08-11T14:56:22.372Z,1754924182.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499786
2025-08-11T14:56:22.443Z,1754924182.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-11T14:56:22.446Z,1754924182.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 54.026360 m,
      bearing: 160.543394 deg,
      approach rate: -0.558914 m/s,
      LOS rate: -0.133003 deg/s,
      cmd heading: 157.443032 deg,
      new cmd heading: 157.299249 deg.

2025-08-11T14:56:22.447Z,1754924182.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.745390 target range: 55.500000 and range: 55.50 m.
2025-08-11T14:56:22.628Z,1754924182.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754840
2025-08-11T14:56:22.876Z,1754924182.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003799
2025-08-11T14:56:22.881Z,1754924182.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-11T14:56:22.884Z,1754924182.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 53.794773 m,
      bearing: 160.488857 deg,
      approach rate: -0.528765 m/s,
      LOS rate: -0.125058 deg/s,
      cmd heading: 157.299243 deg,
      new cmd heading: 157.134926 deg.

2025-08-11T14:56:22.885Z,1754924182.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.742522 target range: 55.500000 and range: 55.50 m.
2025-08-11T14:56:23.129Z,1754924183.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256378
2025-08-11T14:56:23.245Z,1754924183.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-11T14:56:23.248Z,1754924183.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 53.599461 m,
      bearing: 160.442950 deg,
      approach rate: -0.535574 m/s,
      LOS rate: -0.126341 deg/s,
      cmd heading: 157.134922 deg,
      new cmd heading: 156.996701 deg.

2025-08-11T14:56:23.249Z,1754924183.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.740109 target range: 55.500000 and range: 55.50 m.
2025-08-11T14:56:23.381Z,1754924183.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508112
2025-08-11T14:56:23.632Z,1754924183.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759722
2025-08-11T14:56:23.650Z,1754924183.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:23.653Z,1754924183.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-11T14:56:23.656Z,1754924183.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 53.382877 m,
      bearing: 160.392311 deg,
      approach rate: -0.531613 m/s,
      LOS rate: -0.124800 deg/s,
      cmd heading: 156.996707 deg,
      new cmd heading: 156.844173 deg.

2025-08-11T14:56:23.657Z,1754924183.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.737447 target range: 55.500000 and range: 55.50 m.
2025-08-11T14:56:23.886Z,1754924183.886 [DAT](INFO): DAT read: Rx Time:14:56:24.6439

2025-08-11T14:56:23.886Z,1754924183.886 [DAT](INFO): Rx dataTimestamp_ set to:1754924183.885700
2025-08-11T14:56:23.887Z,1754924183.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014097
2025-08-11T14:56:24.078Z,1754924184.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-11T14:56:24.097Z,1754924184.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 53.180630 m,
      bearing: 160.353962 deg,
      approach rate: -0.476112 m/s,
      LOS rate: -0.090620 deg/s,
      cmd heading: 156.844175 deg,
      new cmd heading: 156.728692 deg.

2025-08-11T14:56:24.098Z,1754924184.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.735432 target range: 55.500000 and range: 55.50 m.
2025-08-11T14:56:24.136Z,1754924184.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263787
2025-08-11T14:56:24.402Z,1754924184.402 [DAT](INFO): DAT read: 14:56:24.6439 LVL= 23200, 32433, 23906, 32755, AGC= 61, IDX= 406,-0.17, 2.714, 0.997, 2.994, 2.491, PHS= 0.325,-1.449, 0.459, RAW= 153.6,   7.3, CAL= 153.0,   7.6, ROT= 357.0,  -7.6

2025-08-11T14:56:24.404Z,1754924184.404 [DAT](INFO): got valid direction response:
 14:56:24.6439 LVL= 23200, 32433, 23906, 32755, AGC= 61, IDX= 406,-0.17, 2.714, 0.997, 2.994, 2.491, PHS= 0.325,-1.449, 0.459, RAW= 153.6,   7.3, CAL= 153.0,   7.6, ROT= 357.0,  -7.6

2025-08-11T14:56:24.405Z,1754924184.405 [DAT](INFO): DAT read: Bearing 322.1,  -2.5 (Local)

2025-08-11T14:56:24.405Z,1754924184.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.1,  -2.5 (Local)

2025-08-11T14:56:24.407Z,1754924184.407 [DAT](INFO): DAT read: Range 11 to 50 : 53.4 m  (Round-trip  71.2 ms) speed  0.4 m/s

2025-08-11T14:56:24.409Z,1754924184.409 [DAT](INFO): DAT read: user:238>

2025-08-11T14:56:24.409Z,1754924184.409 [DAT](INFO): DAT read: Tx time:14:56:25.7685

2025-08-11T14:56:24.410Z,1754924184.410 [DAT](INFO): Ping request sent.
2025-08-11T14:56:24.410Z,1754924184.410 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:24.410Z,1754924184.410 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:24.413Z,1754924184.413 [DAT](INFO): direction in FSK: [0.989857,-0.051876,0.132256]
2025-08-11T14:56:24.413Z,1754924184.413 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:24.413Z,1754924184.413 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:24.417Z,1754924184.417 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:24.417Z,1754924184.417 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:24.541Z,1754924184.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.400002 m,
      deltaT: 3.531325 s,
      deltaX: -2.099998 m,
      approachRate: -0.594677 m/s,
      rangeRepo size: 4

2025-08-11T14:56:24.556Z,1754924184.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.400002 m,
      bearing: 159.217930 deg,
      lat: 36.905874 deg,
      lon: -122.115847 deg,
      deltaT: 3.531325 s,
      deltaX: -2.099998 m,
      approachRate: -0.594677 m/s,
      posRepo size: 4

2025-08-11T14:56:24.556Z,1754924184.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-11T14:56:24.575Z,1754924184.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.400002 m,
      nav range: 53.166428 m,
      bearing: 159.217930 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.090620 deg/s,
      cmd heading: 156.728690 deg,
      new cmd heading: 156.605751 deg.

2025-08-11T14:56:24.576Z,1754924184.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.733286 target range: 53.400002 and range: 53.40 m.
2025-08-11T14:56:24.951Z,1754924184.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-11T14:56:24.954Z,1754924184.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.400002 m,
      nav range: 52.931568 m,
      bearing: 159.176269 deg,
      approach rate: -0.557322 m/s,
      LOS rate: -0.099299 deg/s,
      cmd heading: 156.605746 deg,
      new cmd heading: 156.480210 deg.

2025-08-11T14:56:24.975Z,1754924184.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.731095 target range: 53.400002 and range: 53.40 m.
2025-08-11T14:56:25.312Z,1754924185.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-11T14:56:25.314Z,1754924185.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.400002 m,
      nav range: 52.758389 m,
      bearing: 159.146310 deg,
      approach rate: -0.480777 m/s,
      LOS rate: -0.083446 deg/s,
      cmd heading: 156.480208 deg,
      new cmd heading: 156.390033 deg.

2025-08-11T14:56:25.316Z,1754924185.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.729521 target range: 53.400002 and range: 53.40 m.
2025-08-11T14:56:25.734Z,1754924185.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:25.743Z,1754924185.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-11T14:56:25.746Z,1754924185.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.400002 m,
      nav range: 52.562881 m,
      bearing: 159.112756 deg,
      approach rate: -0.452735 m/s,
      LOS rate: -0.077990 deg/s,
      cmd heading: 156.390035 deg,
      new cmd heading: 156.288999 deg.

2025-08-11T14:56:25.748Z,1754924185.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.727758 target range: 53.400002 and range: 53.40 m.
2025-08-11T14:56:25.900Z,1754924185.900 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:25.900Z,1754924185.900 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:25.900Z,1754924185.900 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:26.152Z,1754924186.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742351
2025-08-11T14:56:26.171Z,1754924186.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-11T14:56:26.185Z,1754924186.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.400002 m,
      nav range: 52.369232 m,
      bearing: 159.080559 deg,
      approach rate: -0.453069 m/s,
      LOS rate: -0.075606 deg/s,
      cmd heading: 156.289003 deg,
      new cmd heading: 156.192057 deg.

2025-08-11T14:56:26.192Z,1754924186.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.726066 target range: 53.400002 and range: 53.40 m.
2025-08-11T14:56:26.404Z,1754924186.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994403
2025-08-11T14:56:26.569Z,1754924186.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-11T14:56:26.572Z,1754924186.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.400002 m,
      nav range: 52.180473 m,
      bearing: 159.050132 deg,
      approach rate: -0.473763 m/s,
      LOS rate: -0.076645 deg/s,
      cmd heading: 156.192056 deg,
      new cmd heading: 156.100443 deg.

2025-08-11T14:56:26.573Z,1754924186.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.724467 target range: 53.400002 and range: 53.40 m.
2025-08-11T14:56:26.658Z,1754924186.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248180
2025-08-11T14:56:26.909Z,1754924186.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499189
2025-08-11T14:56:27.054Z,1754924187.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-11T14:56:27.058Z,1754924187.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.400002 m,
      nav range: 51.977135 m,
      bearing: 159.026097 deg,
      approach rate: -0.422144 m/s,
      LOS rate: -0.050092 deg/s,
      cmd heading: 156.100449 deg,
      new cmd heading: 156.028064 deg.

2025-08-11T14:56:27.059Z,1754924187.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.723203 target range: 53.400002 and range: 53.40 m.
2025-08-11T14:56:27.160Z,1754924187.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750345
2025-08-11T14:56:27.406Z,1754924187.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-11T14:56:27.409Z,1754924187.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.400002 m,
      nav range: 51.809795 m,
      bearing: 159.006175 deg,
      approach rate: -0.470811 m/s,
      LOS rate: -0.056232 deg/s,
      cmd heading: 156.028063 deg,
      new cmd heading: 155.968104 deg.

2025-08-11T14:56:27.410Z,1754924187.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.722157 target range: 53.400002 and range: 53.40 m.
2025-08-11T14:56:27.412Z,1754924187.412 [DAT](INFO): DAT read: Rx Time:14:56:28.2416

2025-08-11T14:56:27.413Z,1754924187.413 [DAT](INFO): Rx dataTimestamp_ set to:1754924187.412464
2025-08-11T14:56:27.413Z,1754924187.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003595
2025-08-11T14:56:27.666Z,1754924187.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256475
2025-08-11T14:56:27.786Z,1754924187.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:27.789Z,1754924187.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.40 m.
2025-08-11T14:56:27.792Z,1754924187.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.400002 m,
      nav range: 51.640652 m,
      bearing: 158.986900 deg,
      approach rate: -0.442284 m/s,
      LOS rate: -0.050567 deg/s,
      cmd heading: 155.968107 deg,
      new cmd heading: 155.910092 deg.

2025-08-11T14:56:27.793Z,1754924187.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.721144 target range: 53.400002 and range: 53.40 m.
2025-08-11T14:56:27.931Z,1754924187.931 [DAT](INFO): DAT read: 14:56:28.2416 LVL= 26288, 28481, 28082, 32755, AGC= 63, IDX= 414, 0.01,-0.536,-2.266,-0.309,-0.779, PHS= 0.345,-1.442, 0.425, RAW= 152.2,   7.4, CAL= 151.6,   7.8, ROT= 358.4,  -7.8

2025-08-11T14:56:27.933Z,1754924187.933 [DAT](INFO): got valid direction response:
 14:56:28.2416 LVL= 26288, 28481, 28082, 32755, AGC= 63, IDX= 414, 0.01,-0.536,-2.266,-0.309,-0.779, PHS= 0.345,-1.442, 0.425, RAW= 152.2,   7.4, CAL= 151.6,   7.8, ROT= 358.4,  -7.8

2025-08-11T14:56:27.934Z,1754924187.934 [DAT](INFO): DAT read: Bearing 320.8,  -0.7 (Local)

2025-08-11T14:56:27.934Z,1754924187.934 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.8,  -0.7 (Local)

2025-08-11T14:56:27.937Z,1754924187.937 [DAT](INFO): DAT read: Range 11 to 50 : 51.6 m  (Round-trip  68.9 ms) speed  0.4 m/s

2025-08-11T14:56:27.938Z,1754924187.938 [DAT](INFO): DAT read: user:239>

2025-08-11T14:56:27.939Z,1754924187.939 [DAT](INFO): DAT read: Tx time:14:56:29.3685

2025-08-11T14:56:27.951Z,1754924187.951 [DAT](INFO): Ping request sent.
2025-08-11T14:56:27.952Z,1754924187.952 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:27.952Z,1754924187.952 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:27.953Z,1754924187.953 [DAT](INFO): direction in FSK: [0.990362,-0.027663,0.135716]
2025-08-11T14:56:27.953Z,1754924187.953 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:27.953Z,1754924187.953 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:27.961Z,1754924187.961 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:27.961Z,1754924187.961 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:28.236Z,1754924188.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.599998 m,
      deltaT: 3.528170 s,
      deltaX: -1.800003 m,
      approachRate: -0.510180 m/s,
      rangeRepo size: 4

2025-08-11T14:56:28.238Z,1754924188.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.599998 m,
      bearing: 158.693227 deg,
      lat: 36.905875 deg,
      lon: -122.115845 deg,
      deltaT: 3.528170 s,
      deltaX: -1.800003 m,
      approachRate: -0.510180 m/s,
      posRepo size: 4

2025-08-11T14:56:28.239Z,1754924188.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-11T14:56:28.242Z,1754924188.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 51.332027 m,
      bearing: 158.693227 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050567 deg/s,
      cmd heading: 155.910092 deg,
      new cmd heading: 155.842442 deg.

2025-08-11T14:56:28.243Z,1754924188.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.719964 target range: 51.599998 and range: 51.60 m.
2025-08-11T14:56:28.603Z,1754924188.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-11T14:56:28.610Z,1754924188.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 51.165134 m,
      bearing: 158.676726 deg,
      approach rate: -0.453206 m/s,
      LOS rate: -0.044956 deg/s,
      cmd heading: 155.842446 deg,
      new cmd heading: 155.792781 deg.

2025-08-11T14:56:28.611Z,1754924188.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.719097 target range: 51.599998 and range: 51.60 m.
2025-08-11T14:56:29.016Z,1754924189.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-11T14:56:29.019Z,1754924189.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 50.964142 m,
      bearing: 158.652408 deg,
      approach rate: -0.486387 m/s,
      LOS rate: -0.059082 deg/s,
      cmd heading: 155.792776 deg,
      new cmd heading: 155.719533 deg.

2025-08-11T14:56:29.020Z,1754924189.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.717818 target range: 51.599998 and range: 51.60 m.
2025-08-11T14:56:29.433Z,1754924189.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-11T14:56:29.436Z,1754924189.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 50.773788 m,
      bearing: 158.629198 deg,
      approach rate: -0.458251 m/s,
      LOS rate: -0.056085 deg/s,
      cmd heading: 155.719529 deg,
      new cmd heading: 155.649638 deg.

2025-08-11T14:56:29.437Z,1754924189.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.716599 target range: 51.599998 and range: 51.60 m.
2025-08-11T14:56:29.864Z,1754924189.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:29.870Z,1754924189.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-11T14:56:29.873Z,1754924189.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 50.562672 m,
      bearing: 158.604296 deg,
      approach rate: -0.480910 m/s,
      LOS rate: -0.056962 deg/s,
      cmd heading: 155.649643 deg,
      new cmd heading: 155.574626 deg.

2025-08-11T14:56:29.874Z,1754924189.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.715289 target range: 51.599998 and range: 51.60 m.
2025-08-11T14:56:29.938Z,1754924189.938 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:29.939Z,1754924189.939 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:29.940Z,1754924189.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:30.189Z,1754924190.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237818
2025-08-11T14:56:30.294Z,1754924190.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-11T14:56:30.297Z,1754924190.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 50.358959 m,
      bearing: 158.580780 deg,
      approach rate: -0.481301 m/s,
      LOS rate: -0.055785 deg/s,
      cmd heading: 155.574620 deg,
      new cmd heading: 155.503787 deg.

2025-08-11T14:56:30.298Z,1754924190.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.714053 target range: 51.599998 and range: 51.60 m.
2025-08-11T14:56:30.440Z,1754924190.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488862
2025-08-11T14:56:30.693Z,1754924190.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741604
2025-08-11T14:56:30.702Z,1754924190.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-11T14:56:30.709Z,1754924190.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 50.173058 m,
      bearing: 158.559447 deg,
      approach rate: -0.455465 m/s,
      LOS rate: -0.052459 deg/s,
      cmd heading: 155.503791 deg,
      new cmd heading: 155.439556 deg.

2025-08-11T14:56:30.710Z,1754924190.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.712932 target range: 51.599998 and range: 51.60 m.
2025-08-11T14:56:30.948Z,1754924190.948 [DAT](INFO): DAT read: Rx Time:14:56:31.8395

2025-08-11T14:56:30.948Z,1754924190.948 [DAT](INFO): Rx dataTimestamp_ set to:1754924190.947698
2025-08-11T14:56:30.949Z,1754924190.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997016
2025-08-11T14:56:31.100Z,1754924191.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-11T14:56:31.103Z,1754924191.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 49.959167 m,
      bearing: 158.526287 deg,
      approach rate: -0.536990 m/s,
      LOS rate: -0.083607 deg/s,
      cmd heading: 155.439560 deg,
      new cmd heading: 155.339655 deg.

2025-08-11T14:56:31.104Z,1754924191.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711189 target range: 51.599998 and range: 51.60 m.
2025-08-11T14:56:31.197Z,1754924191.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245929
2025-08-11T14:56:31.448Z,1754924191.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496683
2025-08-11T14:56:31.541Z,1754924191.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-11T14:56:31.548Z,1754924191.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 49.736797 m,
      bearing: 158.492162 deg,
      approach rate: -0.504621 m/s,
      LOS rate: -0.077786 deg/s,
      cmd heading: 155.339662 deg,
      new cmd heading: 155.236828 deg.

2025-08-11T14:56:31.549Z,1754924191.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709394 target range: 51.599998 and range: 51.60 m.
2025-08-11T14:56:31.706Z,1754924191.706 [DAT](INFO): DAT read: 14:56:31.8395 LVL= 24224, 28657, 26354, 29683, AGC= 62, IDX= 425, 0.31,-0.299,-2.038,-0.120,-0.577, PHS= 0.380,-1.416, 0.413, RAW= 150.9,   6.9, CAL= 150.3,   7.3, ROT= 359.7,  -7.3

2025-08-11T14:56:31.707Z,1754924191.707 [DAT](INFO): got valid direction response:
 14:56:31.8395 LVL= 24224, 28657, 26354, 29683, AGC= 62, IDX= 425, 0.31,-0.299,-2.038,-0.120,-0.577, PHS= 0.380,-1.416, 0.413, RAW= 150.9,   6.9, CAL= 150.3,   7.3, ROT= 359.7,  -7.3

2025-08-11T14:56:31.708Z,1754924191.708 [DAT](INFO): DAT read: Bearing 319.3,   0.7 (Local)

2025-08-11T14:56:31.708Z,1754924191.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.3,   0.7 (Local)

2025-08-11T14:56:31.710Z,1754924191.710 [DAT](INFO): DAT read: Range 11 to 50 : 50.1 m  (Round-trip  66.8 ms) speed  0.4 m/s

2025-08-11T14:56:31.710Z,1754924191.710 [DAT](INFO): DAT read: user:240>

2025-08-11T14:56:31.711Z,1754924191.711 [DAT](INFO): DAT read: Tx time:14:56:32.9685

2025-08-11T14:56:31.711Z,1754924191.711 [DAT](INFO): Ping request sent.
2025-08-11T14:56:31.712Z,1754924191.712 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:31.712Z,1754924191.712 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:31.713Z,1754924191.713 [DAT](INFO): direction in FSK: [0.991881,-0.005194,0.127065]
2025-08-11T14:56:31.713Z,1754924191.713 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:31.713Z,1754924191.713 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:31.717Z,1754924191.717 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:31.717Z,1754924191.717 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:31.922Z,1754924191.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.099998 m,
      deltaT: 3.780161 s,
      deltaX: -1.500000 m,
      approachRate: -0.396809 m/s,
      rangeRepo size: 4

2025-08-11T14:56:31.944Z,1754924191.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.099998 m,
      bearing: 158.463740 deg,
      lat: 36.905875 deg,
      lon: -122.115845 deg,
      deltaT: 3.780161 s,
      deltaX: -1.500000 m,
      approachRate: -0.396809 m/s,
      posRepo size: 4

2025-08-11T14:56:31.956Z,1754924191.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.10 m.
2025-08-11T14:56:31.975Z,1754924191.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.099998 m,
      nav range: 49.551701 m,
      bearing: 158.463740 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077786 deg/s,
      cmd heading: 155.236826 deg,
      new cmd heading: 155.150008 deg.

2025-08-11T14:56:31.980Z,1754924191.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.707878 target range: 50.099998 and range: 50.10 m.
2025-08-11T14:56:32.361Z,1754924192.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:32.363Z,1754924192.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.10 m.
2025-08-11T14:56:32.366Z,1754924192.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.099998 m,
      nav range: 49.315239 m,
      bearing: 158.427057 deg,
      approach rate: -0.525200 m/s,
      LOS rate: -0.081866 deg/s,
      cmd heading: 155.150001 deg,
      new cmd heading: 155.039425 deg.

2025-08-11T14:56:32.367Z,1754924192.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.705948 target range: 50.099998 and range: 50.10 m.
2025-08-11T14:56:32.458Z,1754924192.458 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:32.458Z,1754924192.458 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:32.458Z,1754924192.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:32.712Z,1754924192.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000532
2025-08-11T14:56:32.749Z,1754924192.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.10 m.
2025-08-11T14:56:32.752Z,1754924192.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.099998 m,
      nav range: 49.121216 m,
      bearing: 158.396692 deg,
      approach rate: -0.502498 m/s,
      LOS rate: -0.078954 deg/s,
      cmd heading: 155.039420 deg,
      new cmd heading: 154.947964 deg.

2025-08-11T14:56:32.753Z,1754924192.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704352 target range: 50.099998 and range: 50.10 m.
2025-08-11T14:56:32.968Z,1754924192.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254929
2025-08-11T14:56:33.190Z,1754924193.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.10 m.
2025-08-11T14:56:33.198Z,1754924193.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.099998 m,
      nav range: 48.912392 m,
      bearing: 158.357161 deg,
      approach rate: -0.473461 m/s,
      LOS rate: -0.090010 deg/s,
      cmd heading: 154.947964 deg,
      new cmd heading: 154.828865 deg.

2025-08-11T14:56:33.199Z,1754924193.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702273 target range: 50.099998 and range: 50.10 m.
2025-08-11T14:56:33.216Z,1754924193.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504594
2025-08-11T14:56:33.468Z,1754924193.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756486
2025-08-11T14:56:33.542Z,1754924193.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.10 m.
2025-08-11T14:56:33.545Z,1754924193.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.099998 m,
      nav range: 48.712185 m,
      bearing: 158.319070 deg,
      approach rate: -0.568604 m/s,
      LOS rate: -0.108627 deg/s,
      cmd heading: 154.828859 deg,
      new cmd heading: 154.714116 deg.

2025-08-11T14:56:33.546Z,1754924193.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700271 target range: 50.099998 and range: 50.10 m.
2025-08-11T14:56:33.720Z,1754924193.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008572
2025-08-11T14:56:33.976Z,1754924193.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263638
2025-08-11T14:56:34.028Z,1754924194.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.10 m.
2025-08-11T14:56:34.031Z,1754924194.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.099998 m,
      nav range: 48.474804 m,
      bearing: 158.273824 deg,
      approach rate: -0.488999 m/s,
      LOS rate: -0.093662 deg/s,
      cmd heading: 154.714112 deg,
      new cmd heading: 154.577710 deg.

2025-08-11T14:56:34.032Z,1754924194.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697890 target range: 50.099998 and range: 50.10 m.
2025-08-11T14:56:34.224Z,1754924194.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512508
2025-08-11T14:56:34.413Z,1754924194.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:34.416Z,1754924194.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.10 m.
2025-08-11T14:56:34.419Z,1754924194.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.099998 m,
      nav range: 48.272930 m,
      bearing: 158.233619 deg,
      approach rate: -0.521057 m/s,
      LOS rate: -0.104207 deg/s,
      cmd heading: 154.577713 deg,
      new cmd heading: 154.456594 deg.

2025-08-11T14:56:34.428Z,1754924194.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695776 target range: 50.099998 and range: 50.10 m.
2025-08-11T14:56:34.478Z,1754924194.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765615
2025-08-11T14:56:34.728Z,1754924194.728 [DAT](INFO): DAT read: Rx Time:14:56:35.4370

2025-08-11T14:56:34.729Z,1754924194.729 [DAT](INFO): Rx dataTimestamp_ set to:1754924194.728362
2025-08-11T14:56:34.729Z,1754924194.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017612
2025-08-11T14:56:34.793Z,1754924194.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.10 m.
2025-08-11T14:56:34.796Z,1754924194.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.099998 m,
      nav range: 48.067516 m,
      bearing: 158.192706 deg,
      approach rate: -0.544327 m/s,
      LOS rate: -0.108878 deg/s,
      cmd heading: 154.456600 deg,
      new cmd heading: 154.333337 deg.

2025-08-11T14:56:34.797Z,1754924194.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.693625 target range: 50.099998 and range: 50.10 m.
2025-08-11T14:56:34.984Z,1754924194.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271368
2025-08-11T14:56:35.238Z,1754924195.238 [DAT](INFO): DAT read: 14:56:35.4370 LVL= 21328, 31217, 22946, 28707, AGC= 61, IDX= 416, 0.40,-1.854, 2.685,-1.686,-2.137, PHS= 0.385,-1.416, 0.408, RAW= 150.6,   6.9, CAL= 150.0,   7.4, ROT= 360.0,  -7.4

2025-08-11T14:56:35.239Z,1754924195.239 [DAT](INFO): got valid direction response:
 14:56:35.4370 LVL= 21328, 31217, 22946, 28707, AGC= 61, IDX= 416, 0.40,-1.854, 2.685,-1.686,-2.137, PHS= 0.385,-1.416, 0.408, RAW= 150.6,   6.9, CAL= 150.0,   7.4, ROT= 360.0,  -7.4

2025-08-11T14:56:35.240Z,1754924195.240 [DAT](INFO): DAT read: Bearing 318.8,   1.0 (Local)

2025-08-11T14:56:35.240Z,1754924195.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.8,   1.0 (Local)

2025-08-11T14:56:35.242Z,1754924195.242 [DAT](INFO): DAT read: Range 11 to 50 : 48.3 m  (Round-trip  64.4 ms) speed  0.4 m/s

2025-08-11T14:56:35.242Z,1754924195.242 [DAT](INFO): DAT read: user:241>

2025-08-11T14:56:35.243Z,1754924195.243 [DAT](INFO): DAT read: Tx time:14:56:36.5184

2025-08-11T14:56:35.243Z,1754924195.243 [DAT](INFO): Ping request sent.
2025-08-11T14:56:35.243Z,1754924195.243 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:35.244Z,1754924195.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:35.245Z,1754924195.245 [DAT](INFO): direction in FSK: [0.991671,0.000000,0.128796]
2025-08-11T14:56:35.245Z,1754924195.245 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:35.245Z,1754924195.245 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:35.248Z,1754924195.248 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:35.249Z,1754924195.249 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:35.263Z,1754924195.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.10 m.
2025-08-11T14:56:35.266Z,1754924195.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.099998 m,
      nav range: 47.841557 m,
      bearing: 158.149967 deg,
      approach rate: -0.525021 m/s,
      LOS rate: -0.099774 deg/s,
      cmd heading: 154.333343 deg,
      new cmd heading: 154.204519 deg.

2025-08-11T14:56:35.271Z,1754924195.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691377 target range: 50.099998 and range: 50.10 m.
2025-08-11T14:56:35.597Z,1754924195.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.299999 m,
      deltaT: 3.531975 s,
      deltaX: -1.799999 m,
      approachRate: -0.509630 m/s,
      rangeRepo size: 4

2025-08-11T14:56:35.599Z,1754924195.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.299999 m,
      bearing: 158.323464 deg,
      lat: 36.905875 deg,
      lon: -122.115847 deg,
      deltaT: 3.531975 s,
      deltaX: -1.799999 m,
      approachRate: -0.509630 m/s,
      posRepo size: 4

2025-08-11T14:56:35.600Z,1754924195.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-08-11T14:56:35.602Z,1754924195.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.299999 m,
      nav range: 47.576714 m,
      bearing: 158.323464 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099774 deg/s,
      cmd heading: 154.204525 deg,
      new cmd heading: 154.092842 deg.

2025-08-11T14:56:35.604Z,1754924195.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689427 target range: 48.299999 and range: 48.30 m.
2025-08-11T14:56:36.061Z,1754924196.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-08-11T14:56:36.068Z,1754924196.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.299999 m,
      nav range: 47.333881 m,
      bearing: 158.279098 deg,
      approach rate: -0.521946 m/s,
      LOS rate: -0.095850 deg/s,
      cmd heading: 154.092838 deg,
      new cmd heading: 153.959058 deg.

2025-08-11T14:56:36.069Z,1754924196.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687093 target range: 48.299999 and range: 48.30 m.
2025-08-11T14:56:36.444Z,1754924196.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:36.446Z,1754924196.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-08-11T14:56:36.453Z,1754924196.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.299999 m,
      nav range: 47.141556 m,
      bearing: 158.246882 deg,
      approach rate: -0.499852 m/s,
      LOS rate: -0.084073 deg/s,
      cmd heading: 153.959062 deg,
      new cmd heading: 153.862017 deg.

2025-08-11T14:56:36.454Z,1754924196.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685399 target range: 48.299999 and range: 48.30 m.
2025-08-11T14:56:36.492Z,1754924196.492 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:36.492Z,1754924196.492 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:36.492Z,1754924196.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:36.744Z,1754924196.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500736
2025-08-11T14:56:36.814Z,1754924196.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-08-11T14:56:36.817Z,1754924196.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.299999 m,
      nav range: 46.940941 m,
      bearing: 158.213291 deg,
      approach rate: -0.544677 m/s,
      LOS rate: -0.091591 deg/s,
      cmd heading: 153.862019 deg,
      new cmd heading: 153.760815 deg.

2025-08-11T14:56:36.818Z,1754924196.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683632 target range: 48.299999 and range: 48.30 m.
2025-08-11T14:56:36.000Z,1754924197.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756111
2025-08-11T14:56:37.224Z,1754924197.224 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,3276,V
2025-08-11T14:56:37.239Z,1754924197.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-08-11T14:56:37.242Z,1754924197.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.299999 m,
      nav range: 46.722050 m,
      bearing: 158.176629 deg,
      approach rate: -0.516000 m/s,
      LOS rate: -0.086829 deg/s,
      cmd heading: 153.760809 deg,
      new cmd heading: 153.650309 deg.

2025-08-11T14:56:37.243Z,1754924197.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681704 target range: 48.299999 and range: 48.30 m.
2025-08-11T14:56:37.248Z,1754924197.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004804
2025-08-11T14:56:37.500Z,1754924197.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256729
2025-08-11T14:56:37.624Z,1754924197.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-08-11T14:56:37.627Z,1754924197.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.299999 m,
      nav range: 46.523663 m,
      bearing: 158.143474 deg,
      approach rate: -0.514688 m/s,
      LOS rate: -0.086383 deg/s,
      cmd heading: 153.650310 deg,
      new cmd heading: 153.550421 deg.

2025-08-11T14:56:37.628Z,1754924197.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679960 target range: 48.299999 and range: 48.30 m.
2025-08-11T14:56:37.752Z,1754924197.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508778
2025-08-11T14:56:38.007Z,1754924198.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763132
2025-08-11T14:56:38.100Z,1754924198.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-08-11T14:56:38.107Z,1754924198.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.299999 m,
      nav range: 46.281464 m,
      bearing: 158.103003 deg,
      approach rate: -0.508374 m/s,
      LOS rate: -0.085393 deg/s,
      cmd heading: 153.550425 deg,
      new cmd heading: 153.428377 deg.

2025-08-11T14:56:38.108Z,1754924198.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677830 target range: 48.299999 and range: 48.30 m.
2025-08-11T14:56:38.258Z,1754924198.258 [DAT](INFO): DAT read: Rx Time:14:56:38.9845

2025-08-11T14:56:38.260Z,1754924198.260 [DAT](INFO): Rx dataTimestamp_ set to:1754924198.258373
2025-08-11T14:56:38.262Z,1754924198.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018149
2025-08-11T14:56:38.472Z,1754924198.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:38.474Z,1754924198.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.30 m.
2025-08-11T14:56:38.485Z,1754924198.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.299999 m,
      nav range: 46.090927 m,
      bearing: 158.085034 deg,
      approach rate: -0.510544 m/s,
      LOS rate: -0.048347 deg/s,
      cmd heading: 153.428370 deg,
      new cmd heading: 153.374240 deg.

2025-08-11T14:56:38.486Z,1754924198.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676885 target range: 48.299999 and range: 48.30 m.
2025-08-11T14:56:38.508Z,1754924198.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264787
2025-08-11T14:56:38.766Z,1754924198.766 [DAT](INFO): DAT read: 14:56:38.9845 LVL= 23776, 29889, 20722, 30035, AGC= 60, IDX= 423,-0.04,-1.520, 2.976,-1.369,-1.826, PHS= 0.408,-1.436, 0.414, RAW= 150.2,   6.7, CAL= 149.5,   7.1, ROT=   0.5,  -7.1

2025-08-11T14:56:38.767Z,1754924198.767 [DAT](INFO): got valid direction response:
 14:56:38.9845 LVL= 23776, 29889, 20722, 30035, AGC= 60, IDX= 423,-0.04,-1.520, 2.976,-1.369,-1.826, PHS= 0.408,-1.436, 0.414, RAW= 150.2,   6.7, CAL= 149.5,   7.1, ROT=   0.5,  -7.1

2025-08-11T14:56:38.768Z,1754924198.768 [DAT](INFO): DAT read: Bearing 317.8,   2.1 (Local)

2025-08-11T14:56:38.769Z,1754924198.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.8,   2.1 (Local)

2025-08-11T14:56:38.770Z,1754924198.770 [DAT](INFO): DAT read: Range 11 to 50 : 46.5 m  (Round-trip  62.0 ms) speed  0.4 m/s

2025-08-11T14:56:38.772Z,1754924198.772 [DAT](INFO): DAT read: user:242>

2025-08-11T14:56:38.775Z,1754924198.775 [DAT](INFO): DAT read: Tx time:14:56:40.0684

2025-08-11T14:56:38.776Z,1754924198.776 [DAT](INFO): Ping request sent.
2025-08-11T14:56:38.776Z,1754924198.776 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:38.777Z,1754924198.777 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:38.778Z,1754924198.778 [DAT](INFO): direction in FSK: [0.992294,0.008660,0.123601]
2025-08-11T14:56:38.778Z,1754924198.778 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:38.779Z,1754924198.779 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:38.784Z,1754924198.784 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:38.785Z,1754924198.785 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:38.924Z,1754924198.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.500000 m,
      deltaT: 3.528096 s,
      deltaX: -1.799999 m,
      approachRate: -0.510190 m/s,
      rangeRepo size: 4

2025-08-11T14:56:38.936Z,1754924198.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.500000 m,
      bearing: 158.081016 deg,
      lat: 36.905875 deg,
      lon: -122.115847 deg,
      deltaT: 3.528096 s,
      deltaX: -1.799999 m,
      approachRate: -0.510190 m/s,
      posRepo size: 4

2025-08-11T14:56:38.937Z,1754924198.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-11T14:56:38.942Z,1754924198.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.500000 m,
      nav range: 45.906208 m,
      bearing: 158.081016 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048347 deg/s,
      cmd heading: 153.374234 deg,
      new cmd heading: 153.311488 deg.

2025-08-11T14:56:38.952Z,1754924198.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675790 target range: 46.500000 and range: 46.50 m.
2025-08-11T14:56:39.326Z,1754924199.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-11T14:56:39.329Z,1754924199.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.500000 m,
      nav range: 45.696064 m,
      bearing: 158.069746 deg,
      approach rate: -0.500864 m/s,
      LOS rate: -0.026986 deg/s,
      cmd heading: 153.311492 deg,
      new cmd heading: 153.277525 deg.

2025-08-11T14:56:39.330Z,1754924199.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675198 target range: 46.500000 and range: 46.50 m.
2025-08-11T14:56:39.725Z,1754924199.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-11T14:56:39.732Z,1754924199.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.500000 m,
      nav range: 45.507500 m,
      bearing: 158.060239 deg,
      approach rate: -0.472938 m/s,
      LOS rate: -0.023943 deg/s,
      cmd heading: 153.277532 deg,
      new cmd heading: 153.248893 deg.

2025-08-11T14:56:39.733Z,1754924199.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674698 target range: 46.500000 and range: 46.50 m.
2025-08-11T14:56:40.152Z,1754924200.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-11T14:56:40.158Z,1754924200.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.500000 m,
      nav range: 45.306541 m,
      bearing: 158.048948 deg,
      approach rate: -0.471140 m/s,
      LOS rate: -0.026590 deg/s,
      cmd heading: 153.248900 deg,
      new cmd heading: 153.214875 deg.

2025-08-11T14:56:40.183Z,1754924200.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674104 target range: 46.500000 and range: 46.50 m.
2025-08-11T14:56:40.505Z,1754924200.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:40.507Z,1754924200.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-11T14:56:40.510Z,1754924200.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.500000 m,
      nav range: 45.139450 m,
      bearing: 158.039806 deg,
      approach rate: -0.469379 m/s,
      LOS rate: -0.025775 deg/s,
      cmd heading: 153.214872 deg,
      new cmd heading: 153.187345 deg.

2025-08-11T14:56:40.511Z,1754924200.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673624 target range: 46.500000 and range: 46.50 m.
2025-08-11T14:56:40.529Z,1754924200.529 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:40.529Z,1754924200.529 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:40.530Z,1754924200.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:40.781Z,1754924200.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004261
2025-08-11T14:56:40.909Z,1754924200.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-11T14:56:40.913Z,1754924200.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.500000 m,
      nav range: 44.952820 m,
      bearing: 158.029962 deg,
      approach rate: -0.465050 m/s,
      LOS rate: -0.024630 deg/s,
      cmd heading: 153.187346 deg,
      new cmd heading: 153.157693 deg.

2025-08-11T14:56:40.915Z,1754924200.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673106 target range: 46.500000 and range: 46.50 m.
2025-08-11T14:56:41.035Z,1754924201.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258273
2025-08-11T14:56:41.284Z,1754924201.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507888
2025-08-11T14:56:41.358Z,1754924201.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-11T14:56:41.361Z,1754924201.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.500000 m,
      nav range: 44.738922 m,
      bearing: 158.019478 deg,
      approach rate: -0.476057 m/s,
      LOS rate: -0.023446 deg/s,
      cmd heading: 153.157689 deg,
      new cmd heading: 153.126085 deg.

2025-08-11T14:56:41.362Z,1754924201.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672554 target range: 46.500000 and range: 46.50 m.
2025-08-11T14:56:41.536Z,1754924201.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759816
2025-08-11T14:56:41.735Z,1754924201.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-11T14:56:41.738Z,1754924201.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.500000 m,
      nav range: 44.559700 m,
      bearing: 158.011714 deg,
      approach rate: -0.475274 m/s,
      LOS rate: -0.020671 deg/s,
      cmd heading: 153.126079 deg,
      new cmd heading: 153.102694 deg.

2025-08-11T14:56:41.739Z,1754924201.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672146 target range: 46.500000 and range: 46.50 m.
2025-08-11T14:56:41.789Z,1754924201.789 [DAT](INFO): DAT read: Rx Time:14:56:42.5323

2025-08-11T14:56:41.790Z,1754924201.790 [DAT](INFO): Rx dataTimestamp_ set to:1754924201.789275
2025-08-11T14:56:41.790Z,1754924201.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014171
2025-08-11T14:56:42.040Z,1754924202.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263885
2025-08-11T14:56:42.234Z,1754924202.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.50 m.
2025-08-11T14:56:42.249Z,1754924202.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.500000 m,
      nav range: 44.339184 m,
      bearing: 157.991416 deg,
      approach rate: -0.441920 m/s,
      LOS rate: -0.040879 deg/s,
      cmd heading: 153.102693 deg,
      new cmd heading: 153.041497 deg.

2025-08-11T14:56:42.250Z,1754924202.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671078 target range: 46.500000 and range: 46.50 m.
2025-08-11T14:56:42.299Z,1754924202.299 [DAT](INFO): DAT read: 14:56:42.5323 LVL= 28000, 32753, 24818, 32755, AGC= 59, IDX= 416,-0.03, 1.417,-0.394, 1.548, 1.123, PHS= 0.396,-1.472, 0.380, RAW= 149.6,   7.5, CAL= 149.0,   8.1, ROT=   1.0,  -8.1

2025-08-11T14:56:42.301Z,1754924202.301 [DAT](INFO): got valid direction response:
 14:56:42.5323 LVL= 28000, 32753, 24818, 32755, AGC= 59, IDX= 416,-0.03, 1.417,-0.394, 1.548, 1.123, PHS= 0.396,-1.472, 0.380, RAW= 149.6,   7.5, CAL= 149.0,   8.1, ROT=   1.0,  -8.1

2025-08-11T14:56:42.302Z,1754924202.302 [DAT](INFO): DAT read: Bearing 317.7,   2.6 (Local)

2025-08-11T14:56:42.302Z,1754924202.302 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.7,   2.6 (Local)

2025-08-11T14:56:42.306Z,1754924202.306 [DAT](INFO): DAT read: Range 11 to 50 : 44.7 m  (Round-trip  59.7 ms) speed  0.4 m/s

2025-08-11T14:56:42.307Z,1754924202.307 [DAT](INFO): DAT read: user:243>

2025-08-11T14:56:42.308Z,1754924202.308 [DAT](INFO): DAT read: Tx time:14:56:43.6184

2025-08-11T14:56:42.308Z,1754924202.308 [DAT](INFO): Ping request sent.
2025-08-11T14:56:42.308Z,1754924202.308 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:42.309Z,1754924202.309 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:42.310Z,1754924202.310 [DAT](INFO): direction in FSK: [0.989873,0.017278,0.140901]
2025-08-11T14:56:42.312Z,1754924202.312 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:42.312Z,1754924202.312 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:42.317Z,1754924202.317 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:42.318Z,1754924202.318 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:42.585Z,1754924202.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.700001 m,
      deltaT: 3.532116 s,
      deltaX: -1.799999 m,
      approachRate: -0.509609 m/s,
      rangeRepo size: 4

2025-08-11T14:56:42.587Z,1754924202.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.700001 m,
      bearing: 157.996339 deg,
      lat: 36.905875 deg,
      lon: -122.115847 deg,
      deltaT: 3.532116 s,
      deltaX: -1.799999 m,
      approachRate: -0.509609 m/s,
      posRepo size: 4

2025-08-11T14:56:42.588Z,1754924202.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-11T14:56:42.590Z,1754924202.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 44.180313 m,
      bearing: 157.996339 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040879 deg/s,
      cmd heading: 153.041494 deg,
      new cmd heading: 152.998525 deg.

2025-08-11T14:56:42.593Z,1754924202.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670328 target range: 44.700001 and range: 44.70 m.
2025-08-11T14:56:42.974Z,1754924202.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:42.976Z,1754924202.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-11T14:56:42.979Z,1754924202.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 44.005280 m,
      bearing: 157.981269 deg,
      approach rate: -0.446505 m/s,
      LOS rate: -0.038598 deg/s,
      cmd heading: 152.998519 deg,
      new cmd heading: 152.953127 deg.

2025-08-11T14:56:42.980Z,1754924202.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669536 target range: 44.700001 and range: 44.70 m.
2025-08-11T14:56:43.050Z,1754924203.050 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:43.050Z,1754924203.050 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:43.051Z,1754924203.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:43.300Z,1754924203.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991682
2025-08-11T14:56:43.425Z,1754924203.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-11T14:56:43.428Z,1754924203.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 43.803947 m,
      bearing: 157.952529 deg,
      approach rate: -0.448732 m/s,
      LOS rate: -0.064350 deg/s,
      cmd heading: 152.953125 deg,
      new cmd heading: 152.866509 deg.

2025-08-11T14:56:43.429Z,1754924203.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668024 target range: 44.700001 and range: 44.70 m.
2025-08-11T14:56:43.552Z,1754924203.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243635
2025-08-11T14:56:43.794Z,1754924203.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-11T14:56:43.797Z,1754924203.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 43.638454 m,
      bearing: 157.929135 deg,
      approach rate: -0.448742 m/s,
      LOS rate: -0.063674 deg/s,
      cmd heading: 152.866505 deg,
      new cmd heading: 152.796057 deg.

2025-08-11T14:56:43.798Z,1754924203.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666794 target range: 44.700001 and range: 44.70 m.
2025-08-11T14:56:43.804Z,1754924203.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495756
2025-08-11T14:56:44.057Z,1754924204.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748340
2025-08-11T14:56:44.222Z,1754924204.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-11T14:56:44.225Z,1754924204.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 43.444885 m,
      bearing: 157.890415 deg,
      approach rate: -0.451801 m/s,
      LOS rate: -0.090777 deg/s,
      cmd heading: 152.796058 deg,
      new cmd heading: 152.679381 deg.

2025-08-11T14:56:44.226Z,1754924204.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664758 target range: 44.700001 and range: 44.70 m.
2025-08-11T14:56:44.309Z,1754924204.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000605
2025-08-11T14:56:44.560Z,1754924204.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251571
2025-08-11T14:56:44.610Z,1754924204.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-11T14:56:44.617Z,1754924204.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 43.271561 m,
      bearing: 157.855807 deg,
      approach rate: -0.447374 m/s,
      LOS rate: -0.089685 deg/s,
      cmd heading: 152.679385 deg,
      new cmd heading: 152.575146 deg.

2025-08-11T14:56:44.618Z,1754924204.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662939 target range: 44.700001 and range: 44.70 m.
2025-08-11T14:56:44.813Z,1754924204.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504299
2025-08-11T14:56:44.997Z,1754924204.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:44.999Z,1754924204.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-11T14:56:45.002Z,1754924205.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 43.094036 m,
      bearing: 157.820387 deg,
      approach rate: -0.456035 m/s,
      LOS rate: -0.091365 deg/s,
      cmd heading: 152.575143 deg,
      new cmd heading: 152.468444 deg.

2025-08-11T14:56:45.003Z,1754924205.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661076 target range: 44.700001 and range: 44.70 m.
2025-08-11T14:56:45.068Z,1754924205.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759944
2025-08-11T14:56:45.317Z,1754924205.317 [DAT](INFO): DAT read: Rx Time:14:56:46.0801

2025-08-11T14:56:45.317Z,1754924205.317 [DAT](INFO): Rx dataTimestamp_ set to:1754924205.316739
2025-08-11T14:56:45.318Z,1754924205.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009117
2025-08-11T14:56:45.438Z,1754924205.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-11T14:56:45.441Z,1754924205.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 42.896389 m,
      bearing: 157.768196 deg,
      approach rate: -0.450519 m/s,
      LOS rate: -0.119512 deg/s,
      cmd heading: 152.468441 deg,
      new cmd heading: 152.311149 deg.

2025-08-11T14:56:45.442Z,1754924205.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.658331 target range: 44.700001 and range: 44.70 m.
2025-08-11T14:56:45.568Z,1754924205.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259597
2025-08-11T14:56:45.812Z,1754924205.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-11T14:56:45.815Z,1754924205.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 42.727737 m,
      bearing: 157.723235 deg,
      approach rate: -0.450123 m/s,
      LOS rate: -0.120474 deg/s,
      cmd heading: 152.311142 deg,
      new cmd heading: 152.175726 deg.

2025-08-11T14:56:45.816Z,1754924205.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.655967 target range: 44.700001 and range: 44.70 m.
2025-08-11T14:56:45.828Z,1754924205.828 [DAT](INFO): DAT read: 14:56:46.0801 LVL= 24880, 30385, 29330, 32755, AGC= 60, IDX= 426, 0.19, 1.423,-0.356, 1.493, 1.107, PHS= 0.419,-1.418, 0.342, RAW= 147.9,   7.4, CAL= 147.4,   7.9, ROT=   2.6,  -7.9

2025-08-11T14:56:45.829Z,1754924205.829 [DAT](INFO): got valid direction response:
 14:56:46.0801 LVL= 24880, 30385, 29330, 32755, AGC= 60, IDX= 426, 0.19, 1.423,-0.356, 1.493, 1.107, PHS= 0.419,-1.418, 0.342, RAW= 147.9,   7.4, CAL= 147.4,   7.9, ROT=   2.6,  -7.9

2025-08-11T14:56:45.830Z,1754924205.830 [DAT](INFO): DAT read: Bearing 316.8,   4.3 (Local)

2025-08-11T14:56:45.830Z,1754924205.830 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.8,   4.3 (Local)

2025-08-11T14:56:45.832Z,1754924205.832 [DAT](INFO): DAT read: Range 11 to 50 : 43.2 m  (Round-trip  57.6 ms) speed  0.4 m/s

2025-08-11T14:56:45.832Z,1754924205.832 [DAT](INFO): DAT read: user:244>

2025-08-11T14:56:45.833Z,1754924205.833 [DAT](INFO): DAT read: Tx time:14:56:47.1684

2025-08-11T14:56:45.833Z,1754924205.833 [DAT](INFO): Ping request sent.
2025-08-11T14:56:45.833Z,1754924205.833 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:45.834Z,1754924205.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:45.835Z,1754924205.835 [DAT](INFO): direction in FSK: [0.989490,0.044932,0.137445]
2025-08-11T14:56:45.844Z,1754924205.844 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:45.844Z,1754924205.844 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:45.859Z,1754924205.859 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:45.859Z,1754924205.859 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:46.282Z,1754924206.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.200001 m,
      deltaT: 3.528006 s,
      deltaX: -1.500000 m,
      approachRate: -0.425169 m/s,
      rangeRepo size: 4

2025-08-11T14:56:46.285Z,1754924206.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.200001 m,
      bearing: 157.728809 deg,
      lat: 36.905875 deg,
      lon: -122.115848 deg,
      deltaT: 3.528006 s,
      deltaX: -1.500000 m,
      approachRate: -0.425169 m/s,
      posRepo size: 4

2025-08-11T14:56:46.285Z,1754924206.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-11T14:56:46.288Z,1754924206.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 42.542183 m,
      bearing: 157.728809 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.120474 deg/s,
      cmd heading: 152.175727 deg,
      new cmd heading: 152.006031 deg.

2025-08-11T14:56:46.289Z,1754924206.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.653006 target range: 43.200001 and range: 43.20 m.
2025-08-11T14:56:46.639Z,1754924206.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-11T14:56:46.645Z,1754924206.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 42.385578 m,
      bearing: 157.687479 deg,
      approach rate: -0.439561 m/s,
      LOS rate: -0.116435 deg/s,
      cmd heading: 152.006024 deg,
      new cmd heading: 151.881575 deg.

2025-08-11T14:56:46.646Z,1754924206.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.650834 target range: 43.200001 and range: 43.20 m.
2025-08-11T14:56:47.053Z,1754924207.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:47.055Z,1754924207.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-11T14:56:47.058Z,1754924207.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 42.192596 m,
      bearing: 157.636283 deg,
      approach rate: -0.463135 m/s,
      LOS rate: -0.123425 deg/s,
      cmd heading: 151.881578 deg,
      new cmd heading: 151.727290 deg.

2025-08-11T14:56:47.059Z,1754924207.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.648141 target range: 43.200001 and range: 43.20 m.
2025-08-11T14:56:47.082Z,1754924207.082 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:47.082Z,1754924207.082 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:47.082Z,1754924207.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:47.332Z,1754924207.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498639
2025-08-11T14:56:47.458Z,1754924207.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-11T14:56:47.477Z,1754924207.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.999390 m,
      bearing: 157.584836 deg,
      approach rate: -0.478936 m/s,
      LOS rate: -0.128119 deg/s,
      cmd heading: 151.727284 deg,
      new cmd heading: 151.572231 deg.

2025-08-11T14:56:47.478Z,1754924207.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.645434 target range: 43.200001 and range: 43.20 m.
2025-08-11T14:56:47.584Z,1754924207.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750598
2025-08-11T14:56:47.837Z,1754924207.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002977
2025-08-11T14:56:47.838Z,1754924207.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-11T14:56:47.841Z,1754924207.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.824677 m,
      bearing: 157.538213 deg,
      approach rate: -0.459414 m/s,
      LOS rate: -0.123106 deg/s,
      cmd heading: 151.572225 deg,
      new cmd heading: 151.431775 deg.

2025-08-11T14:56:47.842Z,1754924207.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.642983 target range: 43.200001 and range: 43.20 m.
2025-08-11T14:56:48.090Z,1754924208.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255760
2025-08-11T14:56:48.279Z,1754924208.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-11T14:56:48.305Z,1754924208.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.613415 m,
      bearing: 157.493112 deg,
      approach rate: -0.479915 m/s,
      LOS rate: -0.102975 deg/s,
      cmd heading: 151.431769 deg,
      new cmd heading: 151.295778 deg.

2025-08-11T14:56:48.306Z,1754924208.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640610 target range: 43.200001 and range: 43.20 m.
2025-08-11T14:56:48.340Z,1754924208.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506827
2025-08-11T14:56:48.593Z,1754924208.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759193
2025-08-11T14:56:48.688Z,1754924208.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-11T14:56:48.691Z,1754924208.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.410427 m,
      bearing: 157.449728 deg,
      approach rate: -0.495891 m/s,
      LOS rate: -0.106504 deg/s,
      cmd heading: 151.295780 deg,
      new cmd heading: 151.164991 deg.

2025-08-11T14:56:48.692Z,1754924208.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638327 target range: 43.200001 and range: 43.20 m.
2025-08-11T14:56:48.844Z,1754924208.844 [DAT](INFO): DAT read: Rx Time:14:56:49.6278

2025-08-11T14:56:48.845Z,1754924208.845 [DAT](INFO): Rx dataTimestamp_ set to:1754924208.844339
2025-08-11T14:56:48.845Z,1754924208.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011665
2025-08-11T14:56:49.078Z,1754924209.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:49.080Z,1754924209.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-08-11T14:56:49.083Z,1754924209.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.227474 m,
      bearing: 157.410902 deg,
      approach rate: -0.466460 m/s,
      LOS rate: -0.099431 deg/s,
      cmd heading: 151.164995 deg,
      new cmd heading: 151.048000 deg.

2025-08-11T14:56:49.084Z,1754924209.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.636285 target range: 43.200001 and range: 43.20 m.
2025-08-11T14:56:49.096Z,1754924209.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262664
2025-08-11T14:56:49.354Z,1754924209.354 [DAT](INFO): DAT read: 14:56:49.6278 LVL= 26560, 29745, 25874, 31459, AGC= 59, IDX= 418, 0.32,-0.760,-2.580,-0.664,-1.087, PHS= 0.429,-1.448, 0.380, RAW= 148.7,   7.0, CAL= 148.1,   7.5, ROT=   1.9,  -7.5

2025-08-11T14:56:49.355Z,1754924209.355 [DAT](INFO): got valid direction response:
 14:56:49.6278 LVL= 26560, 29745, 25874, 31459, AGC= 59, IDX= 418, 0.32,-0.760,-2.580,-0.664,-1.087, PHS= 0.429,-1.448, 0.380, RAW= 148.7,   7.0, CAL= 148.1,   7.5, ROT=   1.9,  -7.5

2025-08-11T14:56:49.356Z,1754924209.356 [DAT](INFO): DAT read: Bearing 315.9,   4.0 (Local)

2025-08-11T14:56:49.356Z,1754924209.356 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.9,   4.0 (Local)

2025-08-11T14:56:49.358Z,1754924209.358 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m  (Round-trip  55.2 ms) speed  0.4 m/s

2025-08-11T14:56:49.358Z,1754924209.358 [DAT](INFO): DAT read: user:245>

2025-08-11T14:56:49.359Z,1754924209.359 [DAT](INFO): DAT read: Tx time:14:56:50.7184

2025-08-11T14:56:49.359Z,1754924209.359 [DAT](INFO): Ping request sent.
2025-08-11T14:56:49.360Z,1754924209.360 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:49.360Z,1754924209.360 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:49.361Z,1754924209.361 [DAT](INFO): direction in FSK: [0.990900,0.032872,0.130526]
2025-08-11T14:56:49.361Z,1754924209.361 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:49.361Z,1754924209.361 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:49.365Z,1754924209.365 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:49.366Z,1754924209.366 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:49.556Z,1754924209.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.400002 m,
      deltaT: 3.527924 s,
      deltaX: -1.799999 m,
      approachRate: -0.510215 m/s,
      rangeRepo size: 4

2025-08-11T14:56:49.558Z,1754924209.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.400002 m,
      bearing: 157.468539 deg,
      lat: 36.905875 deg,
      lon: -122.115848 deg,
      deltaT: 3.527924 s,
      deltaX: -1.799999 m,
      approachRate: -0.510215 m/s,
      posRepo size: 4

2025-08-11T14:56:49.563Z,1754924209.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.40 m.
2025-08-11T14:56:49.566Z,1754924209.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.400002 m,
      nav range: 40.974957 m,
      bearing: 157.468539 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.099431 deg/s,
      cmd heading: 151.047994 deg,
      new cmd heading: 150.907466 deg.

2025-08-11T14:56:49.567Z,1754924209.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.633832 target range: 41.400002 and range: 41.40 m.
2025-08-11T14:56:49.906Z,1754924209.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.40 m.
2025-08-11T14:56:49.910Z,1754924209.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.400002 m,
      nav range: 40.797848 m,
      bearing: 157.444817 deg,
      approach rate: -0.499864 m/s,
      LOS rate: -0.067241 deg/s,
      cmd heading: 150.907470 deg,
      new cmd heading: 150.835997 deg.

2025-08-11T14:56:49.928Z,1754924209.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.632585 target range: 41.400002 and range: 41.40 m.
2025-08-11T14:56:50.356Z,1754924210.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.40 m.
2025-08-11T14:56:50.364Z,1754924210.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.400002 m,
      nav range: 40.583019 m,
      bearing: 157.439219 deg,
      approach rate: -0.477743 m/s,
      LOS rate: -0.012516 deg/s,
      cmd heading: 150.835999 deg,
      new cmd heading: 150.819114 deg.

2025-08-11T14:56:50.365Z,1754924210.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.632290 target range: 41.400002 and range: 41.40 m.
2025-08-11T14:56:50.711Z,1754924210.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.40 m.
2025-08-11T14:56:50.714Z,1754924210.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.400002 m,
      nav range: 40.398903 m,
      bearing: 157.435003 deg,
      approach rate: -0.517377 m/s,
      LOS rate: -0.011902 deg/s,
      cmd heading: 150.819115 deg,
      new cmd heading: 150.806408 deg.

2025-08-11T14:56:50.715Z,1754924210.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.632068 target range: 41.400002 and range: 41.40 m.
2025-08-11T14:56:51.108Z,1754924211.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:51.110Z,1754924211.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.40 m.
2025-08-11T14:56:51.112Z,1754924211.112 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:51.112Z,1754924211.112 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:51.112Z,1754924211.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:51.133Z,1754924211.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.400002 m,
      nav range: 40.201763 m,
      bearing: 157.430994 deg,
      approach rate: -0.494350 m/s,
      LOS rate: -0.010101 deg/s,
      cmd heading: 150.806410 deg,
      new cmd heading: 150.794326 deg.

2025-08-11T14:56:51.140Z,1754924211.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.631857 target range: 41.400002 and range: 41.40 m.
2025-08-11T14:56:51.364Z,1754924211.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004467
2025-08-11T14:56:51.538Z,1754924211.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.40 m.
2025-08-11T14:56:51.541Z,1754924211.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.400002 m,
      nav range: 39.997608 m,
      bearing: 157.436288 deg,
      approach rate: -0.476976 m/s,
      LOS rate: 0.012432 deg/s,
      cmd heading: 150.794321 deg,
      new cmd heading: 150.810284 deg.

2025-08-11T14:56:51.542Z,1754924211.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.632136 target range: 41.400002 and range: 41.40 m.
2025-08-11T14:56:51.617Z,1754924211.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257618
2025-08-11T14:56:51.868Z,1754924211.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508562
2025-08-11T14:56:51.941Z,1754924211.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.40 m.
2025-08-11T14:56:51.961Z,1754924211.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.400002 m,
      nav range: 39.807827 m,
      bearing: 157.441736 deg,
      approach rate: -0.471292 m/s,
      LOS rate: 0.013594 deg/s,
      cmd heading: 150.810290 deg,
      new cmd heading: 150.826713 deg.

2025-08-11T14:56:51.962Z,1754924211.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.632423 target range: 41.400002 and range: 41.40 m.
2025-08-11T14:56:52.120Z,1754924212.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760490
2025-08-11T14:56:52.353Z,1754924212.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.40 m.
2025-08-11T14:56:52.356Z,1754924212.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.400002 m,
      nav range: 39.601952 m,
      bearing: 157.456375 deg,
      approach rate: -0.499546 m/s,
      LOS rate: 0.035703 deg/s,
      cmd heading: 150.826710 deg,
      new cmd heading: 150.870853 deg.

2025-08-11T14:56:52.357Z,1754924212.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.633193 target range: 41.400002 and range: 41.40 m.
2025-08-11T14:56:52.372Z,1754924212.372 [DAT](INFO): DAT read: Rx Time:14:56:53.1755

2025-08-11T14:56:52.373Z,1754924212.373 [DAT](INFO): Rx dataTimestamp_ set to:1754924212.372414
2025-08-11T14:56:52.373Z,1754924212.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013649
2025-08-11T14:56:52.626Z,1754924212.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266148
2025-08-11T14:56:52.760Z,1754924212.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.40 m.
2025-08-11T14:56:52.763Z,1754924212.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.400002 m,
      nav range: 39.400604 m,
      bearing: 157.471234 deg,
      approach rate: -0.494247 m/s,
      LOS rate: 0.036661 deg/s,
      cmd heading: 150.870846 deg,
      new cmd heading: 150.915651 deg.

2025-08-11T14:56:52.780Z,1754924212.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.633975 target range: 41.400002 and range: 41.40 m.
2025-08-11T14:56:52.885Z,1754924212.885 [DAT](INFO): DAT read: 14:56:53.1755 LVL= 24048, 31281, 25970, 32755, AGC= 60, IDX= 411,-0.08, 0.956,-0.905, 1.026, 0.629, PHS= 0.429,-1.488, 0.353, RAW= 148.0,   7.6, CAL= 147.5,   8.2, ROT=   2.5,  -8.2

2025-08-11T14:56:52.886Z,1754924212.886 [DAT](INFO): got valid direction response:
 14:56:53.1755 LVL= 24048, 31281, 25970, 32755, AGC= 60, IDX= 411,-0.08, 0.956,-0.905, 1.026, 0.629, PHS= 0.429,-1.488, 0.353, RAW= 148.0,   7.6, CAL= 147.5,   8.2, ROT=   2.5,  -8.2

2025-08-11T14:56:52.888Z,1754924212.888 [DAT](INFO): DAT read: Bearing 315.1,   4.2 (Local)

2025-08-11T14:56:52.888Z,1754924212.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.1,   4.2 (Local)

2025-08-11T14:56:52.890Z,1754924212.890 [DAT](INFO): DAT read: Range 11 to 50 : 39.7 m  (Round-trip  53.0 ms) speed  0.4 m/s

2025-08-11T14:56:52.892Z,1754924212.892 [DAT](INFO): DAT read: user:246>

2025-08-11T14:56:52.893Z,1754924212.893 [DAT](INFO): DAT read: Tx time:14:56:54.2684

2025-08-11T14:56:52.893Z,1754924212.893 [DAT](INFO): Ping request sent.
2025-08-11T14:56:52.893Z,1754924212.893 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:52.894Z,1754924212.894 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:52.900Z,1754924212.900 [DAT](INFO): direction in FSK: [0.988834,0.043173,0.142629]
2025-08-11T14:56:52.900Z,1754924212.900 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:52.900Z,1754924212.900 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:52.907Z,1754924212.907 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:52.907Z,1754924212.907 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:53.187Z,1754924213.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.700001 m,
      deltaT: 3.528022 s,
      deltaX: -1.700001 m,
      approachRate: -0.481857 m/s,
      rangeRepo size: 4

2025-08-11T14:56:53.189Z,1754924213.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.700001 m,
      bearing: 157.389507 deg,
      lat: 36.905876 deg,
      lon: -122.115848 deg,
      deltaT: 3.528022 s,
      deltaX: -1.700001 m,
      approachRate: -0.481857 m/s,
      posRepo size: 4

2025-08-11T14:56:53.190Z,1754924213.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.70 m.
2025-08-11T14:56:53.193Z,1754924213.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.700001 m,
      nav range: 39.031750 m,
      bearing: 157.389507 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.036661 deg/s,
      cmd heading: 150.915653 deg,
      new cmd heading: 150.962492 deg.

2025-08-11T14:56:53.193Z,1754924213.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.634793 target range: 39.700001 and range: 39.70 m.
2025-08-11T14:56:53.601Z,1754924213.601 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-11T14:56:53.602Z,1754924213.602 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-11T14:56:53.602Z,1754924213.602 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-11T14:56:53.603Z,1754924213.603 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.700001 m (mode  2.000000 count ).
2025-08-11T14:56:53.604Z,1754924213.604 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-11T14:56:53.604Z,1754924213.604 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-11T14:56:53.604Z,1754924213.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:53.606Z,1754924213.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.70 m.
2025-08-11T14:56:53.609Z,1754924213.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.700001 m,
      nav range: 38.827000 m,
      bearing: 157.404557 deg,
      approach rate: -0.487272 m/s,
      LOS rate: 0.036004 deg/s,
      cmd heading: 150.962494 deg,
      new cmd heading: 151.007881 deg.

2025-08-11T14:56:53.610Z,1754924213.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.635585 target range: 39.700001 and range: 39.70 m.
2025-08-11T14:56:53.640Z,1754924213.640 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:53.641Z,1754924213.641 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:53.641Z,1754924213.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-11T14:56:53.892Z,1754924213.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999123
2025-08-11T14:56:53.986Z,1754924213.986 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-11T14:56:53.986Z,1754924213.986 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-11T14:56:53.988Z,1754924213.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.70 m.
2025-08-11T14:56:53.991Z,1754924213.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.700001 m,
      nav range: 38.640472 m,
      bearing: 157.418548 deg,
      approach rate: -0.488217 m/s,
      LOS rate: 0.036796 deg/s,
      cmd heading: 151.007887 deg,
      new cmd heading: 151.050062 deg.

2025-08-11T14:56:53.992Z,1754924213.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.636321 target range: 39.700001 and range: 39.70 m.
2025-08-11T14:56:54.146Z,1754924214.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252154
2025-08-11T14:56:54.396Z,1754924214.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502887
2025-08-11T14:56:54.418Z,1754924214.418 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-11T14:56:54.418Z,1754924214.418 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-11T14:56:54.421Z,1754924214.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.70 m.
2025-08-11T14:56:54.424Z,1754924214.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.700001 m,
      nav range: 38.429531 m,
      bearing: 157.432070 deg,
      approach rate: -0.487909 m/s,
      LOS rate: 0.031450 deg/s,
      cmd heading: 151.050057 deg,
      new cmd heading: 151.090848 deg.

2025-08-11T14:56:54.425Z,1754924214.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.637033 target range: 39.700001 and range: 39.70 m.
2025-08-11T14:56:54.649Z,1754924214.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755915
2025-08-11T14:56:54.782Z,1754924214.782 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-11T14:56:54.782Z,1754924214.782 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-11T14:56:54.782Z,1754924214.782 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-11T14:56:54.782Z,1754924214.782 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-11T14:56:54.785Z,1754924214.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.70 m.
2025-08-11T14:56:54.804Z,1754924214.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.700001 m,
      nav range: 38.252510 m,
      bearing: 157.444091 deg,
      approach rate: -0.485880 m/s,
      LOS rate: 0.033148 deg/s,
      cmd heading: 151.090847 deg,
      new cmd heading: 151.127077 deg.

2025-08-11T14:56:54.805Z,1754924214.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.637665 target range: 39.700001 and range: 39.70 m.
2025-08-11T14:56:54.905Z,1754924214.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012033
2025-08-11T14:56:55.156Z,1754924215.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262853
2025-08-11T14:56:55.294Z,1754924215.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.70 m.
2025-08-11T14:56:55.313Z,1754924215.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.700001 m,
      nav range: 38.036755 m,
      bearing: 157.459354 deg,
      approach rate: -0.425093 m/s,
      LOS rate: 0.030242 deg/s,
      cmd heading: 151.127074 deg,
      new cmd heading: 151.173122 deg.

2025-08-11T14:56:55.314Z,1754924215.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638469 target range: 39.700001 and range: 39.70 m.
2025-08-11T14:56:55.408Z,1754924215.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514897
2025-08-11T14:56:55.652Z,1754924215.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:55.654Z,1754924215.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.70 m.
2025-08-11T14:56:55.660Z,1754924215.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766989
2025-08-11T14:56:55.663Z,1754924215.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.700001 m,
      nav range: 37.845543 m,
      bearing: 157.468519 deg,
      approach rate: -0.528381 m/s,
      LOS rate: 0.025452 deg/s,
      cmd heading: 151.173123 deg,
      new cmd heading: 151.200755 deg.

2025-08-11T14:56:55.668Z,1754924215.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638951 target range: 39.700001 and range: 39.70 m.
2025-08-11T14:56:55.913Z,1754924215.913 [DAT](INFO): DAT read: Rx Time:14:56:56.7231

2025-08-11T14:56:55.914Z,1754924215.914 [DAT](INFO): Rx dataTimestamp_ set to:1754924215.913273
2025-08-11T14:56:55.915Z,1754924215.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021195
2025-08-11T14:56:56.015Z,1754924216.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.70 m.
2025-08-11T14:56:56.018Z,1754924216.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.700001 m,
      nav range: 37.657196 m,
      bearing: 157.478202 deg,
      approach rate: -0.521849 m/s,
      LOS rate: 0.026964 deg/s,
      cmd heading: 151.200758 deg,
      new cmd heading: 151.229954 deg.

2025-08-11T14:56:56.019Z,1754924216.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.639461 target range: 39.700001 and range: 39.70 m.
2025-08-11T14:56:56.164Z,1754924216.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270852
2025-08-11T14:56:56.422Z,1754924216.422 [DAT](INFO): DAT read: 14:56:56.7231 LVL= 31648, 32753, 30786, 32755, AGC= 56, IDX= 419, 0.37,-0.046,-1.835,-0.042,-0.376, PHS= 0.432,-1.413, 0.290, RAW= 146.0,   7.8, CAL= 145.6,   8.5, ROT=   4.4,  -8.5

2025-08-11T14:56:56.423Z,1754924216.423 [DAT](INFO): got valid direction response:
 14:56:56.7231 LVL= 31648, 32753, 30786, 32755, AGC= 56, IDX= 419, 0.37,-0.046,-1.835,-0.042,-0.376, PHS= 0.432,-1.413, 0.290, RAW= 146.0,   7.8, CAL= 145.6,   8.5, ROT=   4.4,  -8.5

2025-08-11T14:56:56.424Z,1754924216.424 [DAT](INFO): DAT read: Bearing 314.8,   6.7 (Local)

2025-08-11T14:56:56.424Z,1754924216.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.8,   6.7 (Local)

2025-08-11T14:56:56.426Z,1754924216.426 [DAT](INFO): DAT read: Range 11 to 50 : 37.9 m  (Round-trip  50.6 ms) speed  0.4 m/s

2025-08-11T14:56:56.427Z,1754924216.427 [DAT](INFO): DAT read: user:247>

2025-08-11T14:56:56.428Z,1754924216.428 [DAT](INFO): DAT read: Tx time:14:56:57.8199

2025-08-11T14:56:56.428Z,1754924216.428 [DAT](INFO): Ping request sent.
2025-08-11T14:56:56.428Z,1754924216.428 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:56.428Z,1754924216.428 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:56.429Z,1754924216.429 [DAT](INFO): direction in FSK: [0.986101,0.075876,0.147809]
2025-08-11T14:56:56.429Z,1754924216.429 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:56.430Z,1754924216.430 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:56.433Z,1754924216.433 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:56.433Z,1754924216.433 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:56.580Z,1754924216.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.900002 m,
      deltaT: 3.540005 s,
      deltaX: -1.799999 m,
      approachRate: -0.508474 m/s,
      rangeRepo size: 4

2025-08-11T14:56:56.582Z,1754924216.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.900002 m,
      bearing: 157.475863 deg,
      lat: 36.905876 deg,
      lon: -122.115848 deg,
      deltaT: 3.540005 s,
      deltaX: -1.799999 m,
      approachRate: -0.508474 m/s,
      posRepo size: 4

2025-08-11T14:56:56.587Z,1754924216.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-08-11T14:56:56.590Z,1754924216.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.900002 m,
      nav range: 37.407471 m,
      bearing: 157.475863 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026964 deg/s,
      cmd heading: 151.229950 deg,
      new cmd heading: 151.274935 deg.

2025-08-11T14:56:56.591Z,1754924216.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640246 target range: 37.900002 and range: 37.90 m.
2025-08-11T14:56:56.954Z,1754924216.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-08-11T14:56:56.957Z,1754924216.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.900002 m,
      nav range: 37.225121 m,
      bearing: 157.475213 deg,
      approach rate: -0.476872 m/s,
      LOS rate: -0.001710 deg/s,
      cmd heading: 151.274934 deg,
      new cmd heading: 151.272973 deg.

2025-08-11T14:56:56.958Z,1754924216.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640211 target range: 37.900002 and range: 37.90 m.
2025-08-11T14:56:57.395Z,1754924217.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-08-11T14:56:57.398Z,1754924217.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.900002 m,
      nav range: 37.027721 m,
      bearing: 157.464025 deg,
      approach rate: -0.447819 m/s,
      LOS rate: -0.025517 deg/s,
      cmd heading: 151.272967 deg,
      new cmd heading: 151.239224 deg.

2025-08-11T14:56:57.399Z,1754924217.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.639622 target range: 37.900002 and range: 37.90 m.
2025-08-11T14:56:57.738Z,1754924217.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:57.740Z,1754924217.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-08-11T14:56:57.744Z,1754924217.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.900002 m,
      nav range: 36.873306 m,
      bearing: 157.455483 deg,
      approach rate: -0.447090 m/s,
      LOS rate: -0.024834 deg/s,
      cmd heading: 151.239226 deg,
      new cmd heading: 151.213495 deg.

2025-08-11T14:56:57.745Z,1754924217.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.639173 target range: 37.900002 and range: 37.90 m.
2025-08-11T14:56:57.929Z,1754924217.929 [DAT](INFO): ****** received valid address query ******
2025-08-11T14:56:57.929Z,1754924217.929 [DAT](INFO): ****** received valid ping request ******
2025-08-11T14:56:57.929Z,1754924217.929 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-11T14:56:58.163Z,1754924218.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-08-11T14:56:58.166Z,1754924218.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.900002 m,
      nav range: 36.683895 m,
      bearing: 157.445218 deg,
      approach rate: -0.447887 m/s,
      LOS rate: -0.024398 deg/s,
      cmd heading: 151.213490 deg,
      new cmd heading: 151.182536 deg.

2025-08-11T14:56:58.167Z,1754924218.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638633 target range: 37.900002 and range: 37.90 m.
2025-08-11T14:56:58.180Z,1754924218.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752219
2025-08-11T14:56:58.432Z,1754924218.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004536
2025-08-11T14:56:58.574Z,1754924218.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-08-11T14:56:58.597Z,1754924218.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.900002 m,
      nav range: 36.498642 m,
      bearing: 157.426500 deg,
      approach rate: -0.450740 m/s,
      LOS rate: -0.045776 deg/s,
      cmd heading: 151.182535 deg,
      new cmd heading: 151.126094 deg.

2025-08-11T14:56:58.600Z,1754924218.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.637648 target range: 37.900002 and range: 37.90 m.
2025-08-11T14:56:58.686Z,1754924218.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257601
2025-08-11T14:56:58.937Z,1754924218.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508403
2025-08-11T14:56:58.974Z,1754924218.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-08-11T14:56:58.977Z,1754924218.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.900002 m,
      nav range: 36.318256 m,
      bearing: 157.408344 deg,
      approach rate: -0.450375 m/s,
      LOS rate: -0.045556 deg/s,
      cmd heading: 151.126091 deg,
      new cmd heading: 151.071352 deg.

2025-08-11T14:56:58.978Z,1754924218.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.636693 target range: 37.900002 and range: 37.90 m.
2025-08-11T14:56:59.189Z,1754924219.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760658
2025-08-11T14:56:59.440Z,1754924219.440 [DAT](INFO): DAT read: Rx Time:14:57:00.2725

2025-08-11T14:56:59.441Z,1754924219.441 [DAT](INFO): Rx dataTimestamp_ set to:1754924219.440382
2025-08-11T14:56:59.441Z,1754924219.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013286
2025-08-11T14:56:59.442Z,1754924219.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-08-11T14:56:59.445Z,1754924219.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.900002 m,
      nav range: 36.125046 m,
      bearing: 157.382636 deg,
      approach rate: -0.412867 m/s,
      LOS rate: -0.055227 deg/s,
      cmd heading: 151.071353 deg,
      new cmd heading: 150.993819 deg.

2025-08-11T14:56:59.446Z,1754924219.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.635339 target range: 37.900002 and range: 37.90 m.
2025-08-11T14:56:59.693Z,1754924219.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265010
2025-08-11T14:56:59.786Z,1754924219.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:56:59.789Z,1754924219.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.90 m.
2025-08-11T14:56:59.792Z,1754924219.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.900002 m,
      nav range: 35.964493 m,
      bearing: 157.361137 deg,
      approach rate: -0.463704 m/s,
      LOS rate: -0.062370 deg/s,
      cmd heading: 150.993817 deg,
      new cmd heading: 150.929033 deg.

2025-08-11T14:56:59.793Z,1754924219.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.634208 target range: 37.900002 and range: 37.90 m.
2025-08-11T14:56:59.954Z,1754924219.954 [DAT](INFO): DAT read: 14:57:00.2725 LVL= 24928, 31889, 29906, 32755, AGC= 59, IDX= 413,-0.18, 2.061, 0.212, 2.051, 1.708, PHS= 0.455,-1.451, 0.300, RAW= 145.8,   7.6, CAL= 145.3,   8.3, ROT=   4.7,  -8.3

2025-08-11T14:56:59.955Z,1754924219.955 [DAT](INFO): got valid direction response:
 14:57:00.2725 LVL= 24928, 31889, 29906, 32755, AGC= 59, IDX= 413,-0.18, 2.061, 0.212, 2.051, 1.708, PHS= 0.455,-1.451, 0.300, RAW= 145.8,   7.6, CAL= 145.3,   8.3, ROT=   4.7,  -8.3

2025-08-11T14:56:59.956Z,1754924219.956 [DAT](INFO): DAT read: Bearing 314.1,   7.7 (Local)

2025-08-11T14:56:59.956Z,1754924219.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.1,   7.7 (Local)

2025-08-11T14:56:59.958Z,1754924219.958 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m  (Round-trip  48.5 ms) speed  0.4 m/s

2025-08-11T14:56:59.958Z,1754924219.958 [DAT](INFO): DAT read: user:248>

2025-08-11T14:56:59.967Z,1754924219.967 [DAT](INFO): DAT read: Tx time:14:57:01.3683

2025-08-11T14:56:59.967Z,1754924219.967 [DAT](INFO): Ping request sent.
2025-08-11T14:56:59.968Z,1754924219.968 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:56:59.968Z,1754924219.968 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-11T14:56:59.969Z,1754924219.969 [DAT](INFO): direction in FSK: [0.986198,0.081080,0.144356]
2025-08-11T14:56:59.969Z,1754924219.969 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:59.969Z,1754924219.969 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:59.977Z,1754924219.977 [DAT](INFO): publishing transmit ping time
2025-08-11T14:56:59.977Z,1754924219.977 [DAT](INFO): publishing direction and range info
2025-08-11T14:56:59.981Z,1754924219.981 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.012985
2025-08-11T14:57:00.196Z,1754924220.196 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.228702
2025-08-11T14:57:00.221Z,1754924220.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 3.531391 s,
      deltaX: -1.600002 m,
      approachRate: -0.453080 m/s,
      rangeRepo size: 4

2025-08-11T14:57:00.223Z,1754924220.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.299999 m,
      bearing: 158.216468 deg,
      lat: 36.905876 deg,
      lon: -122.115855 deg,
      deltaT: 3.531391 s,
      deltaX: -1.600002 m,
      approachRate: -0.453080 m/s,
      posRepo size: 4

2025-08-11T14:57:00.226Z,1754924220.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-11T14:57:00.237Z,1754924220.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.617638 m,
      bearing: 158.216468 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062370 deg/s,
      cmd heading: 150.929026 deg,
      new cmd heading: 150.848283 deg.

2025-08-11T14:57:00.238Z,1754924220.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.632799 target range: 36.299999 and range: 36.30 m.
2025-08-11T14:57:00.448Z,1754924220.448 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.480496
2025-08-11T14:57:00.669Z,1754924220.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-11T14:57:00.672Z,1754924220.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.410423 m,
      bearing: 158.193781 deg,
      approach rate: -0.461442 m/s,
      LOS rate: -0.050817 deg/s,
      cmd heading: 150.848280 deg,
      new cmd heading: 150.779821 deg.

2025-08-11T14:57:00.673Z,1754924220.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.631604 target range: 36.299999 and range: 36.30 m.
2025-08-11T14:57:00.725Z,1754924220.725 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.757720
2025-08-11T14:57:00.976Z,1754924220.976 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.008600
2025-08-11T14:57:01.011Z,1754924221.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-11T14:57:01.029Z,1754924221.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.245640 m,
      bearing: 158.175729 deg,
      approach rate: -0.482380 m/s,
      LOS rate: -0.053091 deg/s,
      cmd heading: 150.779827 deg,
      new cmd heading: 150.725419 deg.

2025-08-11T14:57:01.030Z,1754924221.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.630655 target range: 36.299999 and range: 36.30 m.
2025-08-11T14:57:01.229Z,1754924221.229 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.261051
2025-08-11T14:57:01.455Z,1754924221.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-11T14:57:01.458Z,1754924221.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.042862 m,
      bearing: 158.150577 deg,
      approach rate: -0.456631 m/s,
      LOS rate: -0.056966 deg/s,
      cmd heading: 150.725418 deg,
      new cmd heading: 150.649526 deg.

2025-08-11T14:57:01.459Z,1754924221.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.629330 target range: 36.299999 and range: 36.30 m.
2025-08-11T14:57:01.485Z,1754924221.485 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.517004
2025-08-11T14:57:01.733Z,1754924221.733 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.765029
2025-08-11T14:57:01.826Z,1754924221.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:01.828Z,1754924221.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-11T14:57:01.831Z,1754924221.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.872364 m,
      bearing: 158.129514 deg,
      approach rate: -0.456331 m/s,
      LOS rate: -0.056651 deg/s,
      cmd heading: 150.649521 deg,
      new cmd heading: 150.586022 deg.

2025-08-11T14:57:01.832Z,1754924221.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628222 target range: 36.299999 and range: 36.30 m.
2025-08-11T14:57:01.984Z,1754924221.984 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.016491
2025-08-11T14:57:02.229Z,1754924222.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-11T14:57:02.232Z,1754924222.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.689312 m,
      bearing: 158.106953 deg,
      approach rate: -0.457232 m/s,
      LOS rate: -0.056651 deg/s,
      cmd heading: 150.586028 deg,
      new cmd heading: 150.517987 deg.

2025-08-11T14:57:02.233Z,1754924222.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.627034 target range: 36.299999 and range: 36.30 m.
2025-08-11T14:57:02.236Z,1754924222.236 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.268648
2025-08-11T14:57:02.488Z,1754924222.488 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.520668
2025-08-11T14:57:02.672Z,1754924222.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-11T14:57:02.675Z,1754924222.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.486370 m,
      bearing: 158.079872 deg,
      approach rate: -0.458000 m/s,
      LOS rate: -0.061477 deg/s,
      cmd heading: 150.517985 deg,
      new cmd heading: 150.436263 deg.

2025-08-11T14:57:02.676Z,1754924222.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.625608 target range: 36.299999 and range: 36.30 m.
2025-08-11T14:57:02.741Z,1754924222.741 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.773551
2025-08-11T14:57:02.992Z,1754924222.992 [DAT](INFO): DAT read: Rx Time:14:57:03.8187

2025-08-11T14:57:02.993Z,1754924222.993 [DAT](INFO): Rx dataTimestamp_ set to:1754924222.992331
2025-08-11T14:57:02.993Z,1754924222.993 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.025581
2025-08-11T14:57:03.064Z,1754924223.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-08-11T14:57:03.066Z,1754924223.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.309036 m,
      bearing: 158.056138 deg,
      approach rate: -0.452606 m/s,
      LOS rate: -0.060889 deg/s,
      cmd heading: 150.436269 deg,
      new cmd heading: 150.364699 deg.

2025-08-11T14:57:03.072Z,1754924223.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.624359 target range: 36.299999 and range: 36.30 m.
2025-08-11T14:57:03.244Z,1754924223.244 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.276644
2025-08-11T14:57:03.504Z,1754924223.504 [DAT](INFO): DAT read: 14:57:03.8187 LVL= 27760, 32753, 27986, 32755, AGC= 60, IDX= 422,-0.27,-0.498,-2.330,-0.502,-0.848, PHS= 0.453,-1.437, 0.303, RAW= 145.9,   7.5, CAL= 145.4,   8.2, ROT=   4.6,  -8.2

2025-08-11T14:57:03.505Z,1754924223.505 [DAT](INFO): got valid direction response:
 14:57:03.8187 LVL= 27760, 32753, 27986, 32755, AGC= 60, IDX= 422,-0.27,-0.498,-2.330,-0.502,-0.848, PHS= 0.453,-1.437, 0.303, RAW= 145.9,   7.5, CAL= 145.4,   8.2, ROT=   4.6,  -8.2

2025-08-11T14:57:03.506Z,1754924223.506 [DAT](INFO): DAT read: Bearing 313.7,   7.3 (Local)

2025-08-11T14:57:03.507Z,1754924223.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.7,   7.3 (Local)

2025-08-11T14:57:03.509Z,1754924223.509 [DAT](INFO): DAT read: Range 11 to 50 : 34.6 m  (Round-trip  46.2 ms) speed  0.4 m/s

2025-08-11T14:57:03.510Z,1754924223.510 [DAT](INFO): DAT read: user:249>

2025-08-11T14:57:03.510Z,1754924223.510 [DAT](INFO): DAT read: Tx time:14:57:04.9183

2025-08-11T14:57:03.511Z,1754924223.511 [DAT](INFO): Ping request sent.
2025-08-11T14:57:03.511Z,1754924223.511 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:03.511Z,1754924223.511 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-11T14:57:03.512Z,1754924223.512 [DAT](INFO): direction in FSK: [0.986588,0.079379,0.142629]
2025-08-11T14:57:03.512Z,1754924223.512 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:03.513Z,1754924223.513 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:03.548Z,1754924223.548 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:03.548Z,1754924223.548 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:03.564Z,1754924223.564 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.052864
2025-08-11T14:57:03.680Z,1754924223.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.599998 m,
      deltaT: 3.550245 s,
      deltaX: -1.700001 m,
      approachRate: -0.478840 m/s,
      rangeRepo size: 4

2025-08-11T14:57:03.682Z,1754924223.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.599998 m,
      bearing: 157.599817 deg,
      lat: 36.905876 deg,
      lon: -122.115852 deg,
      deltaT: 3.550245 s,
      deltaX: -1.700001 m,
      approachRate: -0.478840 m/s,
      posRepo size: 4

2025-08-11T14:57:03.683Z,1754924223.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-08-11T14:57:03.690Z,1754924223.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.599998 m,
      nav range: 34.079880 m,
      bearing: 157.599817 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.060889 deg/s,
      cmd heading: 150.364702 deg,
      new cmd heading: 150.253053 deg.

2025-08-11T14:57:03.691Z,1754924223.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.622411 target range: 34.599998 and range: 34.60 m.
2025-08-11T14:57:03.749Z,1754924223.749 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.238533
2025-08-11T14:57:03.975Z,1754924223.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:03.977Z,1754924223.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-08-11T14:57:03.980Z,1754924223.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.599998 m,
      nav range: 33.933620 m,
      bearing: 157.577976 deg,
      approach rate: -0.483942 m/s,
      LOS rate: -0.072580 deg/s,
      cmd heading: 150.253056 deg,
      new cmd heading: 150.187249 deg.

2025-08-11T14:57:03.981Z,1754924223.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621262 target range: 34.599998 and range: 34.60 m.
2025-08-11T14:57:04.001Z,1754924224.001 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.490063
2025-08-11T14:57:04.252Z,1754924224.252 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.741386
2025-08-11T14:57:04.371Z,1754924224.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-08-11T14:57:04.374Z,1754924224.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.599998 m,
      nav range: 33.752110 m,
      bearing: 157.550838 deg,
      approach rate: -0.460736 m/s,
      LOS rate: -0.069256 deg/s,
      cmd heading: 150.187254 deg,
      new cmd heading: 150.105402 deg.

2025-08-11T14:57:04.378Z,1754924224.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619833 target range: 34.599998 and range: 34.60 m.
2025-08-11T14:57:04.505Z,1754924224.505 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.994502
2025-08-11T14:57:04.756Z,1754924224.756 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.245515
2025-08-11T14:57:04.808Z,1754924224.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-08-11T14:57:04.811Z,1754924224.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.599998 m,
      nav range: 33.539616 m,
      bearing: 157.531246 deg,
      approach rate: -0.485994 m/s,
      LOS rate: -0.045093 deg/s,
      cmd heading: 150.105401 deg,
      new cmd heading: 150.046252 deg.

2025-08-11T14:57:04.812Z,1754924224.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618801 target range: 34.599998 and range: 34.60 m.
2025-08-11T14:57:05.008Z,1754924225.008 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.497335
2025-08-11T14:57:05.179Z,1754924225.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-08-11T14:57:05.182Z,1754924225.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.599998 m,
      nav range: 33.359459 m,
      bearing: 157.514575 deg,
      approach rate: -0.485829 m/s,
      LOS rate: -0.045198 deg/s,
      cmd heading: 150.046251 deg,
      new cmd heading: 149.995970 deg.

2025-08-11T14:57:05.183Z,1754924225.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617923 target range: 34.599998 and range: 34.60 m.
2025-08-11T14:57:05.261Z,1754924225.261 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.750637
2025-08-11T14:57:05.512Z,1754924225.512 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.001470
2025-08-11T14:57:05.634Z,1754924225.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-08-11T14:57:05.653Z,1754924225.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.599998 m,
      nav range: 33.148731 m,
      bearing: 157.492833 deg,
      approach rate: -0.463529 m/s,
      LOS rate: -0.048130 deg/s,
      cmd heading: 149.995968 deg,
      new cmd heading: 149.930325 deg.

2025-08-11T14:57:05.656Z,1754924225.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.616778 target range: 34.599998 and range: 34.60 m.
2025-08-11T14:57:05.765Z,1754924225.765 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.253866
2025-08-11T14:57:05.991Z,1754924225.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:05.993Z,1754924225.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-08-11T14:57:05.996Z,1754924225.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.599998 m,
      nav range: 32.973579 m,
      bearing: 157.474790 deg,
      approach rate: -0.487268 m/s,
      LOS rate: -0.050462 deg/s,
      cmd heading: 149.930329 deg,
      new cmd heading: 149.875912 deg.

2025-08-11T14:57:05.997Z,1754924225.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615828 target range: 34.599998 and range: 34.60 m.
2025-08-11T14:57:06.016Z,1754924226.016 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.505385
2025-08-11T14:57:06.268Z,1754924226.268 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.757532
2025-08-11T14:57:06.396Z,1754924226.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-08-11T14:57:06.400Z,1754924226.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.599998 m,
      nav range: 32.782608 m,
      bearing: 157.454941 deg,
      approach rate: -0.473650 m/s,
      LOS rate: -0.049515 deg/s,
      cmd heading: 149.875906 deg,
      new cmd heading: 149.816015 deg.

2025-08-11T14:57:06.401Z,1754924226.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.614783 target range: 34.599998 and range: 34.60 m.
2025-08-11T14:57:06.521Z,1754924226.521 [DAT](INFO): DAT read: Rx Time:14:57:07.3666

2025-08-11T14:57:06.522Z,1754924226.522 [DAT](INFO): Rx dataTimestamp_ set to:1754924226.521568
2025-08-11T14:57:06.523Z,1754924226.523 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.011941
2025-08-11T14:57:06.772Z,1754924226.772 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.261676
2025-08-11T14:57:06.928Z,1754924226.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m.
2025-08-11T14:57:06.937Z,1754924226.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.599998 m,
      nav range: 32.527275 m,
      bearing: 157.432705 deg,
      approach rate: -0.480486 m/s,
      LOS rate: -0.042173 deg/s,
      cmd heading: 149.816019 deg,
      new cmd heading: 149.748786 deg.

2025-08-11T14:57:06.939Z,1754924226.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.613609 target range: 34.599998 and range: 34.60 m.
2025-08-11T14:57:07.041Z,1754924227.041 [DAT](INFO): DAT read: 14:57:07.3666 LVL= 22448, 32753, 26546, 32755, AGC= 59, IDX= 416, 0.18,-0.249,-2.052,-0.209,-0.578, PHS= 0.431,-1.429, 0.325, RAW= 147.1,   7.5, CAL= 146.6,   8.1, ROT=   3.4,  -8.1

2025-08-11T14:57:07.042Z,1754924227.042 [DAT](INFO): got valid direction response:
 14:57:07.3666 LVL= 22448, 32753, 26546, 32755, AGC= 59, IDX= 416, 0.18,-0.249,-2.052,-0.209,-0.578, PHS= 0.431,-1.429, 0.325, RAW= 147.1,   7.5, CAL= 146.6,   8.1, ROT=   3.4,  -8.1

2025-08-11T14:57:07.043Z,1754924227.043 [DAT](INFO): DAT read: Bearing 312.5,   6.4 (Local)

2025-08-11T14:57:07.044Z,1754924227.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5,   6.4 (Local)

2025-08-11T14:57:07.046Z,1754924227.046 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m  (Round-trip  44.1 ms) speed  0.4 m/s

2025-08-11T14:57:07.046Z,1754924227.046 [DAT](INFO): DAT read: user:250>

2025-08-11T14:57:07.052Z,1754924227.052 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-11T14:57:07.076Z,1754924227.076 [DAT](INFO): direction in FSK: [0.988281,0.058715,0.140901]
2025-08-11T14:57:07.076Z,1754924227.076 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:07.094Z,1754924227.094 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.583406
2025-08-11T14:57:07.276Z,1754924227.276 [DAT](INFO): DAT read: Tx time:14:57:08.4683

2025-08-11T14:57:07.276Z,1754924227.276 [DAT](INFO): Ping request sent.
2025-08-11T14:57:07.276Z,1754924227.276 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:07.277Z,1754924227.277 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:07.277Z,1754924227.277 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.000761
2025-08-11T14:57:07.328Z,1754924227.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 3.528205 s,
      deltaX: -1.599998 m,
      approachRate: -0.453488 m/s,
      rangeRepo size: 4

2025-08-11T14:57:07.330Z,1754924227.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.000000 m,
      bearing: 157.400718 deg,
      lat: 36.905876 deg,
      lon: -122.115852 deg,
      deltaT: 3.528205 s,
      deltaX: -1.599998 m,
      approachRate: -0.453488 m/s,
      posRepo size: 4

2025-08-11T14:57:07.331Z,1754924227.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-11T14:57:07.338Z,1754924227.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 32.305382 m,
      bearing: 157.400718 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042173 deg/s,
      cmd heading: 149.748783 deg,
      new cmd heading: 149.698786 deg.

2025-08-11T14:57:07.339Z,1754924227.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612737 target range: 33.000000 and range: 33.00 m.
2025-08-11T14:57:07.528Z,1754924227.528 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.251748
2025-08-11T14:57:07.763Z,1754924227.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-11T14:57:07.766Z,1754924227.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 32.069107 m,
      bearing: 157.387784 deg,
      approach rate: -0.537139 m/s,
      LOS rate: -0.029621 deg/s,
      cmd heading: 149.698786 deg,
      new cmd heading: 149.659697 deg.

2025-08-11T14:57:07.780Z,1754924227.780 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.503744
2025-08-11T14:57:07.767Z,1754924227.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612055 target range: 33.000000 and range: 33.00 m.
2025-08-11T14:57:08.032Z,1754924228.032 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.755632
2025-08-11T14:57:08.138Z,1754924228.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:08.140Z,1754924228.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-11T14:57:08.144Z,1754924228.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.873587 m,
      bearing: 157.376983 deg,
      approach rate: -0.517795 m/s,
      LOS rate: -0.028781 deg/s,
      cmd heading: 149.659704 deg,
      new cmd heading: 149.627101 deg.

2025-08-11T14:57:08.144Z,1754924228.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611485 target range: 33.000000 and range: 33.00 m.
2025-08-11T14:57:08.284Z,1754924228.284 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.007573
2025-08-11T14:57:08.536Z,1754924228.536 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.259699
2025-08-11T14:57:08.664Z,1754924228.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-11T14:57:08.666Z,1754924228.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.612322 m,
      bearing: 157.364551 deg,
      approach rate: -0.503523 m/s,
      LOS rate: -0.024157 deg/s,
      cmd heading: 149.627096 deg,
      new cmd heading: 149.589493 deg.

2025-08-11T14:57:08.671Z,1754924228.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.610829 target range: 33.000000 and range: 33.00 m.
2025-08-11T14:57:08.788Z,1754924228.788 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.511569
2025-08-11T14:57:09.002Z,1754924229.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-11T14:57:09.005Z,1754924229.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.426462 m,
      bearing: 157.355933 deg,
      approach rate: -0.542493 m/s,
      LOS rate: -0.025304 deg/s,
      cmd heading: 149.589489 deg,
      new cmd heading: 149.563482 deg.

2025-08-11T14:57:09.006Z,1754924229.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.610375 target range: 33.000000 and range: 33.00 m.
2025-08-11T14:57:09.040Z,1754924229.040 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.763968
2025-08-11T14:57:09.292Z,1754924229.292 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.015680
2025-08-11T14:57:09.416Z,1754924229.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-11T14:57:09.421Z,1754924229.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 31.215471 m,
      bearing: 157.346512 deg,
      approach rate: -0.509752 m/s,
      LOS rate: -0.022914 deg/s,
      cmd heading: 149.563480 deg,
      new cmd heading: 149.535027 deg.

2025-08-11T14:57:09.422Z,1754924229.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609879 target range: 33.000000 and range: 33.00 m.
2025-08-11T14:57:09.545Z,1754924229.545 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.268297
2025-08-11T14:57:09.796Z,1754924229.796 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.519870
2025-08-11T14:57:09.839Z,1754924229.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-11T14:57:09.861Z,1754924229.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 30.994011 m,
      bearing: 157.339625 deg,
      approach rate: -0.523656 m/s,
      LOS rate: -0.016402 deg/s,
      cmd heading: 149.535025 deg,
      new cmd heading: 149.514216 deg.

2025-08-11T14:57:09.862Z,1754924229.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609515 target range: 33.000000 and range: 33.00 m.
2025-08-11T14:57:10.048Z,1754924230.048 [DAT](INFO): DAT read: Rx Time:14:57:10.9142

2025-08-11T14:57:10.049Z,1754924230.049 [DAT](INFO): Rx dataTimestamp_ set to:1754924230.048378
2025-08-11T14:57:10.049Z,1754924230.049 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.772736
2025-08-11T14:57:10.217Z,1754924230.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:10.219Z,1754924230.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-11T14:57:10.222Z,1754924230.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 30.798868 m,
      bearing: 157.334536 deg,
      approach rate: -0.513220 m/s,
      LOS rate: -0.013469 deg/s,
      cmd heading: 149.514221 deg,
      new cmd heading: 149.498856 deg.

2025-08-11T14:57:10.223Z,1754924230.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609247 target range: 33.000000 and range: 33.00 m.
2025-08-11T14:57:10.301Z,1754924230.301 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.024484
2025-08-11T14:57:10.556Z,1754924230.556 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.278546
2025-08-11T14:57:10.660Z,1754924230.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-08-11T14:57:10.663Z,1754924230.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.000000 m,
      nav range: 30.578045 m,
      bearing: 157.340885 deg,
      approach rate: -0.500615 m/s,
      LOS rate: 0.014497 deg/s,
      cmd heading: 149.498853 deg,
      new cmd heading: 149.518037 deg.

2025-08-11T14:57:10.664Z,1754924230.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609582 target range: 33.000000 and range: 33.00 m.
2025-08-11T14:57:10.810Z,1754924230.810 [DAT](INFO): DAT read: 14:57:10.9141 LVL= 23760, 32753, 25618, 32755, AGC= 58, IDX= 424, 0.17,-1.773, 2.729,-1.727,-2.106, PHS= 0.435,-1.403, 0.335, RAW= 147.2,   7.1, CAL= 146.7,   7.7, ROT=   3.3,  -7.7

2025-08-11T14:57:10.811Z,1754924230.811 [DAT](INFO): got valid direction response:
 14:57:10.9141 LVL= 23760, 32753, 25618, 32755, AGC= 58, IDX= 424, 0.17,-1.773, 2.729,-1.727,-2.106, PHS= 0.435,-1.403, 0.335, RAW= 147.2,   7.1, CAL= 146.7,   7.7, ROT=   3.3,  -7.7

2025-08-11T14:57:10.812Z,1754924230.812 [DAT](INFO): DAT read: Bearing 311.7,   6.4 (Local)

2025-08-11T14:57:10.812Z,1754924230.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,   6.4 (Local)

2025-08-11T14:57:10.814Z,1754924230.814 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m  (Round-trip  41.7 ms) speed  0.4 m/s

2025-08-11T14:57:10.814Z,1754924230.814 [DAT](INFO): DAT read: user:251>

2025-08-11T14:57:10.815Z,1754924230.815 [DAT](INFO): DAT read: Tx time:14:57:12.0182

2025-08-11T14:57:10.815Z,1754924230.815 [DAT](INFO): Ping request sent.
2025-08-11T14:57:10.815Z,1754924230.815 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:10.816Z,1754924230.816 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-11T14:57:10.817Z,1754924230.817 [DAT](INFO): direction in FSK: [0.989340,0.057045,0.133986]
2025-08-11T14:57:10.817Z,1754924230.817 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:10.817Z,1754924230.817 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:10.821Z,1754924230.820 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:10.821Z,1754924230.821 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:10.824Z,1754924230.824 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008367
2025-08-11T14:57:11.056Z,1754924231.056 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.240721
2025-08-11T14:57:11.060Z,1754924231.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 3.778044 s,
      deltaX: -1.799999 m,
      approachRate: -0.476437 m/s,
      rangeRepo size: 4

2025-08-11T14:57:11.062Z,1754924231.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.200001 m,
      bearing: 157.302627 deg,
      lat: 36.905877 deg,
      lon: -122.115852 deg,
      deltaT: 3.778044 s,
      deltaX: -1.799999 m,
      approachRate: -0.476437 m/s,
      posRepo size: 4

2025-08-11T14:57:11.063Z,1754924231.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-11T14:57:11.070Z,1754924231.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.200001 m,
      nav range: 30.332163 m,
      bearing: 157.302627 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014497 deg/s,
      cmd heading: 149.518032 deg,
      new cmd heading: 149.535200 deg.

2025-08-11T14:57:11.071Z,1754924231.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609882 target range: 31.200001 and range: 31.20 m.
2025-08-11T14:57:11.309Z,1754924231.309 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.493170
2025-08-11T14:57:11.433Z,1754924231.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-11T14:57:11.436Z,1754924231.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.200001 m,
      nav range: 30.135094 m,
      bearing: 157.309676 deg,
      approach rate: -0.521064 m/s,
      LOS rate: 0.018761 deg/s,
      cmd heading: 149.535203 deg,
      new cmd heading: 149.556489 deg.

2025-08-11T14:57:11.437Z,1754924231.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.610253 target range: 31.200001 and range: 31.20 m.
2025-08-11T14:57:11.560Z,1754924231.560 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.744838
2025-08-11T14:57:11.812Z,1754924231.812 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.996549
2025-08-11T14:57:11.974Z,1754924231.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-11T14:57:11.977Z,1754924231.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.200001 m,
      nav range: 29.864767 m,
      bearing: 157.339036 deg,
      approach rate: -0.499416 m/s,
      LOS rate: 0.054731 deg/s,
      cmd heading: 149.556486 deg,
      new cmd heading: 149.645361 deg.

2025-08-11T14:57:11.978Z,1754924231.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611804 target range: 31.200001 and range: 31.20 m.
2025-08-11T14:57:12.067Z,1754924232.067 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.251269
2025-08-11T14:57:12.316Z,1754924232.316 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.500769
2025-08-11T14:57:12.333Z,1754924232.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:12.335Z,1754924232.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-11T14:57:12.354Z,1754924232.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.200001 m,
      nav range: 29.684896 m,
      bearing: 157.359293 deg,
      approach rate: -0.499222 m/s,
      LOS rate: 0.056563 deg/s,
      cmd heading: 149.645360 deg,
      new cmd heading: 149.706499 deg.

2025-08-11T14:57:12.355Z,1754924232.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612871 target range: 31.200001 and range: 31.20 m.
2025-08-11T14:57:12.572Z,1754924232.572 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.755367
2025-08-11T14:57:12.820Z,1754924232.820 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.004692
2025-08-11T14:57:12.832Z,1754924232.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-11T14:57:12.836Z,1754924232.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.200001 m,
      nav range: 29.448681 m,
      bearing: 157.388909 deg,
      approach rate: -0.474551 m/s,
      LOS rate: 0.059975 deg/s,
      cmd heading: 149.706504 deg,
      new cmd heading: 149.796064 deg.

2025-08-11T14:57:12.836Z,1754924232.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.614434 target range: 31.200001 and range: 31.20 m.
2025-08-11T14:57:13.072Z,1754924233.072 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.256689
2025-08-11T14:57:13.212Z,1754924233.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-11T14:57:13.215Z,1754924233.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.200001 m,
      nav range: 29.268679 m,
      bearing: 157.412061 deg,
      approach rate: -0.474946 m/s,
      LOS rate: 0.061464 deg/s,
      cmd heading: 149.796062 deg,
      new cmd heading: 149.865945 deg.

2025-08-11T14:57:13.216Z,1754924233.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615654 target range: 31.200001 and range: 31.20 m.
2025-08-11T14:57:13.324Z,1754924233.324 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.508650
2025-08-11T14:57:13.579Z,1754924233.579 [DAT](INFO): DAT read: Rx Time:14:57:14.4618

2025-08-11T14:57:13.580Z,1754924233.580 [DAT](INFO): Rx dataTimestamp_ set to:1754924233.579503
2025-08-11T14:57:13.582Z,1754924233.582 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.765757
2025-08-11T14:57:13.667Z,1754924233.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-11T14:57:13.670Z,1754924233.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.200001 m,
      nav range: 29.063257 m,
      bearing: 157.445052 deg,
      approach rate: -0.451035 m/s,
      LOS rate: 0.072950 deg/s,
      cmd heading: 149.865948 deg,
      new cmd heading: 149.965621 deg.

2025-08-11T14:57:13.671Z,1754924233.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617394 target range: 31.200001 and range: 31.20 m.
2025-08-11T14:57:13.828Z,1754924233.828 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.012644
2025-08-11T14:57:14.031Z,1754924234.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-11T14:57:14.034Z,1754924234.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.200001 m,
      nav range: 28.908108 m,
      bearing: 157.470489 deg,
      approach rate: -0.430673 m/s,
      LOS rate: 0.070989 deg/s,
      cmd heading: 149.965628 deg,
      new cmd heading: 150.042349 deg.

2025-08-11T14:57:14.039Z,1754924234.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618733 target range: 31.200001 and range: 31.20 m.
2025-08-11T14:57:14.084Z,1754924234.084 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.267440
2025-08-11T14:57:14.338Z,1754924234.338 [DAT](INFO): DAT read: 14:57:14.4618 LVL= 28608, 30513, 31986, 32755, AGC= 58, IDX= 416,-0.10, 1.222,-0.622, 1.239, 0.892, PHS= 0.432,-1.469, 0.304, RAW= 146.5,   8.0, CAL= 146.1,   8.7, ROT=   3.9,  -8.7

2025-08-11T14:57:14.339Z,1754924234.339 [DAT](INFO): got valid direction response:
 14:57:14.4618 LVL= 28608, 30513, 31986, 32755, AGC= 58, IDX= 416,-0.10, 1.222,-0.622, 1.239, 0.892, PHS= 0.432,-1.469, 0.304, RAW= 146.5,   8.0, CAL= 146.1,   8.7, ROT=   3.9,  -8.7

2025-08-11T14:57:14.340Z,1754924234.340 [DAT](INFO): DAT read: Bearing 311.9,   6.1 (Local)

2025-08-11T14:57:14.340Z,1754924234.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9,   6.1 (Local)

2025-08-11T14:57:14.342Z,1754924234.342 [DAT](INFO): DAT read: Range 11 to 50 : 29.5 m  (Round-trip  39.4 ms) speed  0.4 m/s

2025-08-11T14:57:14.342Z,1754924234.342 [DAT](INFO): DAT read: user:252>

2025-08-11T14:57:14.343Z,1754924234.343 [DAT](INFO): DAT read: Tx time:14:57:15.5682

2025-08-11T14:57:14.344Z,1754924234.344 [DAT](INFO): Ping request sent.
2025-08-11T14:57:14.344Z,1754924234.344 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:14.344Z,1754924234.344 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-11T14:57:14.345Z,1754924234.345 [DAT](INFO): direction in FSK: [0.986205,0.067233,0.151261]
2025-08-11T14:57:14.345Z,1754924234.345 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:14.346Z,1754924234.346 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:14.349Z,1754924234.349 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:14.349Z,1754924234.349 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:14.353Z,1754924234.353 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.008714
2025-08-11T14:57:14.508Z,1754924234.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.500000 m,
      deltaT: 3.528005 s,
      deltaX: -1.700001 m,
      approachRate: -0.481859 m/s,
      rangeRepo size: 4

2025-08-11T14:57:14.510Z,1754924234.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.500000 m,
      bearing: 156.272147 deg,
      lat: 36.905878 deg,
      lon: -122.115845 deg,
      deltaT: 3.528005 s,
      deltaX: -1.700001 m,
      approachRate: -0.481859 m/s,
      posRepo size: 4

2025-08-11T14:57:14.519Z,1754924234.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-08-11T14:57:14.522Z,1754924234.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 28.853182 m,
      bearing: 156.272147 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.070989 deg/s,
      cmd heading: 150.042345 deg,
      new cmd heading: 150.143768 deg.

2025-08-11T14:57:14.527Z,1754924234.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.620503 target range: 29.500000 and range: 29.50 m.
2025-08-11T14:57:14.588Z,1754924234.588 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.243243
2025-08-11T14:57:14.837Z,1754924234.837 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.492865
2025-08-11T14:57:14.948Z,1754924234.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:14.951Z,1754924234.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-08-11T14:57:14.954Z,1754924234.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 28.637287 m,
      bearing: 156.299350 deg,
      approach rate: -0.482788 m/s,
      LOS rate: 0.061290 deg/s,
      cmd heading: 150.143773 deg,
      new cmd heading: 150.225997 deg.

2025-08-11T14:57:14.955Z,1754924234.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621938 target range: 29.500000 and range: 29.50 m.
2025-08-11T14:57:15.089Z,1754924235.089 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.745498
2025-08-11T14:57:15.320Z,1754924235.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-08-11T14:57:15.323Z,1754924235.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 28.470896 m,
      bearing: 156.320391 deg,
      approach rate: -0.450337 m/s,
      LOS rate: 0.057279 deg/s,
      cmd heading: 150.225995 deg,
      new cmd heading: 150.289485 deg.

2025-08-11T14:57:15.328Z,1754924235.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623046 target range: 29.500000 and range: 29.50 m.
2025-08-11T14:57:15.340Z,1754924235.340 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.996463
2025-08-11T14:57:15.596Z,1754924235.596 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.251808
2025-08-11T14:57:15.760Z,1754924235.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-08-11T14:57:15.763Z,1754924235.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 28.279064 m,
      bearing: 156.339311 deg,
      approach rate: -0.436184 m/s,
      LOS rate: 0.043312 deg/s,
      cmd heading: 150.289488 deg,
      new cmd heading: 150.346633 deg.

2025-08-11T14:57:15.764Z,1754924235.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.624044 target range: 29.500000 and range: 29.50 m.
2025-08-11T14:57:15.846Z,1754924235.846 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.501917
2025-08-11T14:57:16.097Z,1754924236.097 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.753238
2025-08-11T14:57:16.130Z,1754924236.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-08-11T14:57:16.135Z,1754924236.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 28.117258 m,
      bearing: 156.355590 deg,
      approach rate: -0.436655 m/s,
      LOS rate: 0.044184 deg/s,
      cmd heading: 150.346629 deg,
      new cmd heading: 150.395748 deg.

2025-08-11T14:57:16.136Z,1754924236.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.624901 target range: 29.500000 and range: 29.50 m.
2025-08-11T14:57:16.349Z,1754924236.349 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.004896
2025-08-11T14:57:16.552Z,1754924236.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-08-11T14:57:16.561Z,1754924236.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 27.944548 m,
      bearing: 156.373500 deg,
      approach rate: -0.409294 m/s,
      LOS rate: 0.042705 deg/s,
      cmd heading: 150.395752 deg,
      new cmd heading: 150.449813 deg.

2025-08-11T14:57:16.562Z,1754924236.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.625844 target range: 29.500000 and range: 29.50 m.
2025-08-11T14:57:16.605Z,1754924236.605 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.260153
2025-08-11T14:57:16.853Z,1754924236.853 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508938
2025-08-11T14:57:17.070Z,1754924237.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:17.084Z,1754924237.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-08-11T14:57:17.093Z,1754924237.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 27.709543 m,
      bearing: 156.394482 deg,
      approach rate: -0.450005 m/s,
      LOS rate: 0.040520 deg/s,
      cmd heading: 150.449806 deg,
      new cmd heading: 150.513289 deg.

2025-08-11T14:57:17.101Z,1754924237.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.626952 target range: 29.500000 and range: 29.50 m.
2025-08-11T14:57:17.104Z,1754924237.104 [DAT](INFO): DAT read: Rx Time:14:57:18.0095

2025-08-11T14:57:17.105Z,1754924237.105 [DAT](INFO): Rx dataTimestamp_ set to:1754924237.104450
2025-08-11T14:57:17.105Z,1754924237.105 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.761500
2025-08-11T14:57:17.356Z,1754924237.356 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.012371
2025-08-11T14:57:17.410Z,1754924237.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-08-11T14:57:17.413Z,1754924237.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 27.533482 m,
      bearing: 156.411089 deg,
      approach rate: -0.525297 m/s,
      LOS rate: 0.049863 deg/s,
      cmd heading: 150.513286 deg,
      new cmd heading: 150.563423 deg.

2025-08-11T14:57:17.414Z,1754924237.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.627827 target range: 29.500000 and range: 29.50 m.
2025-08-11T14:57:17.611Z,1754924237.611 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.266863
2025-08-11T14:57:17.833Z,1754924237.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-08-11T14:57:17.836Z,1754924237.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 27.333790 m,
      bearing: 156.419407 deg,
      approach rate: -0.471544 m/s,
      LOS rate: 0.019787 deg/s,
      cmd heading: 150.563420 deg,
      new cmd heading: 150.588558 deg.

2025-08-11T14:57:17.837Z,1754924237.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628266 target range: 29.500000 and range: 29.50 m.
2025-08-11T14:57:17.866Z,1754924237.866 [DAT](INFO): DAT read: 14:57:18.0095 LVL= 23760, 32753, 27602, 32755, AGC= 58, IDX= 425, 0.19,-1.337, 3.071,-1.344,-1.691, PHS= 0.456,-1.477, 0.303, RAW= 145.9,   7.8, CAL= 145.5,   8.4, ROT=   4.5,  -8.4

2025-08-11T14:57:17.867Z,1754924237.867 [DAT](INFO): got valid direction response:
 14:57:18.0095 LVL= 23760, 32753, 27602, 32755, AGC= 58, IDX= 425, 0.19,-1.337, 3.071,-1.344,-1.691, PHS= 0.456,-1.477, 0.303, RAW= 145.9,   7.8, CAL= 145.5,   8.4, ROT=   4.5,  -8.4

2025-08-11T14:57:17.868Z,1754924237.868 [DAT](INFO): DAT read: Bearing 311.3,   5.9 (Local)

2025-08-11T14:57:17.868Z,1754924237.868 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.3,   5.9 (Local)

2025-08-11T14:57:17.869Z,1754924237.869 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m  (Round-trip  37.2 ms) speed  0.4 m/s

2025-08-11T14:57:17.870Z,1754924237.870 [DAT](INFO): DAT read: user:253>

2025-08-11T14:57:17.871Z,1754924237.871 [DAT](INFO): DAT read: Tx time:14:57:19.1182

2025-08-11T14:57:17.871Z,1754924237.871 [DAT](INFO): Ping request sent.
2025-08-11T14:57:17.871Z,1754924237.871 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:17.872Z,1754924237.872 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-11T14:57:17.873Z,1754924237.873 [DAT](INFO): direction in FSK: [0.986223,0.077617,0.146083]
2025-08-11T14:57:17.873Z,1754924237.873 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:17.873Z,1754924237.873 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:17.876Z,1754924237.876 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:17.876Z,1754924237.876 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:17.880Z,1754924237.880 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.008323
2025-08-11T14:57:18.113Z,1754924238.113 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.241046
2025-08-11T14:57:18.242Z,1754924238.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 3.527877 s,
      deltaX: -1.600000 m,
      approachRate: -0.453531 m/s,
      rangeRepo size: 4

2025-08-11T14:57:18.245Z,1754924238.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.900000 m,
      bearing: 155.807738 deg,
      lat: 36.905878 deg,
      lon: -122.115841 deg,
      deltaT: 3.527877 s,
      deltaX: -1.600000 m,
      approachRate: -0.453531 m/s,
      posRepo size: 4

2025-08-11T14:57:18.245Z,1754924238.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-08-11T14:57:18.248Z,1754924238.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 27.282295 m,
      bearing: 155.807738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019787 deg/s,
      cmd heading: 150.588555 deg,
      new cmd heading: 150.612796 deg.

2025-08-11T14:57:18.249Z,1754924238.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628689 target range: 27.900000 and range: 27.90 m.
2025-08-11T14:57:18.364Z,1754924238.364 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.492877
2025-08-11T14:57:18.619Z,1754924238.619 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.746884
2025-08-11T14:57:18.722Z,1754924238.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-08-11T14:57:18.725Z,1754924238.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 27.048223 m,
      bearing: 155.786083 deg,
      approach rate: -0.487323 m/s,
      LOS rate: -0.045475 deg/s,
      cmd heading: 150.612802 deg,
      new cmd heading: 150.547274 deg.

2025-08-11T14:57:18.726Z,1754924238.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.627546 target range: 27.900000 and range: 27.90 m.
2025-08-11T14:57:18.868Z,1754924238.868 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996606
2025-08-11T14:57:19.039Z,1754924239.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-08-11T14:57:19.042Z,1754924239.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 26.900455 m,
      bearing: 155.772236 deg,
      approach rate: -0.465773 m/s,
      LOS rate: -0.043886 deg/s,
      cmd heading: 150.547273 deg,
      new cmd heading: 150.505504 deg.

2025-08-11T14:57:19.044Z,1754924239.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.626817 target range: 27.900000 and range: 27.90 m.
2025-08-11T14:57:19.120Z,1754924239.120 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248898
2025-08-11T14:57:19.372Z,1754924239.372 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.500701
2025-08-11T14:57:19.448Z,1754924239.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:19.450Z,1754924239.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-08-11T14:57:19.454Z,1754924239.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 26.709349 m,
      bearing: 155.754193 deg,
      approach rate: -0.465074 m/s,
      LOS rate: -0.044224 deg/s,
      cmd heading: 150.505500 deg,
      new cmd heading: 150.450983 deg.

2025-08-11T14:57:19.455Z,1754924239.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.625865 target range: 27.900000 and range: 27.90 m.
2025-08-11T14:57:19.627Z,1754924239.627 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.755359
2025-08-11T14:57:19.861Z,1754924239.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-08-11T14:57:19.864Z,1754924239.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 26.517061 m,
      bearing: 155.728329 deg,
      approach rate: -0.468558 m/s,
      LOS rate: -0.063482 deg/s,
      cmd heading: 150.450981 deg,
      new cmd heading: 150.372826 deg.

2025-08-11T14:57:19.865Z,1754924239.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.624501 target range: 27.900000 and range: 27.90 m.
2025-08-11T14:57:19.876Z,1754924239.876 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004810
2025-08-11T14:57:20.128Z,1754924240.128 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256640
2025-08-11T14:57:20.259Z,1754924240.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-08-11T14:57:20.262Z,1754924240.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 26.336855 m,
      bearing: 155.703755 deg,
      approach rate: -0.452339 m/s,
      LOS rate: -0.062105 deg/s,
      cmd heading: 150.372830 deg,
      new cmd heading: 150.298604 deg.

2025-08-11T14:57:20.263Z,1754924240.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623205 target range: 27.900000 and range: 27.90 m.
2025-08-11T14:57:20.380Z,1754924240.380 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.508964
2025-08-11T14:57:20.636Z,1754924240.636 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.764065
2025-08-11T14:57:20.726Z,1754924240.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-08-11T14:57:20.733Z,1754924240.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 26.113512 m,
      bearing: 155.672899 deg,
      approach rate: -0.477652 m/s,
      LOS rate: -0.066554 deg/s,
      cmd heading: 150.298600 deg,
      new cmd heading: 150.205240 deg.

2025-08-11T14:57:20.734Z,1754924240.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621576 target range: 27.900000 and range: 27.90 m.
2025-08-11T14:57:20.884Z,1754924240.884 [DAT](INFO): DAT read: Rx Time:14:57:21.5574

2025-08-11T14:57:20.885Z,1754924240.885 [DAT](INFO): Rx dataTimestamp_ set to:1754924240.884326
2025-08-11T14:57:20.885Z,1754924240.885 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.013720
2025-08-11T14:57:21.132Z,1754924241.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.90 m.
2025-08-11T14:57:21.136Z,1754924241.136 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.264804
2025-08-11T14:57:21.137Z,1754924241.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.900000 m,
      nav range: 25.911154 m,
      bearing: 155.635331 deg,
      approach rate: -0.498546 m/s,
      LOS rate: -0.093278 deg/s,
      cmd heading: 150.205245 deg,
      new cmd heading: 150.091661 deg.

2025-08-11T14:57:21.138Z,1754924241.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619594 target range: 27.900000 and range: 27.90 m.
2025-08-11T14:57:21.395Z,1754924241.395 [DAT](INFO): DAT read: 14:57:21.5574 LVL= 25280, 32305, 26850, 32755, AGC= 58, IDX= 419, 0.41, 2.393, 0.553, 2.370, 2.043, PHS= 0.452,-1.446, 0.283, RAW= 145.4,   7.9, CAL= 144.9,   8.6, ROT=   5.1,  -8.6

2025-08-11T14:57:21.397Z,1754924241.397 [DAT](INFO): got valid direction response:
 14:57:21.5574 LVL= 25280, 32305, 26850, 32755, AGC= 58, IDX= 419, 0.41, 2.393, 0.553, 2.370, 2.043, PHS= 0.452,-1.446, 0.283, RAW= 145.4,   7.9, CAL= 144.9,   8.6, ROT=   5.1,  -8.6

2025-08-11T14:57:21.398Z,1754924241.398 [DAT](INFO): DAT read: Bearing 311.4,   6.0 (Local)

2025-08-11T14:57:21.398Z,1754924241.398 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.4,   6.0 (Local)

2025-08-11T14:57:21.400Z,1754924241.400 [DAT](INFO): DAT read: Range 11 to 50 : 26.2 m  (Round-trip  35.0 ms) speed  0.4 m/s

2025-08-11T14:57:21.401Z,1754924241.401 [DAT](INFO): DAT read: user:254>

2025-08-11T14:57:21.401Z,1754924241.401 [DAT](INFO): DAT read: Tx time:14:57:22.6682

2025-08-11T14:57:21.401Z,1754924241.401 [DAT](INFO): Ping request sent.
2025-08-11T14:57:21.402Z,1754924241.402 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:21.402Z,1754924241.402 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-11T14:57:21.403Z,1754924241.403 [DAT](INFO): direction in FSK: [0.984842,0.087895,0.149535]
2025-08-11T14:57:21.403Z,1754924241.403 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:21.404Z,1754924241.404 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:21.407Z,1754924241.407 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:21.407Z,1754924241.407 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:21.429Z,1754924241.429 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.027701
2025-08-11T14:57:21.577Z,1754924241.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.200001 m,
      deltaT: 3.528129 s,
      deltaX: -1.699999 m,
      approachRate: -0.481841 m/s,
      rangeRepo size: 4

2025-08-11T14:57:21.585Z,1754924241.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.200001 m,
      bearing: 155.596900 deg,
      lat: 36.905878 deg,
      lon: -122.115841 deg,
      deltaT: 3.528129 s,
      deltaX: -1.699999 m,
      approachRate: -0.481841 m/s,
      posRepo size: 4

2025-08-11T14:57:21.586Z,1754924241.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-11T14:57:21.595Z,1754924241.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 25.709234 m,
      bearing: 155.596900 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.093278 deg/s,
      cmd heading: 150.091658 deg,
      new cmd heading: 149.967509 deg.

2025-08-11T14:57:21.596Z,1754924241.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617427 target range: 26.200001 and range: 26.20 m.
2025-08-11T14:57:21.643Z,1754924241.643 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.240694
2025-08-11T14:57:21.892Z,1754924241.892 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.490535
2025-08-11T14:57:22.019Z,1754924242.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:22.025Z,1754924242.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-11T14:57:22.040Z,1754924242.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 25.479483 m,
      bearing: 155.533386 deg,
      approach rate: -0.511734 m/s,
      LOS rate: -0.142742 deg/s,
      cmd heading: 149.967513 deg,
      new cmd heading: 149.775254 deg.

2025-08-11T14:57:22.058Z,1754924242.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.614071 target range: 26.200001 and range: 26.20 m.
2025-08-11T14:57:22.145Z,1754924242.145 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.743119
2025-08-11T14:57:22.365Z,1754924242.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-11T14:57:22.368Z,1754924242.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 25.299334 m,
      bearing: 155.482268 deg,
      approach rate: -0.529665 m/s,
      LOS rate: -0.151364 deg/s,
      cmd heading: 149.775257 deg,
      new cmd heading: 149.620811 deg.

2025-08-11T14:57:22.369Z,1754924242.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611376 target range: 26.200001 and range: 26.20 m.
2025-08-11T14:57:22.396Z,1754924242.396 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.994436
2025-08-11T14:57:22.650Z,1754924242.650 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.248486
2025-08-11T14:57:22.793Z,1754924242.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-11T14:57:22.796Z,1754924242.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 25.085934 m,
      bearing: 155.421675 deg,
      approach rate: -0.498264 m/s,
      LOS rate: -0.142680 deg/s,
      cmd heading: 149.620813 deg,
      new cmd heading: 149.437489 deg.

2025-08-11T14:57:22.797Z,1754924242.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608176 target range: 26.200001 and range: 26.20 m.
2025-08-11T14:57:22.900Z,1754924242.900 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.498689
2025-08-11T14:57:23.152Z,1754924243.152 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.750479
2025-08-11T14:57:23.187Z,1754924243.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-11T14:57:23.190Z,1754924243.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 24.889997 m,
      bearing: 155.365119 deg,
      approach rate: -0.498034 m/s,
      LOS rate: -0.144888 deg/s,
      cmd heading: 149.437490 deg,
      new cmd heading: 149.266485 deg.

2025-08-11T14:57:23.191Z,1754924243.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605192 target range: 26.200001 and range: 26.20 m.
2025-08-11T14:57:23.404Z,1754924243.404 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.002725
2025-08-11T14:57:23.602Z,1754924243.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-11T14:57:23.605Z,1754924243.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 24.685038 m,
      bearing: 155.303949 deg,
      approach rate: -0.493727 m/s,
      LOS rate: -0.148575 deg/s,
      cmd heading: 149.266490 deg,
      new cmd heading: 149.081457 deg.

2025-08-11T14:57:23.606Z,1754924243.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.601962 target range: 26.200001 and range: 26.20 m.
2025-08-11T14:57:23.657Z,1754924243.657 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.255118
2025-08-11T14:57:23.909Z,1754924243.909 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.507209
2025-08-11T14:57:24.019Z,1754924244.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-11T14:57:24.022Z,1754924244.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 24.474873 m,
      bearing: 155.241034 deg,
      approach rate: -0.504224 m/s,
      LOS rate: -0.152240 deg/s,
      cmd heading: 149.081460 deg,
      new cmd heading: 148.891095 deg.

2025-08-11T14:57:24.023Z,1754924244.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598640 target range: 26.200001 and range: 26.20 m.
2025-08-11T14:57:24.161Z,1754924244.161 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.759344
2025-08-11T14:57:24.390Z,1754924244.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:24.392Z,1754924244.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-11T14:57:24.395Z,1754924244.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 24.272345 m,
      bearing: 155.178732 deg,
      approach rate: -0.542762 m/s,
      LOS rate: -0.168360 deg/s,
      cmd heading: 148.891089 deg,
      new cmd heading: 148.702623 deg.

2025-08-11T14:57:24.396Z,1754924244.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595350 target range: 26.200001 and range: 26.20 m.
2025-08-11T14:57:24.414Z,1754924244.414 [DAT](INFO): DAT read: Rx Time:14:57:25.1050

2025-08-11T14:57:24.415Z,1754924244.415 [DAT](INFO): Rx dataTimestamp_ set to:1754924244.414310
2025-08-11T14:57:24.427Z,1754924244.427 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.025815
2025-08-11T14:57:24.664Z,1754924244.664 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.262480
2025-08-11T14:57:24.811Z,1754924244.811 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  77.37,  65.27,  70.93
2025-08-11T14:57:24.852Z,1754924244.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.20 m.
2025-08-11T14:57:24.855Z,1754924244.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.200001 m,
      nav range: 24.044195 m,
      bearing: 155.106576 deg,
      approach rate: -0.495774 m/s,
      LOS rate: -0.158284 deg/s,
      cmd heading: 148.702617 deg,
      new cmd heading: 148.484097 deg.

2025-08-11T14:57:24.856Z,1754924244.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591536 target range: 26.200001 and range: 26.20 m.
2025-08-11T14:57:24.925Z,1754924244.925 [DAT](INFO): DAT read: 14:57:25.1050 LVL= 23536, 31681, 25298, 32371, AGC= 57, IDX= 411, 0.33, 0.097,-1.735, 0.157,-0.244, PHS= 0.442,-1.446, 0.357, RAW= 147.7,   7.1, CAL= 147.2,   7.6, ROT=   2.8,  -7.6

2025-08-11T14:57:24.927Z,1754924244.927 [DAT](INFO): got valid direction response:
 14:57:25.1050 LVL= 23536, 31681, 25298, 32371, AGC= 57, IDX= 411, 0.33, 0.097,-1.735, 0.157,-0.244, PHS= 0.442,-1.446, 0.357, RAW= 147.7,   7.1, CAL= 147.2,   7.6, ROT=   2.8,  -7.6

2025-08-11T14:57:24.929Z,1754924244.929 [DAT](INFO): DAT read: Bearing 310.7,   2.6 (Local)

2025-08-11T14:57:24.930Z,1754924244.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,   2.6 (Local)

2025-08-11T14:57:24.932Z,1754924244.932 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m  (Round-trip  32.7 ms) speed  0.4 m/s

2025-08-11T14:57:24.933Z,1754924244.933 [DAT](INFO): DAT read: user:255>

2025-08-11T14:57:24.934Z,1754924244.934 [DAT](INFO): DAT read: Tx time:14:57:26.2182

2025-08-11T14:57:24.935Z,1754924244.935 [DAT](INFO): Ping request sent.
2025-08-11T14:57:24.935Z,1754924244.935 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:24.936Z,1754924244.936 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-11T14:57:24.937Z,1754924244.937 [DAT](INFO): direction in FSK: [0.990032,0.048421,0.132256]
2025-08-11T14:57:24.938Z,1754924244.938 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:24.938Z,1754924244.938 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:24.943Z,1754924244.943 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:24.943Z,1754924244.943 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:24.947Z,1754924244.947 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.011702
2025-08-11T14:57:25.168Z,1754924245.168 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.233288
2025-08-11T14:57:25.214Z,1754924245.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 3.528702 s,
      deltaX: -1.700001 m,
      approachRate: -0.481764 m/s,
      rangeRepo size: 4

2025-08-11T14:57:25.217Z,1754924245.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.500000 m,
      bearing: 155.153640 deg,
      lat: 36.905876 deg,
      lon: -122.115841 deg,
      deltaT: 3.528702 s,
      deltaX: -1.700001 m,
      approachRate: -0.481764 m/s,
      posRepo size: 4

2025-08-11T14:57:25.217Z,1754924245.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-11T14:57:25.220Z,1754924245.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.500000 m,
      nav range: 24.085918 m,
      bearing: 155.153640 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.158284 deg/s,
      cmd heading: 148.484091 deg,
      new cmd heading: 148.312466 deg.

2025-08-11T14:57:25.221Z,1754924245.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588541 target range: 24.500000 and range: 24.50 m.
2025-08-11T14:57:25.420Z,1754924245.420 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.485144
2025-08-11T14:57:25.636Z,1754924245.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-11T14:57:25.638Z,1754924245.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.500000 m,
      nav range: 23.870594 m,
      bearing: 155.083061 deg,
      approach rate: -0.510127 m/s,
      LOS rate: -0.168718 deg/s,
      cmd heading: 148.312463 deg,
      new cmd heading: 148.098816 deg.

2025-08-11T14:57:25.644Z,1754924245.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584812 target range: 24.500000 and range: 24.50 m.
2025-08-11T14:57:25.672Z,1754924245.672 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.737324
2025-08-11T14:57:25.925Z,1754924245.925 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.989747
2025-08-11T14:57:26.028Z,1754924246.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-11T14:57:26.031Z,1754924246.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.500000 m,
      nav range: 23.665321 m,
      bearing: 155.025254 deg,
      approach rate: -0.522781 m/s,
      LOS rate: -0.148499 deg/s,
      cmd heading: 148.098814 deg,
      new cmd heading: 147.923888 deg.

2025-08-11T14:57:26.032Z,1754924246.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.581759 target range: 24.500000 and range: 24.50 m.
2025-08-11T14:57:26.176Z,1754924246.176 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.241356
2025-08-11T14:57:26.421Z,1754924246.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:26.424Z,1754924246.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-11T14:57:26.427Z,1754924246.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.500000 m,
      nav range: 23.473196 m,
      bearing: 154.969970 deg,
      approach rate: -0.486305 m/s,
      LOS rate: -0.141078 deg/s,
      cmd heading: 147.923893 deg,
      new cmd heading: 147.756686 deg.

2025-08-11T14:57:26.428Z,1754924246.428 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.493233
2025-08-11T14:57:26.432Z,1754924246.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.578841 target range: 24.500000 and range: 24.50 m.
2025-08-11T14:57:26.684Z,1754924246.684 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.749095
2025-08-11T14:57:26.855Z,1754924246.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-11T14:57:26.874Z,1754924246.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.500000 m,
      nav range: 23.249380 m,
      bearing: 154.910226 deg,
      approach rate: -0.518694 m/s,
      LOS rate: -0.139791 deg/s,
      cmd heading: 147.756690 deg,
      new cmd heading: 147.575732 deg.

2025-08-11T14:57:26.879Z,1754924246.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575682 target range: 24.500000 and range: 24.50 m.
2025-08-11T14:57:26.933Z,1754924246.933 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.997988
2025-08-11T14:57:27.184Z,1754924247.184 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.249373
2025-08-11T14:57:27.231Z,1754924247.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-11T14:57:27.234Z,1754924247.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.500000 m,
      nav range: 23.061436 m,
      bearing: 154.859625 deg,
      approach rate: -0.499721 m/s,
      LOS rate: -0.135637 deg/s,
      cmd heading: 147.575731 deg,
      new cmd heading: 147.422692 deg.

2025-08-11T14:57:27.235Z,1754924247.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.573011 target range: 24.500000 and range: 24.50 m.
2025-08-11T14:57:27.436Z,1754924247.436 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.501157
2025-08-11T14:57:27.643Z,1754924247.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-11T14:57:27.650Z,1754924247.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.500000 m,
      nav range: 22.865704 m,
      bearing: 154.807233 deg,
      approach rate: -0.475452 m/s,
      LOS rate: -0.128355 deg/s,
      cmd heading: 147.422694 deg,
      new cmd heading: 147.264173 deg.

2025-08-11T14:57:27.655Z,1754924247.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570245 target range: 24.500000 and range: 24.50 m.
2025-08-11T14:57:27.688Z,1754924247.688 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.753220
2025-08-11T14:57:27.941Z,1754924247.941 [DAT](INFO): DAT read: Rx Time:14:57:28.6528

2025-08-11T14:57:27.942Z,1754924247.942 [DAT](INFO): Rx dataTimestamp_ set to:1754924247.941671
2025-08-11T14:57:27.943Z,1754924247.943 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.007979
2025-08-11T14:57:28.066Z,1754924248.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-11T14:57:28.071Z,1754924248.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.500000 m,
      nav range: 22.659725 m,
      bearing: 154.766239 deg,
      approach rate: -0.487206 m/s,
      LOS rate: -0.097846 deg/s,
      cmd heading: 147.264179 deg,
      new cmd heading: 147.140078 deg.

2025-08-11T14:57:28.073Z,1754924248.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568079 target range: 24.500000 and range: 24.50 m.
2025-08-11T14:57:28.193Z,1754924248.193 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.257651
2025-08-11T14:57:28.434Z,1754924248.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:28.436Z,1754924248.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-08-11T14:57:28.439Z,1754924248.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.500000 m,
      nav range: 22.478186 m,
      bearing: 154.730550 deg,
      approach rate: -0.489918 m/s,
      LOS rate: -0.097091 deg/s,
      cmd heading: 147.140074 deg,
      new cmd heading: 147.032143 deg.

2025-08-11T14:57:28.440Z,1754924248.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566195 target range: 24.500000 and range: 24.50 m.
2025-08-11T14:57:28.450Z,1754924248.450 [DAT](INFO): DAT read: 14:57:28.6528 LVL= 24176, 32753, 23250, 32755, AGC= 55, IDX= 420,-0.14, 1.053,-0.717, 1.158, 0.745, PHS= 0.410,-1.417, 0.370, RAW= 148.9,   7.1, CAL= 148.3,   7.6, ROT=   1.7,  -7.6

2025-08-11T14:57:28.452Z,1754924248.452 [DAT](INFO): got valid direction response:
 14:57:28.6528 LVL= 24176, 32753, 23250, 32755, AGC= 55, IDX= 420,-0.14, 1.053,-0.717, 1.158, 0.745, PHS= 0.410,-1.417, 0.370, RAW= 148.9,   7.1, CAL= 148.3,   7.6, ROT=   1.7,  -7.6

2025-08-11T14:57:28.453Z,1754924248.453 [DAT](INFO): DAT read: Bearing 310.8,  -0.0 (Local)

2025-08-11T14:57:28.453Z,1754924248.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.8,  -0.0 (Local)

2025-08-11T14:57:28.454Z,1754924248.454 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m  (Round-trip  30.4 ms) speed  0.4 m/s

2025-08-11T14:57:28.455Z,1754924248.455 [DAT](INFO): DAT read: user:256>

2025-08-11T14:57:28.456Z,1754924248.456 [DAT](INFO): DAT read: Tx time:14:57:29.7682

2025-08-11T14:57:28.456Z,1754924248.456 [DAT](INFO): Ping request sent.
2025-08-11T14:57:28.456Z,1754924248.456 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:28.457Z,1754924248.457 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-11T14:57:28.458Z,1754924248.458 [DAT](INFO): direction in FSK: [0.990779,0.029406,0.132256]
2025-08-11T14:57:28.458Z,1754924248.458 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:28.458Z,1754924248.458 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:28.461Z,1754924248.461 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:28.461Z,1754924248.461 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:28.485Z,1754924248.485 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.028559
2025-08-11T14:57:28.696Z,1754924248.696 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.239877
2025-08-11T14:57:28.882Z,1754924248.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.799999 m,
      deltaT: 3.527406 s,
      deltaX: -1.700001 m,
      approachRate: -0.481941 m/s,
      rangeRepo size: 4

2025-08-11T14:57:28.885Z,1754924248.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.799999 m,
      bearing: 154.765835 deg,
      lat: 36.905875 deg,
      lon: -122.115841 deg,
      deltaT: 3.527406 s,
      deltaX: -1.700001 m,
      approachRate: -0.481941 m/s,
      posRepo size: 4

2025-08-11T14:57:28.885Z,1754924248.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-11T14:57:28.888Z,1754924248.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 22.299849 m,
      bearing: 154.765835 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.097091 deg/s,
      cmd heading: 147.032144 deg,
      new cmd heading: 146.902329 deg.

2025-08-11T14:57:28.889Z,1754924248.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563929 target range: 22.799999 and range: 22.80 m.
2025-08-11T14:57:28.949Z,1754924248.949 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.492120
2025-08-11T14:57:29.200Z,1754924249.200 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.743719
2025-08-11T14:57:29.248Z,1754924249.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-11T14:57:29.251Z,1754924249.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 22.114687 m,
      bearing: 154.754025 deg,
      approach rate: -0.505570 m/s,
      LOS rate: -0.032515 deg/s,
      cmd heading: 146.902329 deg,
      new cmd heading: 146.866604 deg.

2025-08-11T14:57:29.252Z,1754924249.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563306 target range: 22.799999 and range: 22.80 m.
2025-08-11T14:57:29.452Z,1754924249.452 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.995952
2025-08-11T14:57:29.655Z,1754924249.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-11T14:57:29.658Z,1754924249.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 21.916454 m,
      bearing: 154.743598 deg,
      approach rate: -0.491608 m/s,
      LOS rate: -0.026092 deg/s,
      cmd heading: 146.866607 deg,
      new cmd heading: 146.835043 deg.

2025-08-11T14:57:29.663Z,1754924249.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562755 target range: 22.799999 and range: 22.80 m.
2025-08-11T14:57:29.704Z,1754924249.704 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.247788
2025-08-11T14:57:29.956Z,1754924249.956 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.499711
2025-08-11T14:57:30.097Z,1754924250.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-11T14:57:30.100Z,1754924250.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 21.700115 m,
      bearing: 154.746094 deg,
      approach rate: -0.485417 m/s,
      LOS rate: 0.005655 deg/s,
      cmd heading: 146.835038 deg,
      new cmd heading: 146.842598 deg.

2025-08-11T14:57:30.101Z,1754924250.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562887 target range: 22.799999 and range: 22.80 m.
2025-08-11T14:57:30.209Z,1754924250.209 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.752428
2025-08-11T14:57:30.449Z,1754924250.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:30.451Z,1754924250.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-11T14:57:30.454Z,1754924250.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 21.531061 m,
      bearing: 154.752789 deg,
      approach rate: -0.477279 m/s,
      LOS rate: 0.019050 deg/s,
      cmd heading: 146.842592 deg,
      new cmd heading: 146.862835 deg.

2025-08-11T14:57:30.456Z,1754924250.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563240 target range: 22.799999 and range: 22.80 m.
2025-08-11T14:57:30.460Z,1754924250.460 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.003909
2025-08-11T14:57:30.714Z,1754924250.714 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.257144
2025-08-11T14:57:30.896Z,1754924250.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-11T14:57:30.898Z,1754924250.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 21.319016 m,
      bearing: 154.786093 deg,
      approach rate: -0.477091 m/s,
      LOS rate: 0.075679 deg/s,
      cmd heading: 146.862837 deg,
      new cmd heading: 146.963745 deg.

2025-08-11T14:57:30.900Z,1754924250.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565001 target range: 22.799999 and range: 22.80 m.
2025-08-11T14:57:30.966Z,1754924250.966 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.509229
2025-08-11T14:57:31.216Z,1754924251.216 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.759795
2025-08-11T14:57:31.273Z,1754924251.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-11T14:57:31.276Z,1754924251.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 21.147758 m,
      bearing: 154.815667 deg,
      approach rate: -0.453695 m/s,
      LOS rate: 0.078981 deg/s,
      cmd heading: 146.963746 deg,
      new cmd heading: 147.053186 deg.

2025-08-11T14:57:31.277Z,1754924251.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566562 target range: 22.799999 and range: 22.80 m.
2025-08-11T14:57:31.468Z,1754924251.468 [DAT](INFO): DAT read: Rx Time:14:57:32.2004

2025-08-11T14:57:31.469Z,1754924251.469 [DAT](INFO): Rx dataTimestamp_ set to:1754924251.468323
2025-08-11T14:57:31.469Z,1754924251.469 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.012797
2025-08-11T14:57:31.687Z,1754924251.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.80 m.
2025-08-11T14:57:31.690Z,1754924251.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.799999 m,
      nav range: 20.951408 m,
      bearing: 154.852935 deg,
      approach rate: -0.478539 m/s,
      LOS rate: 0.091678 deg/s,
      cmd heading: 147.053181 deg,
      new cmd heading: 147.166030 deg.

2025-08-11T14:57:31.695Z,1754924251.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568532 target range: 22.799999 and range: 22.80 m.
2025-08-11T14:57:31.721Z,1754924251.721 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.264256
2025-08-11T14:57:31.980Z,1754924251.980 [DAT](INFO): DAT read: 14:57:32.2004 LVL= 20848, 29489, 23970, 31795, AGC= 56, IDX= 413, 0.39, 2.270, 0.375, 2.271, 1.899, PHS= 0.473,-1.479, 0.328, RAW= 146.2,   7.3, CAL= 145.7,   7.9, ROT=   4.3,  -7.9

2025-08-11T14:57:31.981Z,1754924251.981 [DAT](INFO): got valid direction response:
 14:57:32.2004 LVL= 20848, 29489, 23970, 31795, AGC= 56, IDX= 413, 0.39, 2.270, 0.375, 2.271, 1.899, PHS= 0.473,-1.479, 0.328, RAW= 146.2,   7.3, CAL= 145.7,   7.9, ROT=   4.3,  -7.9

2025-08-11T14:57:31.982Z,1754924251.982 [DAT](INFO): DAT read: Bearing 309.3,   2.2 (Local)

2025-08-11T14:57:31.982Z,1754924251.982 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.3,   2.2 (Local)

2025-08-11T14:57:31.984Z,1754924251.984 [DAT](INFO): DAT read: Range 11 to 50 : 21.1 m  (Round-trip  28.2 ms) speed  0.4 m/s

2025-08-11T14:57:31.984Z,1754924251.984 [DAT](INFO): DAT read: user:257>

2025-08-11T14:57:31.985Z,1754924251.985 [DAT](INFO): DAT read: Tx time:14:57:33.3181

2025-08-11T14:57:31.985Z,1754924251.985 [DAT](INFO): Ping request sent.
2025-08-11T14:57:31.985Z,1754924251.985 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:31.986Z,1754924251.986 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-11T14:57:31.987Z,1754924251.987 [DAT](INFO): direction in FSK: [0.987721,0.074267,0.137445]
2025-08-11T14:57:31.987Z,1754924251.987 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:31.987Z,1754924251.987 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:31.990Z,1754924251.990 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:31.990Z,1754924251.990 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:31.994Z,1754924251.994 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.008202
2025-08-11T14:57:32.205Z,1754924252.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.100000 m,
      deltaT: 3.528236 s,
      deltaX: -1.699999 m,
      approachRate: -0.481827 m/s,
      rangeRepo size: 4

2025-08-11T14:57:32.207Z,1754924252.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.100000 m,
      bearing: 154.183361 deg,
      lat: 36.905875 deg,
      lon: -122.115837 deg,
      deltaT: 3.528236 s,
      deltaX: -1.699999 m,
      approachRate: -0.481827 m/s,
      posRepo size: 4

2025-08-11T14:57:32.212Z,1754924252.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-08-11T14:57:32.214Z,1754924252.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.100000 m,
      nav range: 20.881510 m,
      bearing: 154.183361 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.091678 deg/s,
      cmd heading: 147.166029 deg,
      new cmd heading: 147.309228 deg.

2025-08-11T14:57:32.219Z,1754924252.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571031 target range: 21.100000 and range: 21.10 m.
2025-08-11T14:57:32.224Z,1754924252.224 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.238789
2025-08-11T14:57:32.476Z,1754924252.476 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.490790
2025-08-11T14:57:32.477Z,1754924252.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:32.480Z,1754924252.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-08-11T14:57:32.482Z,1754924252.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.100000 m,
      nav range: 20.741375 m,
      bearing: 154.219324 deg,
      approach rate: -0.508643 m/s,
      LOS rate: 0.131415 deg/s,
      cmd heading: 147.309231 deg,
      new cmd heading: 147.417848 deg.

2025-08-11T14:57:32.484Z,1754924252.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572927 target range: 21.100000 and range: 21.10 m.
2025-08-11T14:57:32.729Z,1754924252.729 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.743179
2025-08-11T14:57:32.947Z,1754924252.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-08-11T14:57:32.954Z,1754924252.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.100000 m,
      nav range: 20.539137 m,
      bearing: 154.269032 deg,
      approach rate: -0.436516 m/s,
      LOS rate: 0.108348 deg/s,
      cmd heading: 147.417844 deg,
      new cmd heading: 147.568437 deg.

2025-08-11T14:57:32.955Z,1754924252.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575555 target range: 21.100000 and range: 21.10 m.
2025-08-11T14:57:32.980Z,1754924252.980 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.994771
2025-08-11T14:57:33.232Z,1754924253.232 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.246673
2025-08-11T14:57:33.275Z,1754924253.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-08-11T14:57:33.278Z,1754924253.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.100000 m,
      nav range: 20.378286 m,
      bearing: 154.310839 deg,
      approach rate: -0.483835 m/s,
      LOS rate: 0.126745 deg/s,
      cmd heading: 147.568436 deg,
      new cmd heading: 147.694844 deg.

2025-08-11T14:57:33.279Z,1754924253.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.577761 target range: 21.100000 and range: 21.10 m.
2025-08-11T14:57:33.487Z,1754924253.487 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.501562
2025-08-11T14:57:33.691Z,1754924253.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-08-11T14:57:33.694Z,1754924253.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.100000 m,
      nav range: 20.188976 m,
      bearing: 154.362094 deg,
      approach rate: -0.454959 m/s,
      LOS rate: 0.124335 deg/s,
      cmd heading: 147.694849 deg,
      new cmd heading: 147.850058 deg.

2025-08-11T14:57:33.695Z,1754924253.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580470 target range: 21.100000 and range: 21.10 m.
2025-08-11T14:57:33.737Z,1754924253.737 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.751550
2025-08-11T14:57:33.988Z,1754924253.988 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.002688
2025-08-11T14:57:34.116Z,1754924254.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-08-11T14:57:34.118Z,1754924254.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.100000 m,
      nav range: 19.997852 m,
      bearing: 154.426962 deg,
      approach rate: -0.450663 m/s,
      LOS rate: 0.154417 deg/s,
      cmd heading: 147.850059 deg,
      new cmd heading: 148.046521 deg.

2025-08-11T14:57:34.120Z,1754924254.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.583899 target range: 21.100000 and range: 21.10 m.
2025-08-11T14:57:34.240Z,1754924254.240 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.254842
2025-08-11T14:57:34.488Z,1754924254.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:34.490Z,1754924254.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-08-11T14:57:34.492Z,1754924254.492 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.506804
2025-08-11T14:57:34.494Z,1754924254.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.100000 m,
      nav range: 19.829165 m,
      bearing: 154.485205 deg,
      approach rate: -0.450280 m/s,
      LOS rate: 0.156791 deg/s,
      cmd heading: 148.046522 deg,
      new cmd heading: 148.222738 deg.

2025-08-11T14:57:34.496Z,1754924254.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586975 target range: 21.100000 and range: 21.10 m.
2025-08-11T14:57:34.744Z,1754924254.744 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.758751
2025-08-11T14:57:34.965Z,1754924254.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-08-11T14:57:34.968Z,1754924254.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.100000 m,
      nav range: 19.617779 m,
      bearing: 154.540465 deg,
      approach rate: -0.445086 m/s,
      LOS rate: 0.117608 deg/s,
      cmd heading: 148.222741 deg,
      new cmd heading: 148.390307 deg.

2025-08-11T14:57:34.969Z,1754924254.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589900 target range: 21.100000 and range: 21.10 m.
2025-08-11T14:57:34.996Z,1754924254.996 [DAT](INFO): DAT read: Rx Time:14:57:35.7482

2025-08-11T14:57:34.997Z,1754924254.997 [DAT](INFO): Rx dataTimestamp_ set to:1754924254.996479
2025-08-11T14:57:34.998Z,1754924254.998 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.012264
2025-08-11T14:57:35.248Z,1754924255.248 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.262713
2025-08-11T14:57:35.303Z,1754924255.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.10 m.
2025-08-11T14:57:35.306Z,1754924255.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.100000 m,
      nav range: 19.466820 m,
      bearing: 154.579856 deg,
      approach rate: -0.446343 m/s,
      LOS rate: 0.117371 deg/s,
      cmd heading: 148.390313 deg,
      new cmd heading: 148.509403 deg.

2025-08-11T14:57:35.307Z,1754924255.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591978 target range: 21.100000 and range: 21.10 m.
2025-08-11T14:57:35.506Z,1754924255.506 [DAT](INFO): DAT read: 14:57:35.7482 LVL= 24688, 32753, 31810, 32755, AGC= 57, IDX= 422, 0.11,-0.434,-2.371,-0.571,-0.851, PHS= 0.519,-1.475, 0.236, RAW= 142.5,   7.8, CAL= 142.0,   8.5, ROT=   8.0,  -8.5

2025-08-11T14:57:35.507Z,1754924255.507 [DAT](INFO): got valid direction response:
 14:57:35.7482 LVL= 24688, 32753, 31810, 32755, AGC= 57, IDX= 422, 0.11,-0.434,-2.371,-0.571,-0.851, PHS= 0.519,-1.475, 0.236, RAW= 142.5,   7.8, CAL= 142.0,   8.5, ROT=   8.0,  -8.5

2025-08-11T14:57:35.508Z,1754924255.508 [DAT](INFO): DAT read: Bearing 308.6,   5.9 (Local)

2025-08-11T14:57:35.508Z,1754924255.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.6,   5.9 (Local)

2025-08-11T14:57:35.510Z,1754924255.510 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m  (Round-trip  25.9 ms) speed  0.4 m/s

2025-08-11T14:57:35.510Z,1754924255.510 [DAT](INFO): DAT read: user:258>

2025-08-11T14:57:35.511Z,1754924255.511 [DAT](INFO): DAT read: Tx time:14:57:36.8681

2025-08-11T14:57:35.512Z,1754924255.512 [DAT](INFO): Ping request sent.
2025-08-11T14:57:35.512Z,1754924255.512 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:35.514Z,1754924255.514 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-11T14:57:35.518Z,1754924255.518 [DAT](INFO): direction in FSK: [0.979391,0.137644,0.147809]
2025-08-11T14:57:35.518Z,1754924255.518 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:35.518Z,1754924255.518 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:35.522Z,1754924255.522 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:35.522Z,1754924255.522 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:35.525Z,1754924255.525 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.013766
2025-08-11T14:57:35.733Z,1754924255.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 3.527719 s,
      deltaX: -1.700001 m,
      approachRate: -0.481898 m/s,
      rangeRepo size: 4

2025-08-11T14:57:35.735Z,1754924255.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.400000 m,
      bearing: 154.630083 deg,
      lat: 36.905875 deg,
      lon: -122.115837 deg,
      deltaT: 3.527719 s,
      deltaX: -1.700001 m,
      approachRate: -0.481898 m/s,
      posRepo size: 4

2025-08-11T14:57:35.740Z,1754924255.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m.
2025-08-11T14:57:35.742Z,1754924255.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.400000 m,
      nav range: 19.284897 m,
      bearing: 154.630083 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.117371 deg/s,
      cmd heading: 148.509404 deg,
      new cmd heading: 148.660411 deg.

2025-08-11T14:57:35.748Z,1754924255.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594614 target range: 19.400000 and range: 19.40 m.
2025-08-11T14:57:35.752Z,1754924255.752 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.240720
2025-08-11T14:57:36.005Z,1754924256.005 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.492939
2025-08-11T14:57:36.126Z,1754924256.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m.
2025-08-11T14:57:36.129Z,1754924256.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.400000 m,
      nav range: 19.098711 m,
      bearing: 154.661368 deg,
      approach rate: -0.472118 m/s,
      LOS rate: 0.080104 deg/s,
      cmd heading: 148.660406 deg,
      new cmd heading: 148.755176 deg.

2025-08-11T14:57:36.130Z,1754924256.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596268 target range: 19.400000 and range: 19.40 m.
2025-08-11T14:57:36.256Z,1754924256.256 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.744550
2025-08-11T14:57:36.508Z,1754924256.508 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.996676
2025-08-11T14:57:36.515Z,1754924256.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:36.518Z,1754924256.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m.
2025-08-11T14:57:36.521Z,1754924256.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.400000 m,
      nav range: 18.922005 m,
      bearing: 154.690506 deg,
      approach rate: -0.451681 m/s,
      LOS rate: 0.075174 deg/s,
      cmd heading: 148.755182 deg,
      new cmd heading: 148.843410 deg.

2025-08-11T14:57:36.522Z,1754924256.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.597808 target range: 19.400000 and range: 19.40 m.
2025-08-11T14:57:36.761Z,1754924256.761 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.248976
2025-08-11T14:57:36.985Z,1754924256.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m.
2025-08-11T14:57:36.988Z,1754924256.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.400000 m,
      nav range: 18.711527 m,
      bearing: 154.704331 deg,
      approach rate: -0.450576 m/s,
      LOS rate: 0.029930 deg/s,
      cmd heading: 148.843414 deg,
      new cmd heading: 148.885357 deg.

2025-08-11T14:57:36.989Z,1754924256.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598540 target range: 19.400000 and range: 19.40 m.
2025-08-11T14:57:37.012Z,1754924257.012 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.500570
2025-08-11T14:57:37.264Z,1754924257.264 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.752597
2025-08-11T14:57:37.335Z,1754924257.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m.
2025-08-11T14:57:37.338Z,1754924257.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.400000 m,
      nav range: 18.563240 m,
      bearing: 154.713118 deg,
      approach rate: -0.428106 m/s,
      LOS rate: 0.025569 deg/s,
      cmd heading: 148.885351 deg,
      new cmd heading: 148.911922 deg.

2025-08-11T14:57:37.343Z,1754924257.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599003 target range: 19.400000 and range: 19.40 m.
2025-08-11T14:57:37.520Z,1754924257.520 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.008162
2025-08-11T14:57:37.728Z,1754924257.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m.
2025-08-11T14:57:37.731Z,1754924257.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.400000 m,
      nav range: 18.377928 m,
      bearing: 154.722905 deg,
      approach rate: -0.466779 m/s,
      LOS rate: 0.024900 deg/s,
      cmd heading: 148.911921 deg,
      new cmd heading: 148.941577 deg.

2025-08-11T14:57:37.732Z,1754924257.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599521 target range: 19.400000 and range: 19.40 m.
2025-08-11T14:57:37.769Z,1754924257.769 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.257338
2025-08-11T14:57:38.020Z,1754924258.020 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.508612
2025-08-11T14:57:38.157Z,1754924258.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m.
2025-08-11T14:57:38.160Z,1754924258.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.400000 m,
      nav range: 18.184395 m,
      bearing: 154.711796 deg,
      approach rate: -0.451381 m/s,
      LOS rate: -0.026186 deg/s,
      cmd heading: 148.941578 deg,
      new cmd heading: 148.907896 deg.

2025-08-11T14:57:38.161Z,1754924258.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598933 target range: 19.400000 and range: 19.40 m.
2025-08-11T14:57:38.272Z,1754924258.272 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.760639
2025-08-11T14:57:38.524Z,1754924258.524 [DAT](INFO): DAT read: Rx Time:14:57:39.2960

2025-08-11T14:57:38.525Z,1754924258.525 [DAT](INFO): Rx dataTimestamp_ set to:1754924258.524386
2025-08-11T14:57:38.526Z,1754924258.526 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.013938
2025-08-11T14:57:38.544Z,1754924258.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:38.548Z,1754924258.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m.
2025-08-11T14:57:38.553Z,1754924258.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.400000 m,
      nav range: 18.011942 m,
      bearing: 154.699446 deg,
      approach rate: -0.441535 m/s,
      LOS rate: -0.031922 deg/s,
      cmd heading: 148.907891 deg,
      new cmd heading: 148.870487 deg.

2025-08-11T14:57:38.555Z,1754924258.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598280 target range: 19.400000 and range: 19.40 m.
2025-08-11T14:57:38.776Z,1754924258.776 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.264595
2025-08-11T14:57:39.016Z,1754924259.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m.
2025-08-11T14:57:39.018Z,1754924259.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.400000 m,
      nav range: 17.794975 m,
      bearing: 154.655996 deg,
      approach rate: -0.463612 m/s,
      LOS rate: -0.093974 deg/s,
      cmd heading: 148.870489 deg,
      new cmd heading: 148.738552 deg.

2025-08-11T14:57:39.020Z,1754924259.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595978 target range: 19.400000 and range: 19.40 m.
2025-08-11T14:57:39.055Z,1754924259.055 [DAT](INFO): DAT read: 14:57:39.2960 LVL= 22592, 32545, 26738, 32755, AGC= 55, IDX= 416, 0.39, 2.871, 0.981, 2.802, 2.485, PHS= 0.488,-1.459, 0.273, RAW= 144.2,   7.6, CAL= 143.8,   8.3, ROT=   6.2,  -8.3

2025-08-11T14:57:39.057Z,1754924259.057 [DAT](INFO): got valid direction response:
 14:57:39.2960 LVL= 22592, 32545, 26738, 32755, AGC= 55, IDX= 416, 0.39, 2.871, 0.981, 2.802, 2.485, PHS= 0.488,-1.459, 0.273, RAW= 144.2,   7.6, CAL= 143.8,   8.3, ROT=   6.2,  -8.3

2025-08-11T14:57:39.058Z,1754924259.058 [DAT](INFO): DAT read: Bearing 309.2,   4.8 (Local)

2025-08-11T14:57:39.059Z,1754924259.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2,   4.8 (Local)

2025-08-11T14:57:39.069Z,1754924259.069 [DAT](INFO): DAT read: Range 11 to 50 : 17.8 m  (Round-trip  23.8 ms) speed  0.4 m/s

2025-08-11T14:57:39.070Z,1754924259.070 [DAT](INFO): DAT read: user:259>

2025-08-11T14:57:39.070Z,1754924259.070 [DAT](INFO): DAT read: Tx time:14:57:40.4181

2025-08-11T14:57:39.071Z,1754924259.071 [DAT](INFO): Ping request sent.
2025-08-11T14:57:39.071Z,1754924259.071 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:39.079Z,1754924259.079 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-11T14:57:39.080Z,1754924259.080 [DAT](INFO): direction in FSK: [0.983738,0.106868,0.144356]
2025-08-11T14:57:39.081Z,1754924259.081 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:39.081Z,1754924259.081 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:39.088Z,1754924259.088 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:39.088Z,1754924259.088 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:39.098Z,1754924259.098 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.027163
2025-08-11T14:57:39.281Z,1754924259.281 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.210198
2025-08-11T14:57:39.421Z,1754924259.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.799999 m,
      deltaT: 3.528587 s,
      deltaX: -1.600000 m,
      approachRate: -0.453439 m/s,
      rangeRepo size: 4

2025-08-11T14:57:39.423Z,1754924259.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.799999 m,
      bearing: 154.648221 deg,
      lat: 36.905875 deg,
      lon: -122.115837 deg,
      deltaT: 3.528587 s,
      deltaX: -1.600000 m,
      approachRate: -0.453439 m/s,
      posRepo size: 4

2025-08-11T14:57:39.424Z,1754924259.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-11T14:57:39.426Z,1754924259.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.799999 m,
      nav range: 17.631708 m,
      bearing: 154.648221 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.093974 deg/s,
      cmd heading: 148.738557 deg,
      new cmd heading: 148.624457 deg.

2025-08-11T14:57:39.428Z,1754924259.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593986 target range: 17.799999 and range: 17.80 m.
2025-08-11T14:57:39.533Z,1754924259.533 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.462517
2025-08-11T14:57:39.784Z,1754924259.784 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.713471
2025-08-11T14:57:39.800Z,1754924259.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-11T14:57:39.802Z,1754924259.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.799999 m,
      nav range: 17.457300 m,
      bearing: 154.611108 deg,
      approach rate: -0.459939 m/s,
      LOS rate: -0.098850 deg/s,
      cmd heading: 148.624452 deg,
      new cmd heading: 148.512001 deg.

2025-08-11T14:57:39.804Z,1754924259.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592023 target range: 17.799999 and range: 17.80 m.
2025-08-11T14:57:40.037Z,1754924260.037 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.966390
2025-08-11T14:57:40.245Z,1754924260.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-11T14:57:40.248Z,1754924260.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.799999 m,
      nav range: 17.245319 m,
      bearing: 154.555455 deg,
      approach rate: -0.475756 m/s,
      LOS rate: -0.126439 deg/s,
      cmd heading: 148.512000 deg,
      new cmd heading: 148.342990 deg.

2025-08-11T14:57:40.249Z,1754924260.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589074 target range: 17.799999 and range: 17.80 m.
2025-08-11T14:57:40.289Z,1754924260.289 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.218170
2025-08-11T14:57:40.541Z,1754924260.541 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.470370
2025-08-11T14:57:40.613Z,1754924260.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:40.615Z,1754924260.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-11T14:57:40.622Z,1754924260.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.799999 m,
      nav range: 17.074980 m,
      bearing: 154.508742 deg,
      approach rate: -0.460507 m/s,
      LOS rate: -0.127548 deg/s,
      cmd heading: 148.342993 deg,
      new cmd heading: 148.201455 deg.

2025-08-11T14:57:40.623Z,1754924260.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586603 target range: 17.799999 and range: 17.80 m.
2025-08-11T14:57:40.792Z,1754924260.792 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.721354
2025-08-11T14:57:41.045Z,1754924261.045 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.973669
2025-08-11T14:57:41.085Z,1754924261.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-11T14:57:41.092Z,1754924261.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.799999 m,
      nav range: 16.840494 m,
      bearing: 154.409700 deg,
      approach rate: -0.498578 m/s,
      LOS rate: -0.213520 deg/s,
      cmd heading: 148.201458 deg,
      new cmd heading: 147.900199 deg.

2025-08-11T14:57:41.093Z,1754924261.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.581346 target range: 17.799999 and range: 17.80 m.
2025-08-11T14:57:41.296Z,1754924261.296 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.225337
2025-08-11T14:57:41.474Z,1754924261.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-11T14:57:41.477Z,1754924261.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.799999 m,
      nav range: 16.643900 m,
      bearing: 154.324496 deg,
      approach rate: -0.505071 m/s,
      LOS rate: -0.221484 deg/s,
      cmd heading: 147.900206 deg,
      new cmd heading: 147.641576 deg.

2025-08-11T14:57:41.478Z,1754924261.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576832 target range: 17.799999 and range: 17.80 m.
2025-08-11T14:57:41.549Z,1754924261.549 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.478717
2025-08-11T14:57:41.800Z,1754924261.800 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.729400
2025-08-11T14:57:41.856Z,1754924261.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-11T14:57:41.859Z,1754924261.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.799999 m,
      nav range: 16.455307 m,
      bearing: 154.240020 deg,
      approach rate: -0.493493 m/s,
      LOS rate: -0.223581 deg/s,
      cmd heading: 147.641574 deg,
      new cmd heading: 147.385245 deg.

2025-08-11T14:57:41.860Z,1754924261.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572358 target range: 17.799999 and range: 17.80 m.
2025-08-11T14:57:42.053Z,1754924262.053 [DAT](INFO): DAT read: Rx Time:14:57:42.8440

2025-08-11T14:57:42.053Z,1754924262.053 [DAT](INFO): Rx dataTimestamp_ set to:1754924262.052755
2025-08-11T14:57:42.054Z,1754924262.054 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.982850
2025-08-11T14:57:42.289Z,1754924262.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-11T14:57:42.293Z,1754924262.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.799999 m,
      nav range: 16.239006 m,
      bearing: 154.145133 deg,
      approach rate: -0.499536 m/s,
      LOS rate: -0.222056 deg/s,
      cmd heading: 147.385251 deg,
      new cmd heading: 147.096800 deg.

2025-08-11T14:57:42.293Z,1754924262.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567323 target range: 17.799999 and range: 17.80 m.
2025-08-11T14:57:42.304Z,1754924262.304 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.233480
2025-08-11T14:57:42.562Z,1754924262.562 [DAT](INFO): DAT read: 14:57:42.8440 LVL= 22400, 28833, 21298, 31315, AGC= 54, IDX= 427,-0.45, 0.310,-1.506, 0.378,-0.008, PHS= 0.421,-1.453, 0.342, RAW= 147.9,   7.6, CAL= 147.4,   8.2, ROT=   2.6,  -8.2

2025-08-11T14:57:42.563Z,1754924262.563 [DAT](INFO): got valid direction response:
 14:57:42.8440 LVL= 22400, 28833, 21298, 31315, AGC= 54, IDX= 427,-0.45, 0.310,-1.506, 0.378,-0.008, PHS= 0.421,-1.453, 0.342, RAW= 147.9,   7.6, CAL= 147.4,   8.2, ROT=   2.6,  -8.2

2025-08-11T14:57:42.564Z,1754924262.564 [DAT](INFO): DAT read: Bearing 309.3,   0.9 (Local)

2025-08-11T14:57:42.564Z,1754924262.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.3,   0.9 (Local)

2025-08-11T14:57:42.566Z,1754924262.566 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m  (Round-trip  21.7 ms) speed  0.4 m/s

2025-08-11T14:57:42.566Z,1754924262.566 [DAT](INFO): DAT read: user:260>

2025-08-11T14:57:42.567Z,1754924262.567 [DAT](INFO): DAT read: Tx time:14:57:43.9681

2025-08-11T14:57:42.567Z,1754924262.567 [DAT](INFO): Ping request sent.
2025-08-11T14:57:42.568Z,1754924262.568 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:42.568Z,1754924262.568 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-11T14:57:42.569Z,1754924262.569 [DAT](INFO): direction in FSK: [0.988757,0.044899,0.142629]
2025-08-11T14:57:42.569Z,1754924262.569 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:42.569Z,1754924262.569 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:42.572Z,1754924262.572 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:42.573Z,1754924262.573 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:42.576Z,1754924262.576 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.008406
2025-08-11T14:57:42.689Z,1754924262.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 3.527400 s,
      deltaX: -1.599998 m,
      approachRate: -0.453591 m/s,
      rangeRepo size: 4

2025-08-11T14:57:42.699Z,1754924262.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.200001 m,
      bearing: 153.358903 deg,
      lat: 36.905875 deg,
      lon: -122.115835 deg,
      deltaT: 3.527400 s,
      deltaX: -1.599998 m,
      approachRate: -0.453591 m/s,
      posRepo size: 4

2025-08-11T14:57:42.700Z,1754924262.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-11T14:57:42.703Z,1754924262.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 16.121664 m,
      bearing: 153.358903 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.222056 deg/s,
      cmd heading: 147.096798 deg,
      new cmd heading: 146.837028 deg.

2025-08-11T14:57:42.708Z,1754924262.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562790 target range: 16.200001 and range: 16.20 m.
2025-08-11T14:57:42.809Z,1754924262.809 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.241185
2025-08-11T14:57:43.060Z,1754924263.060 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.492578
2025-08-11T14:57:43.102Z,1754924263.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:43.104Z,1754924263.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-11T14:57:43.108Z,1754924263.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.906197 m,
      bearing: 153.257944 deg,
      approach rate: -0.506912 m/s,
      LOS rate: -0.240734 deg/s,
      cmd heading: 146.837032 deg,
      new cmd heading: 146.530056 deg.

2025-08-11T14:57:43.109Z,1754924263.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557432 target range: 16.200001 and range: 16.20 m.
2025-08-11T14:57:43.312Z,1754924263.312 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.744535
2025-08-11T14:57:43.480Z,1754924263.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-11T14:57:43.483Z,1754924263.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.717820 m,
      bearing: 153.166985 deg,
      approach rate: -0.501266 m/s,
      LOS rate: -0.244940 deg/s,
      cmd heading: 146.530056 deg,
      new cmd heading: 146.253912 deg.

2025-08-11T14:57:43.484Z,1754924263.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552612 target range: 16.200001 and range: 16.20 m.
2025-08-11T14:57:43.565Z,1754924263.565 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.997105
2025-08-11T14:57:43.816Z,1754924263.816 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.248525
2025-08-11T14:57:43.881Z,1754924263.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-11T14:57:43.884Z,1754924263.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.517556 m,
      bearing: 153.067640 deg,
      approach rate: -0.499261 m/s,
      LOS rate: -0.250864 deg/s,
      cmd heading: 146.253912 deg,
      new cmd heading: 145.952034 deg.

2025-08-11T14:57:43.885Z,1754924263.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.547343 target range: 16.200001 and range: 16.20 m.
2025-08-11T14:57:44.069Z,1754924264.069 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.501230
2025-08-11T14:57:44.321Z,1754924264.321 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.752807
2025-08-11T14:57:44.331Z,1754924264.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-11T14:57:44.338Z,1754924264.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.300714 m,
      bearing: 152.975530 deg,
      approach rate: -0.482716 m/s,
      LOS rate: -0.207953 deg/s,
      cmd heading: 145.952031 deg,
      new cmd heading: 145.671787 deg.

2025-08-11T14:57:44.339Z,1754924264.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.542452 target range: 16.200001 and range: 16.20 m.
2025-08-11T14:57:44.573Z,1754924264.573 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.004903
2025-08-11T14:57:44.690Z,1754924264.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-11T14:57:44.693Z,1754924264.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.112550 m,
      bearing: 152.894415 deg,
      approach rate: -0.522882 m/s,
      LOS rate: -0.228214 deg/s,
      cmd heading: 145.671788 deg,
      new cmd heading: 145.425415 deg.

2025-08-11T14:57:44.694Z,1754924264.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538152 target range: 16.200001 and range: 16.20 m.
2025-08-11T14:57:44.824Z,1754924264.824 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.256595
2025-08-11T14:57:45.076Z,1754924265.076 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.508629
2025-08-11T14:57:45.129Z,1754924265.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:45.131Z,1754924265.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-11T14:57:45.134Z,1754924265.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.886253 m,
      bearing: 152.820316 deg,
      approach rate: -0.514146 m/s,
      LOS rate: -0.170914 deg/s,
      cmd heading: 145.425410 deg,
      new cmd heading: 145.199733 deg.

2025-08-11T14:57:45.135Z,1754924265.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534213 target range: 16.200001 and range: 16.20 m.
2025-08-11T14:57:45.330Z,1754924265.330 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.761945
2025-08-11T14:57:45.496Z,1754924265.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-11T14:57:45.500Z,1754924265.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.692802 m,
      bearing: 152.757289 deg,
      approach rate: -0.529238 m/s,
      LOS rate: -0.174698 deg/s,
      cmd heading: 145.199727 deg,
      new cmd heading: 145.008157 deg.

2025-08-11T14:57:45.501Z,1754924265.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530870 target range: 16.200001 and range: 16.20 m.
2025-08-11T14:57:45.581Z,1754924265.581 [DAT](INFO): DAT read: Rx Time:14:57:46.3916

2025-08-11T14:57:45.582Z,1754924265.582 [DAT](INFO): Rx dataTimestamp_ set to:1754924265.581349
2025-08-11T14:57:45.583Z,1754924265.583 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.014952
2025-08-11T14:57:45.832Z,1754924265.832 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.264489
2025-08-11T14:57:45.901Z,1754924265.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-11T14:57:45.904Z,1754924265.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 14.482007 m,
      bearing: 152.688893 deg,
      approach rate: -0.521033 m/s,
      LOS rate: -0.171517 deg/s,
      cmd heading: 145.008154 deg,
      new cmd heading: 144.799981 deg.

2025-08-11T14:57:45.905Z,1754924265.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527236 target range: 16.200001 and range: 16.20 m.
2025-08-11T14:57:46.111Z,1754924266.111 [DAT](INFO): DAT read: 14:57:46.3916 LVL= 21280, 31473, 24418, 32755, AGC= 55, IDX= 418, 0.32,-0.923,-2.679,-0.706,-1.172, PHS= 0.351,-1.462, 0.423, RAW= 151.9,   7.5, CAL= 151.4,   7.9, ROT= 358.6,  -7.9

2025-08-11T14:57:46.112Z,1754924266.112 [DAT](INFO): got valid direction response:
 14:57:46.3916 LVL= 21280, 31473, 24418, 32755, AGC= 55, IDX= 418, 0.32,-0.923,-2.679,-0.706,-1.172, PHS= 0.351,-1.462, 0.423, RAW= 151.9,   7.5, CAL= 151.4,   7.9, ROT= 358.6,  -7.9

2025-08-11T14:57:46.113Z,1754924266.113 [DAT](INFO): DAT read: Bearing 308.5,  -4.0 (Local)

2025-08-11T14:57:46.113Z,1754924266.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.5,  -4.0 (Local)

2025-08-11T14:57:46.115Z,1754924266.115 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m  (Round-trip  19.3 ms) speed  0.4 m/s

2025-08-11T14:57:46.116Z,1754924266.116 [DAT](INFO): DAT read: user:261>

2025-08-11T14:57:46.116Z,1754924266.116 [DAT](INFO): DAT read: Tx time:14:57:47.5181

2025-08-11T14:57:46.117Z,1754924266.117 [DAT](INFO): Ping request sent.
2025-08-11T14:57:46.117Z,1754924266.117 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:46.117Z,1754924266.117 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-11T14:57:46.118Z,1754924266.118 [DAT](INFO): direction in FSK: [0.990214,-0.024200,0.137445]
2025-08-11T14:57:46.118Z,1754924266.118 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:46.119Z,1754924266.119 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:46.122Z,1754924266.122 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:46.122Z,1754924266.122 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:46.125Z,1754924266.125 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.008431
2025-08-11T14:57:46.356Z,1754924266.356 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.239287
2025-08-11T14:57:46.376Z,1754924266.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 3.548988 s,
      deltaX: -1.800001 m,
      approachRate: -0.507187 m/s,
      rangeRepo size: 4

2025-08-11T14:57:46.378Z,1754924266.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.400000 m,
      bearing: 152.630018 deg,
      lat: 36.905875 deg,
      lon: -122.115835 deg,
      deltaT: 3.548988 s,
      deltaX: -1.800001 m,
      approachRate: -0.507187 m/s,
      posRepo size: 4

2025-08-11T14:57:46.379Z,1754924266.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-11T14:57:46.385Z,1754924266.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 14.257967 m,
      bearing: 152.630018 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.171517 deg/s,
      cmd heading: 144.799983 deg,
      new cmd heading: 144.558402 deg.

2025-08-11T14:57:46.386Z,1754924266.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523020 target range: 14.400000 and range: 14.40 m.
2025-08-11T14:57:46.608Z,1754924266.608 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.491157
2025-08-11T14:57:46.730Z,1754924266.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-11T14:57:46.733Z,1754924266.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 14.069105 m,
      bearing: 152.584171 deg,
      approach rate: -0.525079 m/s,
      LOS rate: -0.129178 deg/s,
      cmd heading: 144.558399 deg,
      new cmd heading: 144.419010 deg.

2025-08-11T14:57:46.734Z,1754924266.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520587 target range: 14.400000 and range: 14.40 m.
2025-08-11T14:57:46.860Z,1754924266.860 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.743289
2025-08-11T14:57:47.112Z,1754924267.112 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.995420
2025-08-11T14:57:47.145Z,1754924267.145 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,   +46   +16,A
2025-08-11T14:57:47.159Z,1754924267.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:47.162Z,1754924267.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-11T14:57:47.181Z,1754924267.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 13.851949 m,
      bearing: 152.532720 deg,
      approach rate: -0.503122 m/s,
      LOS rate: -0.121072 deg/s,
      cmd heading: 144.419009 deg,
      new cmd heading: 144.262238 deg.

2025-08-11T14:57:47.182Z,1754924267.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517851 target range: 14.400000 and range: 14.40 m.
2025-08-11T14:57:47.364Z,1754924267.364 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.247154
2025-08-11T14:57:47.566Z,1754924267.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-11T14:57:47.574Z,1754924267.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 13.657882 m,
      bearing: 152.486466 deg,
      approach rate: -0.479371 m/s,
      LOS rate: -0.115878 deg/s,
      cmd heading: 144.262242 deg,
      new cmd heading: 144.121508 deg.

2025-08-11T14:57:47.575Z,1754924267.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515395 target range: 14.400000 and range: 14.40 m.
2025-08-11T14:57:47.616Z,1754924267.616 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.499382
2025-08-11T14:57:47.869Z,1754924267.869 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.751712
2025-08-11T14:57:47.955Z,1754924267.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-11T14:57:47.958Z,1754924267.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 13.455799 m,
      bearing: 152.437111 deg,
      approach rate: -0.519849 m/s,
      LOS rate: -0.128870 deg/s,
      cmd heading: 144.121513 deg,
      new cmd heading: 143.971226 deg.

2025-08-11T14:57:47.959Z,1754924267.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512772 target range: 14.400000 and range: 14.40 m.
2025-08-11T14:57:48.120Z,1754924268.120 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.003293
2025-08-11T14:57:48.372Z,1754924268.372 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.255345
2025-08-11T14:57:48.377Z,1754924268.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-11T14:57:48.380Z,1754924268.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 13.249076 m,
      bearing: 152.444769 deg,
      approach rate: -0.490486 m/s,
      LOS rate: 0.018452 deg/s,
      cmd heading: 143.971222 deg,
      new cmd heading: 143.994553 deg.

2025-08-11T14:57:48.381Z,1754924268.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513179 target range: 14.400000 and range: 14.40 m.
2025-08-11T14:57:48.628Z,1754924268.628 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.510686
2025-08-11T14:57:48.762Z,1754924268.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-11T14:57:48.765Z,1754924268.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 13.066538 m,
      bearing: 152.452132 deg,
      approach rate: -0.473828 m/s,
      LOS rate: 0.019379 deg/s,
      cmd heading: 143.994554 deg,
      new cmd heading: 144.016951 deg.

2025-08-11T14:57:48.766Z,1754924268.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513570 target range: 14.400000 and range: 14.40 m.
2025-08-11T14:57:48.876Z,1754924268.876 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.759344
2025-08-11T14:57:49.131Z,1754924269.131 [DAT](INFO): DAT read: Rx Time:14:57:49.9392

2025-08-11T14:57:49.132Z,1754924269.132 [DAT](INFO): Rx dataTimestamp_ set to:1754924269.131574
2025-08-11T14:57:49.132Z,1754924269.132 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.015539
2025-08-11T14:57:49.193Z,1754924269.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:49.196Z,1754924269.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-11T14:57:49.198Z,1754924269.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 12.845783 m,
      bearing: 152.467048 deg,
      approach rate: -0.509136 m/s,
      LOS rate: 0.034993 deg/s,
      cmd heading: 144.016957 deg,
      new cmd heading: 144.062474 deg.

2025-08-11T14:57:49.200Z,1754924269.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514364 target range: 14.400000 and range: 14.40 m.
2025-08-11T14:57:49.380Z,1754924269.380 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.263236
2025-08-11T14:57:49.626Z,1754924269.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-11T14:57:49.638Z,1754924269.638 [DAT](INFO): DAT read: 14:57:49.9391 LVL= 23360, 32753, 25314, 32755, AGC= 53, IDX= 410, 0.36,-2.728, 1.771,-2.469,-2.961, PHS= 0.335,-1.507, 0.448, RAW= 152.9,   7.7, CAL= 152.4,   8.1, ROT= 357.6,  -8.1

2025-08-11T14:57:49.640Z,1754924269.640 [DAT](INFO): got valid direction response:
 14:57:49.9391 LVL= 23360, 32753, 25314, 32755, AGC= 53, IDX= 410, 0.36,-2.728, 1.771,-2.469,-2.961, PHS= 0.335,-1.507, 0.448, RAW= 152.9,   7.7, CAL= 152.4,   8.1, ROT= 357.6,  -8.1

2025-08-11T14:57:49.641Z,1754924269.641 [DAT](INFO): DAT read: Bearing 307.4,  -5.1 (Local)

2025-08-11T14:57:49.641Z,1754924269.641 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.4,  -5.1 (Local)

2025-08-11T14:57:49.642Z,1754924269.642 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m  (Round-trip  16.9 ms) speed  0.4 m/s

2025-08-11T14:57:49.643Z,1754924269.643 [DAT](INFO): DAT read: user:262>

2025-08-11T14:57:49.644Z,1754924269.644 [DAT](INFO): DAT read: Tx time:14:57:51.0680

2025-08-11T14:57:49.644Z,1754924269.644 [DAT](INFO): Ping request sent.
2025-08-11T14:57:49.644Z,1754924269.644 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:49.645Z,1754924269.645 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-11T14:57:49.646Z,1754924269.646 [DAT](INFO): direction in FSK: [0.989155,-0.041458,0.140901]
2025-08-11T14:57:49.646Z,1754924269.646 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:49.646Z,1754924269.646 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:49.653Z,1754924269.653 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:49.654Z,1754924269.654 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:49.665Z,1754924269.665 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.020694
2025-08-11T14:57:49.667Z,1754924269.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 12.645628 m,
      bearing: 152.480800 deg,
      approach rate: -0.464834 m/s,
      LOS rate: 0.032442 deg/s,
      cmd heading: 144.062473 deg,
      new cmd heading: 144.104381 deg.

2025-08-11T14:57:49.676Z,1754924269.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515096 target range: 14.400000 and range: 14.40 m.
2025-08-11T14:57:49.884Z,1754924269.884 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.239892
2025-08-11T14:57:50.025Z,1754924270.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 3.527697 s,
      deltaX: -1.799999 m,
      approachRate: -0.510248 m/s,
      rangeRepo size: 4

2025-08-11T14:57:50.028Z,1754924270.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.600000 m,
      bearing: 151.622324 deg,
      lat: 36.905876 deg,
      lon: -122.115833 deg,
      deltaT: 3.527697 s,
      deltaX: -1.799999 m,
      approachRate: -0.510248 m/s,
      posRepo size: 4

2025-08-11T14:57:50.029Z,1754924270.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-11T14:57:50.052Z,1754924270.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 12.422983 m,
      bearing: 151.622324 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032442 deg/s,
      cmd heading: 144.104383 deg,
      new cmd heading: 144.142996 deg.

2025-08-11T14:57:50.060Z,1754924270.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515770 target range: 12.600000 and range: 12.60 m.
2025-08-11T14:57:50.136Z,1754924270.136 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.491901
2025-08-11T14:57:50.388Z,1754924270.388 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.743768
2025-08-11T14:57:50.464Z,1754924270.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-11T14:57:50.467Z,1754924270.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 12.210679 m,
      bearing: 151.634115 deg,
      approach rate: -0.480969 m/s,
      LOS rate: 0.027177 deg/s,
      cmd heading: 144.143001 deg,
      new cmd heading: 144.178989 deg.

2025-08-11T14:57:50.468Z,1754924270.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.516398 target range: 12.600000 and range: 12.60 m.
2025-08-11T14:57:50.640Z,1754924270.640 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.995695
2025-08-11T14:57:50.852Z,1754924270.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-11T14:57:50.855Z,1754924270.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 12.030374 m,
      bearing: 151.644489 deg,
      approach rate: -0.464688 m/s,
      LOS rate: 0.027136 deg/s,
      cmd heading: 144.178996 deg,
      new cmd heading: 144.210584 deg.

2025-08-11T14:57:50.856Z,1754924270.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.516949 target range: 12.600000 and range: 12.60 m.
2025-08-11T14:57:50.895Z,1754924270.895 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.250250
2025-08-11T14:57:51.146Z,1754924271.146 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.501897
2025-08-11T14:57:51.267Z,1754924271.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:51.269Z,1754924271.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-11T14:57:51.273Z,1754924271.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.836420 m,
      bearing: 151.662721 deg,
      approach rate: -0.464747 m/s,
      LOS rate: 0.044404 deg/s,
      cmd heading: 144.210579 deg,
      new cmd heading: 144.266172 deg.

2025-08-11T14:57:51.273Z,1754924271.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517920 target range: 12.600000 and range: 12.60 m.
2025-08-11T14:57:51.400Z,1754924271.400 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.755907
2025-08-11T14:57:51.648Z,1754924271.648 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.003740
2025-08-11T14:57:51.669Z,1754924271.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-11T14:57:51.672Z,1754924271.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.652026 m,
      bearing: 151.680618 deg,
      approach rate: -0.461911 m/s,
      LOS rate: 0.045541 deg/s,
      cmd heading: 144.266176 deg,
      new cmd heading: 144.320716 deg.

2025-08-11T14:57:51.673Z,1754924271.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518872 target range: 12.600000 and range: 12.60 m.
2025-08-11T14:57:51.900Z,1754924271.900 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.255768
2025-08-11T14:57:52.152Z,1754924272.152 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.507866
2025-08-11T14:57:52.163Z,1754924272.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-11T14:57:52.170Z,1754924272.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.426620 m,
      bearing: 151.703280 deg,
      approach rate: -0.459807 m/s,
      LOS rate: 0.047140 deg/s,
      cmd heading: 144.320722 deg,
      new cmd heading: 144.390049 deg.

2025-08-11T14:57:52.171Z,1754924272.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520082 target range: 12.600000 and range: 12.60 m.
2025-08-11T14:57:52.405Z,1754924272.405 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.760256
2025-08-11T14:57:52.498Z,1754924272.498 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS8450219,35.0, +10.1,   0.0,1490.2,  0
2025-08-11T14:57:52.552Z,1754924272.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-11T14:57:52.559Z,1754924272.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.253179 m,
      bearing: 151.730869 deg,
      approach rate: -0.440844 m/s,
      LOS rate: 0.071206 deg/s,
      cmd heading: 144.390049 deg,
      new cmd heading: 144.474092 deg.

2025-08-11T14:57:52.560Z,1754924272.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521549 target range: 12.600000 and range: 12.60 m.
2025-08-11T14:57:52.657Z,1754924272.657 [DAT](INFO): DAT read: Rx Time:14:57:53.4869

2025-08-11T14:57:52.657Z,1754924272.657 [DAT](INFO): Rx dataTimestamp_ set to:1754924272.657076
2025-08-11T14:57:52.658Z,1754924272.658 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.013904
2025-08-11T14:57:52.909Z,1754924272.909 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.264565
2025-08-11T14:57:52.921Z,1754924272.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.60 m.
2025-08-11T14:57:52.930Z,1754924272.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.600000 m,
      nav range: 11.070975 m,
      bearing: 151.764373 deg,
      approach rate: -0.493792 m/s,
      LOS rate: 0.092293 deg/s,
      cmd heading: 144.474087 deg,
      new cmd heading: 144.576252 deg.

2025-08-11T14:57:52.932Z,1754924272.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523332 target range: 12.600000 and range: 12.60 m.
2025-08-11T14:57:53.178Z,1754924273.178 [DAT](INFO): DAT read: 14:57:53.4869 LVL= 20208, 32753, 23250, 31955, AGC= 51, IDX= 419, 0.04, 1.704,-0.087, 1.911, 1.436, PHS= 0.370,-1.477, 0.431, RAW= 151.6,   7.2, CAL= 151.0,   7.7, ROT= 359.0,  -7.7

2025-08-11T14:57:53.182Z,1754924273.182 [DAT](INFO): got valid direction response:
 14:57:53.4869 LVL= 20208, 32753, 23250, 31955, AGC= 51, IDX= 419, 0.04, 1.704,-0.087, 1.911, 1.436, PHS= 0.370,-1.477, 0.431, RAW= 151.6,   7.2, CAL= 151.0,   7.7, ROT= 359.0,  -7.7

2025-08-11T14:57:53.201Z,1754924273.201 [DAT](INFO): DAT read: Bearing 306.7,  -2.6 (Local)

2025-08-11T14:57:53.202Z,1754924273.202 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.7,  -2.6 (Local)

2025-08-11T14:57:53.203Z,1754924273.203 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m  (Round-trip  14.7 ms) speed  0.4 m/s

2025-08-11T14:57:53.204Z,1754924273.204 [DAT](INFO): DAT read: user:263>

2025-08-11T14:57:53.205Z,1754924273.205 [DAT](INFO): DAT read: Tx time:14:57:54.6180

2025-08-11T14:57:53.205Z,1754924273.205 [DAT](INFO): Ping request sent.
2025-08-11T14:57:53.205Z,1754924273.205 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:53.205Z,1754924273.205 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-11T14:57:53.206Z,1754924273.206 [DAT](INFO): direction in FSK: [0.990832,-0.017295,0.133986]
2025-08-11T14:57:53.207Z,1754924273.207 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:53.207Z,1754924273.207 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:53.210Z,1754924273.210 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:53.210Z,1754924273.210 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:53.213Z,1754924273.213 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.008442
2025-08-11T14:57:53.400Z,1754924273.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 3.529428 s,
      deltaX: -1.600000 m,
      approachRate: -0.453331 m/s,
      rangeRepo size: 4

2025-08-11T14:57:53.402Z,1754924273.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.000000 m,
      bearing: 147.101366 deg,
      lat: 36.905880 deg,
      lon: -122.115824 deg,
      deltaT: 3.529428 s,
      deltaX: -1.600000 m,
      approachRate: -0.453331 m/s,
      posRepo size: 4

2025-08-11T14:57:53.403Z,1754924273.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-11T14:57:53.410Z,1754924273.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.000000 m,
      nav range: 10.913336 m,
      bearing: 147.101366 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.092293 deg/s,
      cmd heading: 144.576253 deg,
      new cmd heading: 144.707449 deg.

2025-08-11T14:57:53.411Z,1754924273.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.525621 target range: 11.000000 and range: 11.00 m.
2025-08-11T14:57:53.412Z,1754924273.412 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.207219
2025-08-11T14:57:53.664Z,1754924273.664 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.459116
2025-08-11T14:57:53.730Z,1754924273.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:53.742Z,1754924273.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-11T14:57:53.750Z,1754924273.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.000000 m,
      nav range: 10.751616 m,
      bearing: 147.054925 deg,
      approach rate: -0.465898 m/s,
      LOS rate: -0.135805 deg/s,
      cmd heading: 144.707448 deg,
      new cmd heading: 144.566028 deg.

2025-08-11T14:57:53.751Z,1754924273.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523153 target range: 11.000000 and range: 11.00 m.
2025-08-11T14:57:53.917Z,1754924273.917 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.712231
2025-08-11T14:57:54.171Z,1754924274.171 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.965096
2025-08-11T14:57:54.221Z,1754924274.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-11T14:57:54.224Z,1754924274.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.000000 m,
      nav range: 10.542665 m,
      bearing: 146.952778 deg,
      approach rate: -0.436054 m/s,
      LOS rate: -0.217392 deg/s,
      cmd heading: 144.566022 deg,
      new cmd heading: 144.253509 deg.

2025-08-11T14:57:54.225Z,1754924274.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517699 target range: 11.000000 and range: 11.00 m.
2025-08-11T14:57:54.420Z,1754924274.420 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.215462
2025-08-11T14:57:54.552Z,1754924274.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-11T14:57:54.555Z,1754924274.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.000000 m,
      nav range: 10.402295 m,
      bearing: 146.884145 deg,
      approach rate: -0.424149 m/s,
      LOS rate: -0.210184 deg/s,
      cmd heading: 144.253513 deg,
      new cmd heading: 144.044836 deg.

2025-08-11T14:57:54.556Z,1754924274.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514057 target range: 11.000000 and range: 11.00 m.
2025-08-11T14:57:54.672Z,1754924274.672 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.467193
2025-08-11T14:57:54.924Z,1754924274.924 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.719414
2025-08-11T14:57:54.964Z,1754924274.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-11T14:57:54.971Z,1754924274.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.000000 m,
      nav range: 10.230509 m,
      bearing: 146.801074 deg,
      approach rate: -0.416969 m/s,
      LOS rate: -0.205020 deg/s,
      cmd heading: 144.044837 deg,
      new cmd heading: 143.791442 deg.

2025-08-11T14:57:54.972Z,1754924274.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509634 target range: 11.000000 and range: 11.00 m.
2025-08-11T14:57:55.180Z,1754924275.180 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.974463
2025-08-11T14:57:55.371Z,1754924275.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-11T14:57:55.374Z,1754924275.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.000000 m,
      nav range: 10.057843 m,
      bearing: 146.690320 deg,
      approach rate: -0.424362 m/s,
      LOS rate: -0.276873 deg/s,
      cmd heading: 143.791437 deg,
      new cmd heading: 143.453476 deg.

2025-08-11T14:57:55.391Z,1754924275.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503736 target range: 11.000000 and range: 11.00 m.
2025-08-11T14:57:55.428Z,1754924275.428 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.223304
2025-08-11T14:57:55.680Z,1754924275.680 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.475012
2025-08-11T14:57:55.758Z,1754924275.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:55.760Z,1754924275.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-11T14:57:55.763Z,1754924275.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.000000 m,
      nav range: 9.894847 m,
      bearing: 146.585364 deg,
      approach rate: -0.419444 m/s,
      LOS rate: -0.274534 deg/s,
      cmd heading: 143.453480 deg,
      new cmd heading: 143.133430 deg.

2025-08-11T14:57:55.775Z,1754924275.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498150 target range: 11.000000 and range: 11.00 m.
2025-08-11T14:57:55.936Z,1754924275.936 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.730552
2025-08-11T14:57:56.187Z,1754924276.187 [DAT](INFO): DAT read: Rx Time:14:57:57.0347

2025-08-11T14:57:56.189Z,1754924276.189 [DAT](INFO): Rx dataTimestamp_ set to:1754924276.187977
2025-08-11T14:57:56.191Z,1754924276.191 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.985384
2025-08-11T14:57:56.234Z,1754924276.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-11T14:57:56.245Z,1754924276.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.000000 m,
      nav range: 9.702434 m,
      bearing: 146.460464 deg,
      approach rate: -0.405526 m/s,
      LOS rate: -0.268457 deg/s,
      cmd heading: 143.133431 deg,
      new cmd heading: 142.751305 deg.

2025-08-11T14:57:56.246Z,1754924276.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491480 target range: 11.000000 and range: 11.00 m.
2025-08-11T14:57:56.436Z,1754924276.436 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.231456
2025-08-11T14:57:56.609Z,1754924276.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-11T14:57:56.616Z,1754924276.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.000000 m,
      nav range: 9.544765 m,
      bearing: 146.323598 deg,
      approach rate: -0.420703 m/s,
      LOS rate: -0.371229 deg/s,
      cmd heading: 142.751309 deg,
      new cmd heading: 142.333934 deg.

2025-08-11T14:57:56.617Z,1754924276.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484196 target range: 11.000000 and range: 11.00 m.
2025-08-11T14:57:56.711Z,1754924276.711 [DAT](INFO): DAT read: 14:57:57.0347 LVL= 23312, 30193, 27058, 32755, AGC= 52, IDX= 413,-0.22, 2.606, 0.768, 2.750, 2.339, PHS= 0.369,-1.526, 0.367, RAW= 149.9,   8.4, CAL= 149.5,   9.0, ROT=   0.5,  -9.0

2025-08-11T14:57:56.714Z,1754924276.714 [DAT](INFO): got valid direction response:
 14:57:57.0347 LVL= 23312, 30193, 27058, 32755, AGC= 52, IDX= 413,-0.22, 2.606, 0.768, 2.750, 2.339, PHS= 0.369,-1.526, 0.367, RAW= 149.9,   8.4, CAL= 149.5,   9.0, ROT=   0.5,  -9.0

2025-08-11T14:57:56.715Z,1754924276.715 [DAT](INFO): DAT read: Bearing 306.6,  -0.6 (Local)

2025-08-11T14:57:56.716Z,1754924276.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.6,  -0.6 (Local)

2025-08-11T14:57:56.717Z,1754924276.717 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m  (Round-trip  12.5 ms) speed  0.4 m/s

2025-08-11T14:57:56.718Z,1754924276.718 [DAT](INFO): DAT read: user:264>

2025-08-11T14:57:56.719Z,1754924276.719 [DAT](INFO): DAT read: Tx time:14:57:58.1180

2025-08-11T14:57:56.719Z,1754924276.719 [DAT](INFO): Ping request sent.
2025-08-11T14:57:56.719Z,1754924276.719 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:57:56.728Z,1754924276.728 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-11T14:57:56.729Z,1754924276.729 [DAT](INFO): direction in FSK: [0.987651,0.008619,0.156434]
2025-08-11T14:57:56.729Z,1754924276.729 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:56.729Z,1754924276.729 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:56.755Z,1754924276.755 [DAT](INFO): publishing transmit ping time
2025-08-11T14:57:56.756Z,1754924276.756 [DAT](INFO): publishing direction and range info
2025-08-11T14:57:56.765Z,1754924276.765 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.045609
2025-08-11T14:57:56.941Z,1754924276.941 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.222055
2025-08-11T14:57:56.992Z,1754924276.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 3.527869 s,
      deltaX: -1.700000 m,
      approachRate: -0.481877 m/s,
      rangeRepo size: 4

2025-08-11T14:57:57.005Z,1754924277.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.300000 m,
      bearing: 146.168742 deg,
      lat: 36.905880 deg,
      lon: -122.115824 deg,
      deltaT: 3.527869 s,
      deltaX: -1.700000 m,
      approachRate: -0.481877 m/s,
      posRepo size: 4

2025-08-11T14:57:57.006Z,1754924277.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.30 m.
2025-08-11T14:57:57.006Z,1754924277.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.30 m.
2025-08-11T14:57:57.007Z,1754924277.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-11T14:57:57.021Z,1754924277.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 9.377893 m,
      bearing: 146.168742 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.371229 deg/s,
      cmd heading: 142.333930 deg,
      new cmd heading: 141.909723 deg.

2025-08-11T14:57:57.022Z,1754924277.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476792 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:57:57.199Z,1754924277.199 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.479567
2025-08-11T14:57:57.406Z,1754924277.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:57:57.409Z,1754924277.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 9.190871 m,
      bearing: 145.974164 deg,
      approach rate: -0.450256 m/s,
      LOS rate: -0.477977 deg/s,
      cmd heading: 141.909720 deg,
      new cmd heading: 141.314132 deg.

2025-08-11T14:57:57.409Z,1754924277.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466397 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:57:57.444Z,1754924277.444 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.725468
2025-08-11T14:57:57.696Z,1754924277.696 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.977320
2025-08-11T14:57:57.778Z,1754924277.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:57.780Z,1754924277.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:57:57.783Z,1754924277.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 9.025995 m,
      bearing: 145.798142 deg,
      approach rate: -0.440313 m/s,
      LOS rate: -0.478667 deg/s,
      cmd heading: 141.314128 deg,
      new cmd heading: 140.776431 deg.

2025-08-11T14:57:57.784Z,1754924277.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457012 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:57:57.948Z,1754924277.948 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.229257
2025-08-11T14:57:58.208Z,1754924278.208 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.487927
2025-08-11T14:57:58.262Z,1754924278.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:57:58.269Z,1754924278.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 8.817385 m,
      bearing: 145.568873 deg,
      approach rate: -0.433261 m/s,
      LOS rate: -0.487429 deg/s,
      cmd heading: 140.776428 deg,
      new cmd heading: 140.072388 deg.

2025-08-11T14:57:58.270Z,1754924278.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444724 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:57:58.456Z,1754924278.456 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.737485
2025-08-11T14:57:58.626Z,1754924278.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:57:58.633Z,1754924278.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 8.660175 m,
      bearing: 145.375281 deg,
      approach rate: -0.431608 m/s,
      LOS rate: -0.541142 deg/s,
      cmd heading: 140.072386 deg,
      new cmd heading: 139.481089 deg.

2025-08-11T14:57:58.634Z,1754924278.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434404 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:57:58.709Z,1754924278.709 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.989935
2025-08-11T14:57:58.960Z,1754924278.960 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.241493
2025-08-11T14:57:59.030Z,1754924279.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:57:59.037Z,1754924279.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 8.483280 m,
      bearing: 145.152469 deg,
      approach rate: -0.437987 m/s,
      LOS rate: -0.563180 deg/s,
      cmd heading: 139.481083 deg,
      new cmd heading: 138.798740 deg.

2025-08-11T14:57:59.038Z,1754924279.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422495 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:57:59.215Z,1754924279.215 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.495339
2025-08-11T14:57:59.443Z,1754924279.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:57:59.449Z,1754924279.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 8.278152 m,
      bearing: 144.879468 deg,
      approach rate: -0.496822 m/s,
      LOS rate: -0.677590 deg/s,
      cmd heading: 138.798747 deg,
      new cmd heading: 137.959512 deg.

2025-08-11T14:57:59.450Z,1754924279.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.407848 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:57:59.464Z,1754924279.464 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.745445
2025-08-11T14:57:59.716Z,1754924279.716 [DAT](INFO): DAT read: Rx Time:14:58:00.5328

2025-08-11T14:57:59.717Z,1754924279.717 [DAT](INFO): Rx dataTimestamp_ set to:1754924279.716363
2025-08-11T14:57:59.717Z,1754924279.717 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.998311
2025-08-11T14:57:59.802Z,1754924279.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:57:59.805Z,1754924279.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:57:59.808Z,1754924279.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 8.107708 m,
      bearing: 144.646355 deg,
      approach rate: -0.470595 m/s,
      LOS rate: -0.657153 deg/s,
      cmd heading: 137.959508 deg,
      new cmd heading: 137.245508 deg.

2025-08-11T14:57:59.809Z,1754924279.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.395386 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:57:59.968Z,1754924279.968 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.249269
2025-08-11T14:58:00.262Z,1754924280.262 [DAT](INFO): DAT read: 14:58:00.5328 LVL= 22000, 32753, 20418, 32723, AGC= 48, IDX= 425,-0.28, 0.602,-1.074, 0.943, 0.432, PHS= 0.272,-1.460, 0.468, RAW= 155.3,   7.9, CAL= 154.8,   8.3, ROT= 355.2,  -8.3

2025-08-11T14:58:00.269Z,1754924280.269 [DAT](INFO): got valid direction response:
 14:58:00.5328 LVL= 22000, 32753, 20418, 32723, AGC= 48, IDX= 425,-0.28, 0.602,-1.074, 0.943, 0.432, PHS= 0.272,-1.460, 0.468, RAW= 155.3,   7.9, CAL= 154.8,   8.3, ROT= 355.2,  -8.3

2025-08-11T14:58:00.270Z,1754924280.270 [DAT](INFO): DAT read: Bearing 303.9,  -5.7 (Local)

2025-08-11T14:58:00.270Z,1754924280.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.9,  -5.7 (Local)

2025-08-11T14:58:00.276Z,1754924280.276 [DAT](INFO): DAT read: Range 11 to 50 : 7.9 m  (Round-trip  10.6 ms) speed  0.4 m/s

2025-08-11T14:58:00.276Z,1754924280.276 [DAT](INFO): DAT read: user:265>

2025-08-11T14:58:00.277Z,1754924280.277 [DAT](INFO): DAT read: Tx time:14:58:01.6180

2025-08-11T14:58:00.277Z,1754924280.277 [DAT](INFO): Ping request sent.
2025-08-11T14:58:00.277Z,1754924280.277 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:00.278Z,1754924280.278 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-11T14:58:00.279Z,1754924280.279 [DAT](INFO): direction in FSK: [0.986055,-0.082801,0.144356]
2025-08-11T14:58:00.283Z,1754924280.283 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:00.283Z,1754924280.283 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:00.286Z,1754924280.286 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:00.287Z,1754924280.287 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:00.326Z,1754924280.326 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.048660
2025-08-11T14:58:00.420Z,1754924280.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.900000 m,
      deltaT: 3.537146 s,
      deltaX: -1.400000 m,
      approachRate: -0.395799 m/s,
      rangeRepo size: 4

2025-08-11T14:58:00.422Z,1754924280.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.900000 m,
      bearing: 143.561824 deg,
      lat: 36.905880 deg,
      lon: -122.115823 deg,
      deltaT: 3.537146 s,
      deltaX: -1.400000 m,
      approachRate: -0.395799 m/s,
      posRepo size: 4

2025-08-11T14:58:00.427Z,1754924280.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.90 m. 9.30 m.
2025-08-11T14:58:00.430Z,1754924280.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 7.818978 m,
      bearing: 144.296106 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.371229 deg/s,
      cmd heading: 137.245507 deg,
      new cmd heading: 136.574498 deg.

2025-08-11T14:58:00.431Z,1754924280.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.383675 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:00.476Z,1754924280.476 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.198856
2025-08-11T14:58:00.728Z,1754924280.728 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.450855
2025-08-11T14:58:00.783Z,1754924280.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:00.790Z,1754924280.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 7.629337 m,
      bearing: 144.066008 deg,
      approach rate: -0.505351 m/s,
      LOS rate: -0.628399 deg/s,
      cmd heading: 136.574496 deg,
      new cmd heading: 135.867083 deg.

2025-08-11T14:58:00.791Z,1754924280.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.371328 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:00.980Z,1754924280.980 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.702753
2025-08-11T14:58:01.171Z,1754924281.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:01.174Z,1754924281.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 7.430905 m,
      bearing: 143.820819 deg,
      approach rate: -0.511000 m/s,
      LOS rate: -0.648268 deg/s,
      cmd heading: 135.867079 deg,
      new cmd heading: 135.111914 deg.

2025-08-11T14:58:01.175Z,1754924281.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.358148 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:01.236Z,1754924281.236 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.958507
2025-08-11T14:58:01.486Z,1754924281.486 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.208057
2025-08-11T14:58:01.594Z,1754924281.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:01.613Z,1754924281.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 7.225400 m,
      bearing: 143.575969 deg,
      approach rate: -0.485889 m/s,
      LOS rate: -0.595379 deg/s,
      cmd heading: 135.111920 deg,
      new cmd heading: 134.356523 deg.

2025-08-11T14:58:01.614Z,1754924281.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.344964 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:01.741Z,1754924281.741 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.463236
2025-08-11T14:58:01.989Z,1754924281.989 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.711270
2025-08-11T14:58:02.014Z,1754924282.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:02.021Z,1754924282.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:02.028Z,1754924282.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 7.023655 m,
      bearing: 143.332060 deg,
      approach rate: -0.472329 m/s,
      LOS rate: -0.587444 deg/s,
      cmd heading: 134.356528 deg,
      new cmd heading: 133.603832 deg.

2025-08-11T14:58:02.029Z,1754924282.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.331827 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:02.244Z,1754924282.244 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.965555
2025-08-11T14:58:02.402Z,1754924282.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:02.425Z,1754924282.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 6.820391 m,
      bearing: 143.125297 deg,
      approach rate: -0.533254 m/s,
      LOS rate: -0.558598 deg/s,
      cmd heading: 133.603828 deg,
      new cmd heading: 132.965080 deg.

2025-08-11T14:58:02.426Z,1754924282.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320678 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:02.493Z,1754924282.493 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.215876
2025-08-11T14:58:02.745Z,1754924282.745 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.467613
2025-08-11T14:58:02.795Z,1754924282.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:02.798Z,1754924282.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 6.614347 m,
      bearing: 142.916030 deg,
      approach rate: -0.524941 m/s,
      LOS rate: -0.549761 deg/s,
      cmd heading: 132.965082 deg,
      new cmd heading: 132.317751 deg.

2025-08-11T14:58:02.798Z,1754924282.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309381 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:02.998Z,1754924282.998 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.719867
2025-08-11T14:58:03.201Z,1754924283.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:03.204Z,1754924283.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 6.411994 m,
      bearing: 142.712630 deg,
      approach rate: -0.520424 m/s,
      LOS rate: -0.539622 deg/s,
      cmd heading: 132.317758 deg,
      new cmd heading: 131.688329 deg.

2025-08-11T14:58:03.204Z,1754924283.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298395 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:03.250Z,1754924283.250 [DAT](INFO): DAT read: Rx Time:14:58:04.0306

2025-08-11T14:58:03.250Z,1754924283.250 [DAT](INFO): Rx dataTimestamp_ set to:1754924283.250065
2025-08-11T14:58:03.251Z,1754924283.251 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.973955
2025-08-11T14:58:03.501Z,1754924283.501 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.223739
2025-08-11T14:58:03.623Z,1754924283.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:03.626Z,1754924283.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 6.193599 m,
      bearing: 142.497443 deg,
      approach rate: -0.496951 m/s,
      LOS rate: -0.506917 deg/s,
      cmd heading: 131.688328 deg,
      new cmd heading: 131.020036 deg.

2025-08-11T14:58:03.627Z,1754924283.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286731 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:03.758Z,1754924283.758 [DAT](INFO): DAT read: 14:58:04.0306 LVL= 25152, 32753, 22178, 32707, AGC= 48, IDX= 419, 0.02, 0.759,-0.908, 1.248, 0.653, PHS= 0.208,-1.516, 0.550, RAW= 158.9,   8.0, CAL= 158.5,   8.2, ROT= 351.5,  -8.2

2025-08-11T14:58:03.760Z,1754924283.760 [DAT](INFO): got valid direction response:
 14:58:04.0306 LVL= 25152, 32753, 22178, 32707, AGC= 48, IDX= 419, 0.02, 0.759,-0.908, 1.248, 0.653, PHS= 0.208,-1.516, 0.550, RAW= 158.9,   8.0, CAL= 158.5,   8.2, ROT= 351.5,  -8.2

2025-08-11T14:58:03.761Z,1754924283.761 [DAT](INFO): DAT read: Bearing 300.5,  -9.3 (Local)

2025-08-11T14:58:03.762Z,1754924283.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.5,  -9.3 (Local)

2025-08-11T14:58:03.763Z,1754924283.763 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m  (Round-trip  8.4 ms) speed  0.4 m/s

2025-08-11T14:58:03.764Z,1754924283.764 [DAT](INFO): DAT read: user:266>

2025-08-11T14:58:03.765Z,1754924283.765 [DAT](INFO): DAT read: Tx time:14:58:05.1180

2025-08-11T14:58:03.765Z,1754924283.765 [DAT](INFO): Ping request sent.
2025-08-11T14:58:03.765Z,1754924283.765 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:03.765Z,1754924283.765 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-11T14:58:03.766Z,1754924283.766 [DAT](INFO): direction in FSK: [0.978904,-0.146298,0.142629]
2025-08-11T14:58:03.766Z,1754924283.766 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:03.767Z,1754924283.767 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:03.770Z,1754924283.770 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:03.770Z,1754924283.770 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:03.773Z,1754924283.773 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.008513
2025-08-11T14:58:04.005Z,1754924284.005 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.239833
2025-08-11T14:58:04.040Z,1754924284.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 3.525357 s,
      deltaX: -1.600000 m,
      approachRate: -0.453855 m/s,
      rangeRepo size: 4

2025-08-11T14:58:04.042Z,1754924284.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.300000 m,
      bearing: 140.717244 deg,
      lat: 36.905880 deg,
      lon: -122.115822 deg,
      deltaT: 7.062503 s,
      deltaX: -3.000000 m,
      approachRate: -0.424779 m/s,
      posRepo size: 4

2025-08-11T14:58:04.052Z,1754924284.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.30 m. 9.30 m.
2025-08-11T14:58:04.054Z,1754924284.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 5.996324 m,
      bearing: 142.325062 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.371229 deg/s,
      cmd heading: 131.020035 deg,
      new cmd heading: 130.555680 deg.

2025-08-11T14:58:04.059Z,1754924284.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278626 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:04.256Z,1754924284.256 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.491116
2025-08-11T14:58:04.427Z,1754924284.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:04.429Z,1754924284.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:04.432Z,1754924284.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 5.791348 m,
      bearing: 142.193570 deg,
      approach rate: -0.526634 m/s,
      LOS rate: -0.349794 deg/s,
      cmd heading: 130.555678 deg,
      new cmd heading: 130.147247 deg.

2025-08-11T14:58:04.433Z,1754924284.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.271498 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:04.508Z,1754924284.508 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.743268
2025-08-11T14:58:04.760Z,1754924284.760 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.995103
2025-08-11T14:58:04.979Z,1754924284.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:05.000Z,1754924285.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 5.517490 m,
      bearing: 142.032637 deg,
      approach rate: -0.499223 m/s,
      LOS rate: -0.307929 deg/s,
      cmd heading: 130.147247 deg,
      new cmd heading: 129.640499 deg.

2025-08-11T14:58:05.002Z,1754924285.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262654 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:05.012Z,1754924285.012 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.247474
2025-08-11T14:58:05.265Z,1754924285.265 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.499624
2025-08-11T14:58:05.405Z,1754924285.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:05.428Z,1754924285.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 5.325773 m,
      bearing: 141.948089 deg,
      approach rate: -0.449212 m/s,
      LOS rate: -0.205237 deg/s,
      cmd heading: 129.640501 deg,
      new cmd heading: 129.377727 deg.

2025-08-11T14:58:05.429Z,1754924285.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258067 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:05.516Z,1754924285.516 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.751307
2025-08-11T14:58:05.766Z,1754924285.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:05.768Z,1754924285.768 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.003301
2025-08-11T14:58:05.771Z,1754924285.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 5.164288 m,
      bearing: 141.891489 deg,
      approach rate: -0.446507 m/s,
      LOS rate: -0.161393 deg/s,
      cmd heading: 129.377730 deg,
      new cmd heading: 129.202621 deg.

2025-08-11T14:58:05.772Z,1754924285.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255011 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:06.020Z,1754924286.020 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.255207
2025-08-11T14:58:06.181Z,1754924286.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:06.188Z,1754924286.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 4.984454 m,
      bearing: 141.846597 deg,
      approach rate: -0.433472 m/s,
      LOS rate: -0.112112 deg/s,
      cmd heading: 129.202618 deg,
      new cmd heading: 129.063083 deg.

2025-08-11T14:58:06.189Z,1754924286.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252576 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:06.273Z,1754924286.273 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.507614
2025-08-11T14:58:06.524Z,1754924286.524 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.759152
2025-08-11T14:58:06.615Z,1754924286.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:06.618Z,1754924286.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:06.629Z,1754924286.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 4.792291 m,
      bearing: 141.861474 deg,
      approach rate: -0.440264 m/s,
      LOS rate: 0.035452 deg/s,
      cmd heading: 129.063077 deg,
      new cmd heading: 129.109498 deg.

2025-08-11T14:58:06.629Z,1754924286.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.253386 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:06.777Z,1754924286.777 [DAT](INFO): DAT read: Rx Time:14:58:07.5284

2025-08-11T14:58:06.777Z,1754924286.777 [DAT](INFO): Rx dataTimestamp_ set to:1754924286.777069
2025-08-11T14:58:06.778Z,1754924286.778 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.013295
2025-08-11T14:58:07.006Z,1754924287.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:07.025Z,1754924287.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 4.610855 m,
      bearing: 141.902416 deg,
      approach rate: -0.467061 m/s,
      LOS rate: 0.109543 deg/s,
      cmd heading: 129.109495 deg,
      new cmd heading: 129.237155 deg.

2025-08-11T14:58:07.026Z,1754924287.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255614 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:07.028Z,1754924287.028 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.263272
2025-08-11T14:58:07.287Z,1754924287.287 [DAT](INFO): DAT read: 14:58:07.5284 LVL= 23072, 32753, 21106, 30867, AGC= 45, IDX= 413, 0.05,-0.357,-1.996, 0.161,-0.431, PHS= 0.176,-1.520, 0.549, RAW= 159.7,   8.4, CAL= 159.4,   8.7, ROT= 350.6,  -8.7

2025-08-11T14:58:07.288Z,1754924287.288 [DAT](INFO): got valid direction response:
 14:58:07.5284 LVL= 23072, 32753, 21106, 30867, AGC= 45, IDX= 413, 0.05,-0.357,-1.996, 0.161,-0.431, PHS= 0.176,-1.520, 0.549, RAW= 159.7,   8.4, CAL= 159.4,   8.7, ROT= 350.6,  -8.7

2025-08-11T14:58:07.290Z,1754924287.290 [DAT](INFO): DAT read: Bearing 296.1, -10.1 (Local)

2025-08-11T14:58:07.290Z,1754924287.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.1, -10.1 (Local)

2025-08-11T14:58:07.292Z,1754924287.292 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m  (Round-trip  6.3 ms) speed  0.4 m/s

2025-08-11T14:58:07.293Z,1754924287.293 [DAT](INFO): DAT read: user:267>

2025-08-11T14:58:07.293Z,1754924287.293 [DAT](INFO): DAT read: Tx time:14:58:08.6179

2025-08-11T14:58:07.294Z,1754924287.294 [DAT](INFO): Ping request sent.
2025-08-11T14:58:07.294Z,1754924287.294 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:07.294Z,1754924287.294 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-11T14:58:07.296Z,1754924287.296 [DAT](INFO): direction in FSK: [0.975221,-0.161447,0.151261]
2025-08-11T14:58:07.296Z,1754924287.296 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:07.296Z,1754924287.296 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:07.307Z,1754924287.307 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:07.308Z,1754924287.308 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:07.338Z,1754924287.338 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.044124
2025-08-11T14:58:07.532Z,1754924287.532 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.238573
2025-08-11T14:58:07.556Z,1754924287.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 3.527435 s,
      deltaX: -1.600000 m,
      approachRate: -0.453588 m/s,
      rangeRepo size: 4

2025-08-11T14:58:07.558Z,1754924287.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.700000 m,
      bearing: 135.212818 deg,
      lat: 36.905883 deg,
      lon: -122.115819 deg,
      deltaT: 10.589938 s,
      deltaX: -4.600000 m,
      approachRate: -0.434375 m/s,
      posRepo size: 4

2025-08-11T14:58:07.559Z,1754924287.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.70 m. 9.30 m.
2025-08-11T14:58:07.577Z,1754924287.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 4.395545 m,
      bearing: 142.156034 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.371229 deg/s,
      cmd heading: 129.237151 deg,
      new cmd heading: 128.630307 deg.

2025-08-11T14:58:07.578Z,1754924287.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245022 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:07.784Z,1754924287.784 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.490351
2025-08-11T14:58:07.839Z,1754924287.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:07.842Z,1754924287.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 4.264785 m,
      bearing: 142.341487 deg,
      approach rate: -0.453950 m/s,
      LOS rate: 0.663558 deg/s,
      cmd heading: 128.630303 deg,
      new cmd heading: 129.203699 deg.

2025-08-11T14:58:07.843Z,1754924287.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255030 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:08.037Z,1754924288.037 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.743310
2025-08-11T14:58:08.285Z,1754924288.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:08.288Z,1754924288.288 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.994577
2025-08-11T14:58:08.290Z,1754924288.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 4.080884 m,
      bearing: 142.649420 deg,
      approach rate: -0.412081 m/s,
      LOS rate: 0.721100 deg/s,
      cmd heading: 129.203697 deg,
      new cmd heading: 130.169028 deg.

2025-08-11T14:58:08.291Z,1754924288.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.271878 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:08.542Z,1754924288.542 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.248327
2025-08-11T14:58:08.719Z,1754924288.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:08.722Z,1754924288.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:08.725Z,1754924288.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 3.906176 m,
      bearing: 143.144184 deg,
      approach rate: -0.400197 m/s,
      LOS rate: 1.184010 deg/s,
      cmd heading: 130.169035 deg,
      new cmd heading: 131.719316 deg.

2025-08-11T14:58:08.726Z,1754924288.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298936 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:08.796Z,1754924288.796 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.502646
2025-08-11T14:58:09.048Z,1754924289.048 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.754441
2025-08-11T14:58:09.206Z,1754924289.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:09.208Z,1754924289.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 3.713759 m,
      bearing: 143.829233 deg,
      approach rate: -0.397696 m/s,
      LOS rate: 1.489221 deg/s,
      cmd heading: 131.719310 deg,
      new cmd heading: 133.879862 deg.

2025-08-11T14:58:09.209Z,1754924289.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336644 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:09.300Z,1754924289.300 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.006392
2025-08-11T14:58:09.552Z,1754924289.552 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.258716
2025-08-11T14:58:09.634Z,1754924289.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:09.637Z,1754924289.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 3.550911 m,
      bearing: 144.647654 deg,
      approach rate: -0.379912 m/s,
      LOS rate: 1.996808 deg/s,
      cmd heading: 133.879863 deg,
      new cmd heading: 136.445924 deg.

2025-08-11T14:58:09.638Z,1754924289.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381431 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:09.804Z,1754924289.804 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.510503
2025-08-11T14:58:10.032Z,1754924290.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:10.034Z,1754924290.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 3.403884 m,
      bearing: 145.475316 deg,
      approach rate: -0.377636 m/s,
      LOS rate: 2.217580 deg/s,
      cmd heading: 136.445924 deg,
      new cmd heading: 139.034307 deg.

2025-08-11T14:58:10.040Z,1754924290.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426606 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:10.056Z,1754924290.056 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.762604
2025-08-11T14:58:10.308Z,1754924290.308 [DAT](INFO): DAT read: Rx Time:14:58:11.0263

2025-08-11T14:58:10.309Z,1754924290.309 [DAT](INFO): Rx dataTimestamp_ set to:1754924290.308401
2025-08-11T14:58:10.309Z,1754924290.309 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.015502
2025-08-11T14:58:10.506Z,1754924290.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:10.513Z,1754924290.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 3.228737 m,
      bearing: 146.850629 deg,
      approach rate: -0.362847 m/s,
      LOS rate: 3.003473 deg/s,
      cmd heading: 139.034306 deg,
      new cmd heading: 143.375319 deg.

2025-08-11T14:58:10.514Z,1754924290.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502371 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:10.561Z,1754924290.561 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.267401
2025-08-11T14:58:10.818Z,1754924290.818 [DAT](INFO): DAT read: 14:58:11.0263 LVL= 23120, 32753, 29282, 32755, AGC= 40, IDX= 425,-0.27,-1.685, 2.998,-1.394,-1.653, PHS= 0.071,-1.587, 0.215, RAW= 154.1,  14.8, CAL= 154.6,  16.8, ROT= 355.4, -16.8

2025-08-11T14:58:10.819Z,1754924290.819 [DAT](INFO): got valid direction response:
 14:58:11.0263 LVL= 23120, 32753, 29282, 32755, AGC= 40, IDX= 425,-0.27,-1.685, 2.998,-1.394,-1.653, PHS= 0.071,-1.587, 0.215, RAW= 154.1,  14.8, CAL= 154.6,  16.8, ROT= 355.4, -16.8

2025-08-11T14:58:10.820Z,1754924290.820 [DAT](INFO): DAT read: Bearing 300.4,  -6.9 (Local)

2025-08-11T14:58:10.820Z,1754924290.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.4,  -6.9 (Local)

2025-08-11T14:58:10.822Z,1754924290.822 [DAT](INFO): DAT read: Range 11 to 50 : 3.1 m  (Round-trip  4.2 ms) speed  0.3 m/s

2025-08-11T14:58:10.822Z,1754924290.822 [DAT](INFO): DAT read: user:268>

2025-08-11T14:58:10.823Z,1754924290.823 [DAT](INFO): DAT read: Tx time:14:58:12.1179

2025-08-11T14:58:10.824Z,1754924290.824 [DAT](INFO): Ping request sent.
2025-08-11T14:58:10.824Z,1754924290.824 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:10.824Z,1754924290.824 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-11T14:58:10.825Z,1754924290.825 [DAT](INFO): direction in FSK: [0.954236,-0.076776,0.289032]
2025-08-11T14:58:10.825Z,1754924290.825 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:10.826Z,1754924290.826 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:10.829Z,1754924290.829 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:10.829Z,1754924290.829 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:10.833Z,1754924290.833 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.009199
2025-08-11T14:58:10.880Z,1754924290.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.100000 m,
      deltaT: 3.532146 s,
      deltaX: -1.600000 m,
      approachRate: -0.452982 m/s,
      rangeRepo size: 4

2025-08-11T14:58:10.882Z,1754924290.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.100000 m,
      bearing: 132.841682 deg,
      lat: 36.905884 deg,
      lon: -122.115817 deg,
      deltaT: 14.122084 s,
      deltaX: -6.200000 m,
      approachRate: -0.439029 m/s,
      posRepo size: 4

2025-08-11T14:58:10.883Z,1754924290.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.10 m. 9.30 m.
2025-08-11T14:58:10.890Z,1754924290.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 3.101761 m,
      bearing: 147.967306 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.371229 deg/s,
      cmd heading: 143.375315 deg,
      new cmd heading: 142.977784 deg.

2025-08-11T14:58:10.891Z,1754924290.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495433 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:11.064Z,1754924291.064 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.240495
2025-08-11T14:58:11.229Z,1754924291.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:11.231Z,1754924291.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:11.234Z,1754924291.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 2.961735 m,
      bearing: 149.331931 deg,
      approach rate: -0.380755 m/s,
      LOS rate: 3.885705 deg/s,
      cmd heading: 142.977784 deg,
      new cmd heading: 147.256832 deg.

2025-08-11T14:58:11.235Z,1754924291.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570117 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:11.317Z,1754924291.317 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.493443
2025-08-11T14:58:11.568Z,1754924291.568 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.744399
2025-08-11T14:58:11.665Z,1754924291.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:11.668Z,1754924291.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 2.806877 m,
      bearing: 151.061138 deg,
      approach rate: -0.356669 m/s,
      LOS rate: 4.201816 deg/s,
      cmd heading: 147.256829 deg,
      new cmd heading: 152.713270 deg.

2025-08-11T14:58:11.669Z,1754924291.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665349 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:11.820Z,1754924291.820 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.996483
2025-08-11T14:58:12.042Z,1754924292.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:12.044Z,1754924292.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 2.674244 m,
      bearing: 152.723673 deg,
      approach rate: -0.352337 m/s,
      LOS rate: 4.634882 deg/s,
      cmd heading: 152.713276 deg,
      new cmd heading: 157.933025 deg.

2025-08-11T14:58:12.045Z,1754924292.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.756451 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:12.072Z,1754924292.072 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.248365
2025-08-11T14:58:12.324Z,1754924292.324 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.500735
2025-08-11T14:58:12.512Z,1754924292.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:12.515Z,1754924292.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 2.513621 m,
      bearing: 155.129815 deg,
      approach rate: -0.341355 m/s,
      LOS rate: 5.438693 deg/s,
      cmd heading: 157.933030 deg,
      new cmd heading: 165.565002 deg.

2025-08-11T14:58:12.516Z,1754924292.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.889654 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:12.576Z,1754924292.576 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.752605
2025-08-11T14:58:12.828Z,1754924292.828 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.004591
2025-08-11T14:58:12.852Z,1754924292.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:12.855Z,1754924292.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 2.405559 m,
      bearing: 156.954477 deg,
      approach rate: -0.317913 m/s,
      LOS rate: 5.608253 deg/s,
      cmd heading: 165.565001 deg,
      new cmd heading: 171.265043 deg.

2025-08-11T14:58:12.860Z,1754924292.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.989139 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:13.080Z,1754924293.080 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.256388
2025-08-11T14:58:13.238Z,1754924293.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:13.240Z,1754924293.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:13.243Z,1754924293.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 2.273581 m,
      bearing: 159.446893 deg,
      approach rate: -0.339898 m/s,
      LOS rate: 6.789460 deg/s,
      cmd heading: 171.265040 deg,
      new cmd heading: 179.124174 deg.

2025-08-11T14:58:13.244Z,1754924293.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.126307 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:13.333Z,1754924293.333 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.509576
2025-08-11T14:58:13.584Z,1754924293.584 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.760421
2025-08-11T14:58:13.674Z,1754924293.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:13.677Z,1754924293.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 2.120319 m,
      bearing: 162.223885 deg,
      approach rate: -0.353297 m/s,
      LOS rate: 6.861535 deg/s,
      cmd heading: 179.124170 deg,
      new cmd heading: 187.982569 deg.

2025-08-11T14:58:13.678Z,1754924293.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.280915 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:13.837Z,1754924293.837 [DAT](INFO): DAT read: Rx Time:14:58:14.5248

2025-08-11T14:58:13.837Z,1754924293.837 [DAT](INFO): Rx dataTimestamp_ set to:1754924293.836836
2025-08-11T14:58:13.838Z,1754924293.838 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.013978
2025-08-11T14:58:14.057Z,1754924294.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.30 m.
2025-08-11T14:58:14.059Z,1754924294.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.300000 m,
      nav range: 1.989019 m,
      bearing: 164.961199 deg,
      approach rate: -0.344187 m/s,
      LOS rate: 7.646292 deg/s,
      cmd heading: 187.982570 deg,
      new cmd heading: 196.666167 deg.

2025-08-11T14:58:14.060Z,1754924294.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.432472 target range: 9.300000 and range: 9.30 m.
2025-08-11T14:58:14.088Z,1754924294.088 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.264516
2025-08-11T14:58:14.346Z,1754924294.346 [DAT](INFO): DAT read: 14:58:14.5248 LVL= 26912, 20561, 28978, 28083, AGC= 41, IDX= 425,-0.01,-2.586,-0.643,-2.468,-0.824, PHS=-1.660, 0.226,-1.688, RAW= 330.7,  30.2, CAL= 330.1,  35.4, ROT= 179.9, -35.4

2025-08-11T14:58:14.347Z,1754924294.347 [DAT](INFO): got valid direction response:
 14:58:14.5248 LVL= 26912, 20561, 28978, 28083, AGC= 41, IDX= 425,-0.01,-2.586,-0.643,-2.468,-0.824, PHS=-1.660, 0.226,-1.688, RAW= 330.7,  30.2, CAL= 330.1,  35.4, ROT= 179.9, -35.4

2025-08-11T14:58:14.348Z,1754924294.348 [DAT](INFO): DAT read: Bearing  69.4,  -2.1 (Local)

2025-08-11T14:58:14.348Z,1754924294.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.4,  -2.1 (Local)

2025-08-11T14:58:14.352Z,1754924294.352 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.3 m/s

2025-08-11T14:58:14.355Z,1754924294.355 [DAT](INFO): DAT read: user:269>

2025-08-11T14:58:14.374Z,1754924294.374 [DAT](INFO): DAT read: Tx time:14:58:15.6179

2025-08-11T14:58:14.374Z,1754924294.374 [DAT](INFO): Ping request sent.
2025-08-11T14:58:14.374Z,1754924294.374 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:14.374Z,1754924294.374 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-11T14:58:14.376Z,1754924294.376 [DAT](INFO): direction in FSK: [-0.815127,0.001423,0.579281]
2025-08-11T14:58:14.376Z,1754924294.376 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:14.376Z,1754924294.376 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:14.386Z,1754924294.386 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:14.387Z,1754924294.387 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:14.402Z,1754924294.402 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.028106
2025-08-11T14:58:14.592Z,1754924294.592 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.218186
2025-08-11T14:58:14.604Z,1754924294.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.527905 s,
      deltaX: -1.100000 m,
      approachRate: -0.311800 m/s,
      rangeRepo size: 4

2025-08-11T14:58:14.606Z,1754924294.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.000000 m,
      bearing: 137.910883 deg,
      lat: 36.905886 deg,
      lon: -122.115817 deg,
      deltaT: 17.649989 s,
      deltaX: -7.300000 m,
      approachRate: -0.413598 m/s,
      posRepo size: 4

2025-08-11T14:58:14.611Z,1754924294.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.00 m.
2025-08-11T14:58:14.611Z,1754924294.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-11T14:58:14.844Z,1754924294.844 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.470108
2025-08-11T14:58:15.096Z,1754924295.096 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.722201
2025-08-11T14:58:15.348Z,1754924295.348 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.974120
2025-08-11T14:58:15.359Z,1754924295.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:15.601Z,1754924295.601 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.227222
2025-08-11T14:58:15.853Z,1754924295.853 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.479154
2025-08-11T14:58:16.104Z,1754924296.104 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.729972
2025-08-11T14:58:16.358Z,1754924296.358 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.984026
2025-08-11T14:58:16.608Z,1754924296.608 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.234212
2025-08-11T14:58:16.860Z,1754924296.860 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.486372
2025-08-11T14:58:16.987Z,1754924296.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-08-11T14:58:16.987Z,1754924296.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.00 m.
2025-08-11T14:58:16.988Z,1754924296.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-11T14:58:17.112Z,1754924297.112 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.738123
2025-08-11T14:58:17.359Z,1754924297.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m.
2025-08-11T14:58:17.364Z,1754924297.364 [DAT](INFO): DAT read: Rx Time:14:58:18.0232

2025-08-11T14:58:17.365Z,1754924297.365 [DAT](INFO): Rx dataTimestamp_ set to:1754924297.364524
2025-08-11T14:58:17.365Z,1754924297.365 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.991293
2025-08-11T14:58:17.616Z,1754924297.616 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.242037
2025-08-11T14:58:17.803Z,1754924297.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:17.870Z,1754924297.870 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T14:58:17.871Z,1754924297.871 [DAT](INFO): DAT read: user:270>

2025-08-11T14:58:17.872Z,1754924297.872 [DAT](INFO): DAT read: Tx time:14:58:19.1179

2025-08-11T14:58:17.873Z,1754924297.873 [DAT](INFO): Ping request sent.
2025-08-11T14:58:17.873Z,1754924297.873 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:17.874Z,1754924297.874 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-08-11T14:58:17.874Z,1754924297.874 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:17.875Z,1754924297.875 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:17.876Z,1754924297.876 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.003146
2025-08-11T14:58:18.120Z,1754924298.120 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.246944
2025-08-11T14:58:18.179Z,1754924298.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 3.528675 s,
      deltaX: -1.200000 m,
      approachRate: -0.340071 m/s,
      rangeRepo size: 4

2025-08-11T14:58:18.373Z,1754924298.373 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.499448
2025-08-11T14:58:18.624Z,1754924298.624 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.751083
2025-08-11T14:58:18.876Z,1754924298.876 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.003056
2025-08-11T14:58:19.128Z,1754924299.128 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.254947
2025-08-11T14:58:19.380Z,1754924299.380 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.507077
2025-08-11T14:58:19.633Z,1754924299.633 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.760247
2025-08-11T14:58:19.817Z,1754924299.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:19.885Z,1754924299.885 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.011402
2025-08-11T14:58:20.136Z,1754924300.136 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.262902
2025-08-11T14:58:20.388Z,1754924300.388 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.515064
2025-08-11T14:58:20.640Z,1754924300.640 [DAT](INFO): DAT read: Rx Time:14:58:21.5231

2025-08-11T14:58:20.641Z,1754924300.641 [DAT](INFO): Rx dataTimestamp_ set to:1754924300.640444
2025-08-11T14:58:20.641Z,1754924300.641 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.768121
2025-08-11T14:58:20.892Z,1754924300.892 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.019285
2025-08-11T14:58:21.148Z,1754924301.148 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.273824
2025-08-11T14:58:21.402Z,1754924301.402 [DAT](INFO): DAT read: 14:58:21.5231 LVL= 20832, 30689, 32754, 32755, AGC= 36, IDX= 438, 0.27, 1.208,-0.353, 0.116, 1.382, PHS=-0.073,-1.691,-1.310, RAW= 103.0,  36.6, CAL= 100.7,  43.7, ROT=  49.3, -43.7

2025-08-11T14:58:21.403Z,1754924301.403 [DAT](INFO): got valid direction response:
 14:58:21.5231 LVL= 20832, 30689, 32754, 32755, AGC= 36, IDX= 438, 0.27, 1.208,-0.353, 0.116, 1.382, PHS=-0.073,-1.691,-1.310, RAW= 103.0,  36.6, CAL= 100.7,  43.7, ROT=  49.3, -43.7

2025-08-11T14:58:21.404Z,1754924301.404 [DAT](INFO): DAT read: Bearing 350.6,  33.1 (Local)

2025-08-11T14:58:21.404Z,1754924301.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  33.1 (Local)

2025-08-11T14:58:21.406Z,1754924301.406 [DAT](INFO): DAT read: Range 11 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-08-11T14:58:21.407Z,1754924301.407 [DAT](INFO): DAT read: user:271>

2025-08-11T14:58:21.407Z,1754924301.407 [DAT](INFO): DAT read: Tx time:14:58:22.6179

2025-08-11T14:58:21.408Z,1754924301.408 [DAT](INFO): Ping request sent.
2025-08-11T14:58:21.408Z,1754924301.408 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:21.408Z,1754924301.408 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-11T14:58:21.409Z,1754924301.409 [DAT](INFO): direction in FSK: [0.471446,0.548106,0.690882]
2025-08-11T14:58:21.409Z,1754924301.409 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:21.410Z,1754924301.410 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:21.413Z,1754924301.413 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:21.413Z,1754924301.413 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:21.420Z,1754924301.420 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.012548
2025-08-11T14:58:21.432Z,1754924301.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.700000 m,
      deltaT: 3.527427 s,
      deltaX: -0.100000 m,
      approachRate: -0.028349 m/s,
      rangeRepo size: 4

2025-08-11T14:58:21.434Z,1754924301.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.700000 m,
      bearing: 44.605680 deg,
      lat: 36.905886 deg,
      lon: -122.115817 deg,
      deltaT: 7.056102 s,
      deltaX: -1.300000 m,
      approachRate: -0.184238 m/s,
      posRepo size: 4

2025-08-11T14:58:21.648Z,1754924301.648 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.240353
2025-08-11T14:58:21.855Z,1754924301.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:21.901Z,1754924301.901 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.493076
2025-08-11T14:58:22.152Z,1754924302.152 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.744199
2025-08-11T14:58:22.408Z,1754924302.408 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.000177
2025-08-11T14:58:22.656Z,1754924302.656 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.248394
2025-08-11T14:58:22.909Z,1754924302.909 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.500839
2025-08-11T14:58:23.164Z,1754924303.164 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.755877
2025-08-11T14:58:23.412Z,1754924303.412 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.004382
2025-08-11T14:58:23.664Z,1754924303.664 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.256212
2025-08-11T14:58:23.873Z,1754924303.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:23.917Z,1754924303.917 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.509262
2025-08-11T14:58:24.168Z,1754924304.168 [DAT](INFO): DAT read: Rx Time:14:58:25.0231

2025-08-11T14:58:24.169Z,1754924304.169 [DAT](INFO): Rx dataTimestamp_ set to:1754924304.168389
2025-08-11T14:58:24.169Z,1754924304.169 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.761319
2025-08-11T14:58:24.420Z,1754924304.420 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.012202
2025-08-11T14:58:24.673Z,1754924304.673 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T14:58:24.674Z,1754924304.674 [DAT](INFO): DAT read: user:272>

2025-08-11T14:58:24.674Z,1754924304.674 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-08-11T14:58:24.675Z,1754924304.675 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.267550
2025-08-11T14:58:24.728Z,1754924304.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 3.276252 s,
      deltaX: 0.100000 m,
      approachRate: 0.030523 m/s,
      rangeRepo size: 4

2025-08-11T14:58:24.729Z,1754924304.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 0.80 m.
2025-08-11T14:58:24.925Z,1754924304.925 [DAT](INFO): DAT read: Tx time:14:58:26.1178

2025-08-11T14:58:24.925Z,1754924304.925 [DAT](INFO): Ping request sent.
2025-08-11T14:58:24.926Z,1754924304.926 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:24.926Z,1754924304.926 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:24.927Z,1754924304.927 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.001111
2025-08-11T14:58:25.176Z,1754924305.176 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.250566
2025-08-11T14:58:25.433Z,1754924305.433 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.507351
2025-08-11T14:58:25.684Z,1754924305.684 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.758644
2025-08-11T14:58:25.887Z,1754924305.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:25.938Z,1754924305.938 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.012413
2025-08-11T14:58:26.188Z,1754924306.188 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.262836
2025-08-11T14:58:26.441Z,1754924306.441 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.515324
2025-08-11T14:58:26.692Z,1754924306.692 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.766668
2025-08-11T14:58:26.948Z,1754924306.948 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.022272
2025-08-11T14:58:27.197Z,1754924307.197 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.271255
2025-08-11T14:58:27.449Z,1754924307.449 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.523496
2025-08-11T14:58:27.700Z,1754924307.700 [DAT](INFO): DAT read: Rx Time:14:58:28.5231

2025-08-11T14:58:27.701Z,1754924307.701 [DAT](INFO): Rx dataTimestamp_ set to:1754924307.700376
2025-08-11T14:58:27.701Z,1754924307.701 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.775665
2025-08-11T14:58:27.922Z,1754924307.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:27.954Z,1754924307.954 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.027847
2025-08-11T14:58:28.210Z,1754924308.210 [DAT](INFO): DAT read: 14:58:28.5231 LVL= 31888, 32241, 32754, 32755, AGC= 36, IDX= 439,-0.26, 0.218, 1.521, 1.686, 2.665, PHS=-2.345,-1.100,-1.023, RAW= 267.1,  50.9, CAL= 268.7,  57.0, ROT= 241.3, -57.0

2025-08-11T14:58:28.211Z,1754924308.211 [DAT](INFO): got valid direction response:
 14:58:28.5231 LVL= 31888, 32241, 32754, 32755, AGC= 36, IDX= 439,-0.26, 0.218, 1.521, 1.686, 2.665, PHS=-2.345,-1.100,-1.023, RAW= 267.1,  50.9, CAL= 268.7,  57.0, ROT= 241.3, -57.0

2025-08-11T14:58:28.216Z,1754924308.216 [DAT](INFO): DAT read: Bearing  31.9, -30.6 (Local)

2025-08-11T14:58:28.216Z,1754924308.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.9, -30.6 (Local)

2025-08-11T14:58:28.218Z,1754924308.218 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T14:58:28.218Z,1754924308.218 [DAT](INFO): DAT read: user:273>

2025-08-11T14:58:28.228Z,1754924308.228 [DAT](INFO): DAT read: Tx time:14:58:29.6178

2025-08-11T14:58:28.228Z,1754924308.228 [DAT](INFO): Ping request sent.
2025-08-11T14:58:28.228Z,1754924308.228 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:28.228Z,1754924308.228 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-11T14:58:28.229Z,1754924308.229 [DAT](INFO): direction in FSK: [-0.261548,-0.477728,0.838671]
2025-08-11T14:58:28.230Z,1754924308.230 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:28.230Z,1754924308.230 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:28.233Z,1754924308.233 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:28.233Z,1754924308.233 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:28.273Z,1754924308.273 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.044633
2025-08-11T14:58:28.338Z,1754924308.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 3.531673 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:58:28.342Z,1754924308.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 157.681350 deg,
      lat: 36.905886 deg,
      lon: -122.115820 deg,
      deltaT: 6.807925 s,
      deltaX: 0.100000 m,
      approachRate: 0.014689 m/s,
      posRepo size: 4

2025-08-11T14:58:28.458Z,1754924308.458 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.229530
2025-08-11T14:58:28.708Z,1754924308.708 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.480299
2025-08-11T14:58:28.960Z,1754924308.960 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.732315
2025-08-11T14:58:29.213Z,1754924309.213 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.984638
2025-08-11T14:58:29.464Z,1754924309.464 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.236181
2025-08-11T14:58:29.718Z,1754924309.718 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.490299
2025-08-11T14:58:29.956Z,1754924309.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:29.971Z,1754924309.971 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.742910
2025-08-11T14:58:30.221Z,1754924310.221 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.993188
2025-08-11T14:58:30.472Z,1754924310.472 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.244227
2025-08-11T14:58:30.724Z,1754924310.724 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.496209
2025-08-11T14:58:30.976Z,1754924310.976 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.748173
2025-08-11T14:58:31.228Z,1754924311.228 [DAT](INFO): DAT read: Rx Time:14:58:32.0229

2025-08-11T14:58:31.229Z,1754924311.229 [DAT](INFO): Rx dataTimestamp_ set to:1754924311.228275
2025-08-11T14:58:31.229Z,1754924311.229 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.001151
2025-08-11T14:58:31.480Z,1754924311.480 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.252140
2025-08-11T14:58:31.749Z,1754924311.749 [DAT](INFO): DAT read: 14:58:32.0229 LVL= 24496, 20369, 21490, 23475, AGC= 37, IDX= 439,-0.36,-0.495, 0.739,-0.860, 0.900, PHS=-1.294,-0.116,-1.804, RAW= 347.2,  37.2, CAL= 345.7,  42.2, ROT= 164.3, -42.2

2025-08-11T14:58:31.751Z,1754924311.751 [DAT](INFO): got valid direction response:
 14:58:32.0229 LVL= 24496, 20369, 21490, 23475, AGC= 37, IDX= 439,-0.36,-0.495, 0.739,-0.860, 0.900, PHS=-1.294,-0.116,-1.804, RAW= 347.2,  37.2, CAL= 345.7,  42.2, ROT= 164.3, -42.2

2025-08-11T14:58:31.753Z,1754924311.753 [DAT](INFO): DAT read: Bearing  70.5,  12.5 (Local)

2025-08-11T14:58:31.753Z,1754924311.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.5,  12.5 (Local)

2025-08-11T14:58:31.755Z,1754924311.755 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T14:58:31.755Z,1754924311.755 [DAT](INFO): DAT read: user:274>

2025-08-11T14:58:31.756Z,1754924311.756 [DAT](INFO): DAT read: Tx time:14:58:33.1178

2025-08-11T14:58:31.756Z,1754924311.756 [DAT](INFO): Ping request sent.
2025-08-11T14:58:31.756Z,1754924311.756 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:31.757Z,1754924311.757 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-11T14:58:31.758Z,1754924311.758 [DAT](INFO): direction in FSK: [-0.713167,0.200462,0.671721]
2025-08-11T14:58:31.758Z,1754924311.758 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:31.758Z,1754924311.758 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:31.784Z,1754924311.784 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:31.784Z,1754924311.784 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:31.804Z,1754924311.804 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.047347
2025-08-11T14:58:31.984Z,1754924311.984 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.227732
2025-08-11T14:58:32.005Z,1754924312.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.529855 s,
      deltaX: -0.200000 m,
      approachRate: -0.056660 m/s,
      rangeRepo size: 4

2025-08-11T14:58:32.008Z,1754924312.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 343.878358 deg,
      lat: 36.905891 deg,
      lon: -122.115823 deg,
      deltaT: 3.529855 s,
      deltaX: -0.200000 m,
      approachRate: -0.056660 m/s,
      posRepo size: 4

2025-08-11T14:58:32.236Z,1754924312.236 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.479598
2025-08-11T14:58:32.334Z,1754924312.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:32.488Z,1754924312.488 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.731641
2025-08-11T14:58:32.744Z,1754924312.744 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.986477
2025-08-11T14:58:32.992Z,1754924312.992 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.235575
2025-08-11T14:58:33.245Z,1754924313.245 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.488123
2025-08-11T14:58:33.497Z,1754924313.497 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.740018
2025-08-11T14:58:33.751Z,1754924313.751 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.994047
2025-08-11T14:58:34.000Z,1754924314.000 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.243807
2025-08-11T14:58:34.252Z,1754924314.252 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.495986
2025-08-11T14:58:34.356Z,1754924314.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:34.504Z,1754924314.504 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.747627
2025-08-11T14:58:34.759Z,1754924314.759 [DAT](INFO): DAT read: Rx Time:14:58:35.5230

2025-08-11T14:58:34.761Z,1754924314.761 [DAT](INFO): Rx dataTimestamp_ set to:1754924314.759979
2025-08-11T14:58:34.763Z,1754924314.763 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.005781
2025-08-11T14:58:35.008Z,1754924315.008 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.251610
2025-08-11T14:58:35.262Z,1754924315.262 [DAT](INFO): DAT read: Range 11 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-08-11T14:58:35.263Z,1754924315.263 [DAT](INFO): DAT read: user:275>

2025-08-11T14:58:35.264Z,1754924315.264 [DAT](INFO): DAT read: Tx time:14:58:36.6178

2025-08-11T14:58:35.264Z,1754924315.264 [DAT](INFO): Ping request sent.
2025-08-11T14:58:35.264Z,1754924315.264 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:35.264Z,1754924315.264 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-08-11T14:58:35.265Z,1754924315.265 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:35.265Z,1754924315.265 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:35.266Z,1754924315.266 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.001878
2025-08-11T14:58:35.512Z,1754924315.512 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.248031
2025-08-11T14:58:35.623Z,1754924315.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.700000 m,
      deltaT: 3.526973 s,
      deltaX: 0.100000 m,
      approachRate: 0.028353 m/s,
      rangeRepo size: 4

2025-08-11T14:58:35.767Z,1754924315.767 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.502329
2025-08-11T14:58:36.017Z,1754924316.017 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.752648
2025-08-11T14:58:36.269Z,1754924316.269 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.004794
2025-08-11T14:58:36.405Z,1754924316.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:36.520Z,1754924316.520 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.256022
2025-08-11T14:58:36.778Z,1754924316.778 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.513011
2025-08-11T14:58:37.024Z,1754924317.024 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.760008
2025-08-11T14:58:37.277Z,1754924317.277 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.012483
2025-08-11T14:58:37.528Z,1754924317.528 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.264035
2025-08-11T14:58:37.784Z,1754924317.784 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.519441
2025-08-11T14:58:38.032Z,1754924318.032 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.767900
2025-08-11T14:58:38.284Z,1754924318.284 [DAT](INFO): DAT read: Rx Time:14:58:39.0231

2025-08-11T14:58:38.285Z,1754924318.285 [DAT](INFO): Rx dataTimestamp_ set to:1754924318.284387
2025-08-11T14:58:38.285Z,1754924318.285 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.021085
2025-08-11T14:58:38.445Z,1754924318.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:38.536Z,1754924318.536 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.271976
2025-08-11T14:58:38.817Z,1754924318.817 [DAT](INFO): DAT read: 14:58:39.0231 LVL= 23472, 27409, 32754, 32755, AGC= 35, IDX= 439,-0.01, 0.138,-1.421,-0.848, 0.339, PHS=-0.099,-1.715,-1.231, RAW= 107.0,  36.9, CAL= 104.4,  44.0, ROT=  45.6, -44.0

2025-08-11T14:58:38.821Z,1754924318.821 [DAT](INFO): got valid direction response:
 14:58:39.0231 LVL= 23472, 27409, 32754, 32755, AGC= 35, IDX= 439,-0.01, 0.138,-1.421,-0.848, 0.339, PHS=-0.099,-1.715,-1.231, RAW= 107.0,  36.9, CAL= 104.4,  44.0, ROT=  45.6, -44.0

2025-08-11T14:58:38.824Z,1754924318.824 [DAT](INFO): DAT read: Bearing 360.0,  30.6 (Local)

2025-08-11T14:58:38.825Z,1754924318.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  30.6 (Local)

2025-08-11T14:58:38.895Z,1754924318.895 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T14:58:38.900Z,1754924318.900 [DAT](INFO): DAT read: user:276>

2025-08-11T14:58:38.901Z,1754924318.901 [DAT](INFO): DAT read: Tx time:14:58:40.1178

2025-08-11T14:58:38.901Z,1754924318.901 [DAT](INFO): Ping request sent.
2025-08-11T14:58:38.902Z,1754924318.902 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:38.903Z,1754924318.903 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-11T14:58:38.917Z,1754924318.917 [DAT](INFO): direction in FSK: [0.503296,0.513949,0.694658]
2025-08-11T14:58:38.918Z,1754924318.918 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:38.918Z,1754924318.918 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:38.941Z,1754924318.941 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:38.941Z,1754924318.941 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:38.954Z,1754924318.954 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.052464
2025-08-11T14:58:39.040Z,1754924319.040 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.138927
2025-08-11T14:58:39.045Z,1754924319.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 3.528891 s,
      deltaX: 0.100000 m,
      approachRate: 0.028338 m/s,
      rangeRepo size: 4

2025-08-11T14:58:39.052Z,1754924319.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 9.302725 deg,
      lat: 36.905891 deg,
      lon: -122.115826 deg,
      deltaT: 7.055864 s,
      deltaX: 0.200000 m,
      approachRate: 0.028345 m/s,
      posRepo size: 4

2025-08-11T14:58:39.292Z,1754924319.292 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.390975
2025-08-11T14:58:39.544Z,1754924319.544 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.642817
2025-08-11T14:58:39.796Z,1754924319.796 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.894773
2025-08-11T14:58:40.049Z,1754924320.049 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.147421
2025-08-11T14:58:40.300Z,1754924320.300 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.398774
2025-08-11T14:58:40.553Z,1754924320.553 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.651404
2025-08-11T14:58:40.754Z,1754924320.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:40.808Z,1754924320.808 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.905946
2025-08-11T14:58:41.056Z,1754924321.056 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.154755
2025-08-11T14:58:41.308Z,1754924321.308 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.406783
2025-08-11T14:58:41.560Z,1754924321.560 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.658962
2025-08-11T14:58:41.812Z,1754924321.812 [DAT](INFO): DAT read: Rx Time:14:58:42.5230

2025-08-11T14:58:41.813Z,1754924321.813 [DAT](INFO): Rx dataTimestamp_ set to:1754924321.812647
2025-08-11T14:58:41.816Z,1754924321.816 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.913438
2025-08-11T14:58:42.083Z,1754924322.083 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.165578
2025-08-11T14:58:42.322Z,1754924322.322 [DAT](INFO): DAT read: 14:58:42.5230 LVL= 23952, 30449, 32754, 32755, AGC= 36, IDX= 439, 0.07,-0.375,-1.638,-0.788, 0.444, PHS=-0.716,-2.036,-1.276, RAW= 125.0,  51.1, CAL= 125.9,  58.1, ROT=  24.1, -58.1

2025-08-11T14:58:42.323Z,1754924322.323 [DAT](INFO): got valid direction response:
 14:58:42.5230 LVL= 23952, 30449, 32754, 32755, AGC= 36, IDX= 439, 0.07,-0.375,-1.638,-0.788, 0.444, PHS=-0.716,-2.036,-1.276, RAW= 125.0,  51.1, CAL= 125.9,  58.1, ROT=  24.1, -58.1

2025-08-11T14:58:42.324Z,1754924322.324 [DAT](INFO): DAT read: Bearing 352.1,  12.6 (Local)

2025-08-11T14:58:42.324Z,1754924322.324 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.1,  12.6 (Local)

2025-08-11T14:58:42.325Z,1754924322.325 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T14:58:42.326Z,1754924322.326 [DAT](INFO): DAT read: user:277>

2025-08-11T14:58:42.327Z,1754924322.327 [DAT](INFO): DAT read: Tx time:14:58:43.6177

2025-08-11T14:58:42.327Z,1754924322.327 [DAT](INFO): Ping request sent.
2025-08-11T14:58:42.327Z,1754924322.327 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:42.328Z,1754924322.328 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-11T14:58:42.329Z,1754924322.329 [DAT](INFO): direction in FSK: [0.482377,0.215777,0.848972]
2025-08-11T14:58:42.329Z,1754924322.329 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:42.329Z,1754924322.329 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:42.332Z,1754924322.332 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:42.332Z,1754924322.332 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:42.336Z,1754924322.336 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.008261
2025-08-11T14:58:42.501Z,1754924322.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 3.526221 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:58:42.509Z,1754924322.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 148.519913 deg,
      lat: 36.905880 deg,
      lon: -122.115826 deg,
      deltaT: 3.526221 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-11T14:58:42.569Z,1754924322.569 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.241589
2025-08-11T14:58:42.820Z,1754924322.820 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.492942
2025-08-11T14:58:42.916Z,1754924322.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:43.073Z,1754924323.073 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.746065
2025-08-11T14:58:43.328Z,1754924323.328 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.000328
2025-08-11T14:58:43.454Z,1754924323.454 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-11T14:48:43.1Z
2025-08-11T14:58:43.455Z,1754924323.455 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-11T14:58:43.455Z,1754924323.455 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-11T14:58:43.455Z,1754924323.455 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-11T14:58:43.455Z,1754924323.455 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-11T14:58:43.456Z,1754924323.456 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-11T14:58:43.576Z,1754924323.576 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.248808
2025-08-11T14:58:43.816Z,1754924323.816 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-11T14:58:43.817Z,1754924323.817 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-11T14:58:43.817Z,1754924323.817 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-11T14:58:43.817Z,1754924323.817 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-11T14:58:43.817Z,1754924323.817 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-11T14:58:43.828Z,1754924323.828 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.500917
2025-08-11T14:58:44.080Z,1754924324.080 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.752702
2025-08-11T14:58:44.332Z,1754924324.332 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.005134
2025-08-11T14:58:44.585Z,1754924324.585 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.257173
2025-08-11T14:58:44.836Z,1754924324.836 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.508750
2025-08-11T14:58:45.088Z,1754924325.088 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.760794
2025-08-11T14:58:45.277Z,1754924325.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:45.342Z,1754924325.342 [DAT](INFO): DAT read: Rx Time:14:58:46.0230

2025-08-11T14:58:45.343Z,1754924325.343 [DAT](INFO): Rx dataTimestamp_ set to:1754924325.342485
2025-08-11T14:58:45.343Z,1754924325.343 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.016117
2025-08-11T14:58:45.592Z,1754924325.592 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.264785
2025-08-11T14:58:45.850Z,1754924325.850 [DAT](INFO): DAT read: 14:58:46.0230 LVL= 28752, 29777, 32754, 32755, AGC= 36, IDX= 439, 0.13,-1.814,-2.171,-2.009,-0.670, PHS=-1.042,-1.456,-1.382, RAW=  99.6,  74.4, CAL=  98.9,  76.5, ROT=  51.1, -76.5

2025-08-11T14:58:45.851Z,1754924325.851 [DAT](INFO): got valid direction response:
 14:58:46.0230 LVL= 28752, 29777, 32754, 32755, AGC= 36, IDX= 439, 0.13,-1.814,-2.171,-2.009,-0.670, PHS=-1.042,-1.456,-1.382, RAW=  99.6,  74.4, CAL=  98.9,  76.5, ROT=  51.1, -76.5

2025-08-11T14:58:45.852Z,1754924325.852 [DAT](INFO): DAT read: Bearing   5.4,   9.0 (Local)

2025-08-11T14:58:45.852Z,1754924325.852 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,   9.0 (Local)

2025-08-11T14:58:45.854Z,1754924325.854 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T14:58:45.855Z,1754924325.855 [DAT](INFO): DAT read: user:278>

2025-08-11T14:58:45.855Z,1754924325.855 [DAT](INFO): DAT read: Tx time:14:58:47.1177

2025-08-11T14:58:45.856Z,1754924325.856 [DAT](INFO): Ping request sent.
2025-08-11T14:58:45.856Z,1754924325.856 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:45.856Z,1754924325.856 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-11T14:58:45.857Z,1754924325.857 [DAT](INFO): direction in FSK: [0.146595,0.181677,0.972370]
2025-08-11T14:58:45.857Z,1754924325.857 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:45.858Z,1754924325.858 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:45.868Z,1754924325.868 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:45.868Z,1754924325.868 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:45.880Z,1754924325.880 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.024203
2025-08-11T14:58:46.097Z,1754924326.097 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.241501
2025-08-11T14:58:46.241Z,1754924326.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 3.528295 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:58:46.248Z,1754924326.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 186.894895 deg,
      lat: 36.905886 deg,
      lon: -122.115827 deg,
      deltaT: 3.528295 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-11T14:58:46.349Z,1754924326.349 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.493142
2025-08-11T14:58:46.600Z,1754924326.600 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.744506
2025-08-11T14:58:46.852Z,1754924326.852 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.996430
2025-08-11T14:58:47.104Z,1754924327.104 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.248527
2025-08-11T14:58:47.356Z,1754924327.356 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.500678
2025-08-11T14:58:47.462Z,1754924327.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:47.608Z,1754924327.608 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.752462
2025-08-11T14:58:47.860Z,1754924327.860 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.004489
2025-08-11T14:58:48.113Z,1754924328.113 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.256747
2025-08-11T14:58:48.365Z,1754924328.365 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.509082
2025-08-11T14:58:48.616Z,1754924328.616 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.760351
2025-08-11T14:58:48.869Z,1754924328.869 [DAT](INFO): DAT read: Rx Time:14:58:49.5231

2025-08-11T14:58:48.869Z,1754924328.869 [DAT](INFO): Rx dataTimestamp_ set to:1754924328.869021
2025-08-11T14:58:48.870Z,1754924328.870 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.014124
2025-08-11T14:58:49.120Z,1754924329.120 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.264405
2025-08-11T14:58:49.378Z,1754924329.378 [DAT](INFO): DAT read: 14:58:49.5231 LVL= 32752, 32753, 32754, 32755, AGC= 37, IDX= 439, 0.23, 3.020,-2.787,-3.064,-1.712, PHS=-1.450,-1.030,-1.397, RAW= 323.3,  73.9, CAL= 323.3,  75.5, ROT= 186.7, -75.5

2025-08-11T14:58:49.379Z,1754924329.379 [DAT](INFO): got valid direction response:
 14:58:49.5231 LVL= 32752, 32753, 32754, 32755, AGC= 37, IDX= 439, 0.23, 3.020,-2.787,-3.064,-1.712, PHS=-1.450,-1.030,-1.397, RAW= 323.3,  73.9, CAL= 323.3,  75.5, ROT= 186.7, -75.5

2025-08-11T14:58:49.381Z,1754924329.381 [DAT](INFO): DAT read: Bearing  35.7,  -3.2 (Local)

2025-08-11T14:58:49.382Z,1754924329.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.7,  -3.2 (Local)

2025-08-11T14:58:49.385Z,1754924329.385 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-08-11T14:58:49.386Z,1754924329.386 [DAT](INFO): DAT read: user:279>

2025-08-11T14:58:49.396Z,1754924329.396 [DAT](INFO): DAT read: Tx time:14:58:50.6177

2025-08-11T14:58:49.396Z,1754924329.396 [DAT](INFO): Ping request sent.
2025-08-11T14:58:49.396Z,1754924329.396 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:49.397Z,1754924329.397 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-11T14:58:49.399Z,1754924329.399 [DAT](INFO): direction in FSK: [-0.248670,-0.029212,0.968148]
2025-08-11T14:58:49.416Z,1754924329.416 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:49.416Z,1754924329.416 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:49.433Z,1754924329.433 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:49.433Z,1754924329.433 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:49.440Z,1754924329.440 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.043969
2025-08-11T14:58:49.542Z,1754924329.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 3.527776 s,
      deltaX: 0.100000 m,
      approachRate: 0.028346 m/s,
      rangeRepo size: 4

2025-08-11T14:58:49.546Z,1754924329.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 213.212670 deg,
      lat: 36.905886 deg,
      lon: -122.115827 deg,
      deltaT: 3.527776 s,
      deltaX: 0.100000 m,
      approachRate: 0.028346 m/s,
      posRepo size: 4

2025-08-11T14:58:49.625Z,1754924329.625 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.228519
2025-08-11T14:58:49.876Z,1754924329.876 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.480000
2025-08-11T14:58:49.923Z,1754924329.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:50.128Z,1754924330.128 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.731775
2025-08-11T14:58:50.382Z,1754924330.382 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.985340
2025-08-11T14:58:50.632Z,1754924330.632 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.235788
2025-08-11T14:58:50.886Z,1754924330.886 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.489140
2025-08-11T14:58:51.136Z,1754924331.136 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.739926
2025-08-11T14:58:51.389Z,1754924331.389 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.992573
2025-08-11T14:58:51.640Z,1754924331.640 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.244092
2025-08-11T14:58:51.893Z,1754924331.893 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.496491
2025-08-11T14:58:51.969Z,1754924331.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:52.144Z,1754924332.144 [DAT](INFO): DAT read: Rx Time:14:58:53.0231

2025-08-11T14:58:52.145Z,1754924332.145 [DAT](INFO): Rx dataTimestamp_ set to:1754924332.144473
2025-08-11T14:58:52.145Z,1754924332.145 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.748991
2025-08-11T14:58:52.397Z,1754924332.397 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.000721
2025-08-11T14:58:52.651Z,1754924332.651 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.253889
2025-08-11T14:58:52.910Z,1754924332.910 [DAT](INFO): DAT read: 14:58:53.0231 LVL= 28064, 32753, 32754, 32755, AGC= 35, IDX= 440, 0.40, 0.742, 1.542, 1.712, 2.795, PHS=-1.952,-1.208,-1.127, RAW= 264.9,  62.6, CAL= 266.0,  66.9, ROT= 244.0, -66.9

2025-08-11T14:58:52.913Z,1754924332.913 [DAT](INFO): got valid direction response:
 14:58:53.0231 LVL= 28064, 32753, 32754, 32755, AGC= 35, IDX= 440, 0.40, 0.742, 1.542, 1.712, 2.795, PHS=-1.952,-1.208,-1.127, RAW= 264.9,  62.6, CAL= 266.0,  66.9, ROT= 244.0, -66.9

2025-08-11T14:58:52.915Z,1754924332.915 [DAT](INFO): DAT read: Bearing  45.3, -21.7 (Local)

2025-08-11T14:58:52.915Z,1754924332.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.3, -21.7 (Local)

2025-08-11T14:58:52.917Z,1754924332.917 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-08-11T14:58:52.918Z,1754924332.918 [DAT](INFO): DAT read: user:280>

2025-08-11T14:58:52.920Z,1754924332.920 [DAT](INFO): DAT read: Tx time:14:58:54.1177

2025-08-11T14:58:52.920Z,1754924332.920 [DAT](INFO): Ping request sent.
2025-08-11T14:58:52.920Z,1754924332.920 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:52.921Z,1754924332.921 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-11T14:58:52.922Z,1754924332.922 [DAT](INFO): direction in FSK: [-0.171989,-0.352630,0.919822]
2025-08-11T14:58:52.923Z,1754924332.923 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:52.924Z,1754924332.924 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:52.930Z,1754924332.930 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:52.930Z,1754924332.930 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:52.985Z,1754924332.985 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.014683
2025-08-11T14:58:53.152Z,1754924333.152 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.231825
2025-08-11T14:58:53.288Z,1754924333.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 3.528991 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:58:53.290Z,1754924333.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 38.850368 deg,
      lat: 36.905886 deg,
      lon: -122.115827 deg,
      deltaT: 3.528991 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-11T14:58:53.405Z,1754924333.405 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.485165
2025-08-11T14:58:53.657Z,1754924333.657 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.735913
2025-08-11T14:58:53.908Z,1754924333.908 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.987811
2025-08-11T14:58:54.063Z,1754924334.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:54.162Z,1754924334.162 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.241363
2025-08-11T14:58:54.412Z,1754924334.412 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.492043
2025-08-11T14:58:54.664Z,1754924334.664 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.743983
2025-08-11T14:58:54.925Z,1754924334.925 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.004402
2025-08-11T14:58:55.168Z,1754924335.168 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.247937
2025-08-11T14:58:55.420Z,1754924335.420 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.499860
2025-08-11T14:58:55.672Z,1754924335.672 [DAT](INFO): DAT read: Rx Time:14:58:56.5229

2025-08-11T14:58:55.673Z,1754924335.673 [DAT](INFO): Rx dataTimestamp_ set to:1754924335.672452
2025-08-11T14:58:55.673Z,1754924335.673 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.753053
2025-08-11T14:58:55.925Z,1754924335.925 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.004342
2025-08-11T14:58:56.180Z,1754924336.180 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T14:58:56.181Z,1754924336.181 [DAT](INFO): DAT read: user:281>

2025-08-11T14:58:56.182Z,1754924336.182 [DAT](INFO): DAT read: Tx time:14:58:57.6176

2025-08-11T14:58:56.182Z,1754924336.182 [DAT](INFO): Ping request sent.
2025-08-11T14:58:56.182Z,1754924336.182 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:56.183Z,1754924336.183 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-08-11T14:58:56.183Z,1754924336.183 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:56.184Z,1754924336.184 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:56.184Z,1754924336.184 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.002181
2025-08-11T14:58:56.428Z,1754924336.428 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.245947
2025-08-11T14:58:56.462Z,1754924336.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:56.465Z,1754924336.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 3.276272 s,
      deltaX: -0.100000 m,
      approachRate: -0.030522 m/s,
      rangeRepo size: 4

2025-08-11T14:58:56.680Z,1754924336.680 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.497978
2025-08-11T14:58:56.934Z,1754924336.934 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.750997
2025-08-11T14:58:57.184Z,1754924337.184 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.002123
2025-08-11T14:58:57.436Z,1754924337.436 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.254039
2025-08-11T14:58:57.689Z,1754924337.689 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.506496
2025-08-11T14:58:57.941Z,1754924337.941 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.758702
2025-08-11T14:58:58.192Z,1754924338.192 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.009913
2025-08-11T14:58:58.444Z,1754924338.444 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.261859
2025-08-11T14:58:58.497Z,1754924338.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:58:58.697Z,1754924338.697 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.514611
2025-08-11T14:58:58.949Z,1754924338.949 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.766531
2025-08-11T14:58:59.200Z,1754924339.200 [DAT](INFO): DAT read: Rx Time:14:59:00.0228

2025-08-11T14:58:59.201Z,1754924339.201 [DAT](INFO): Rx dataTimestamp_ set to:1754924339.200460
2025-08-11T14:58:59.201Z,1754924339.201 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.019045
2025-08-11T14:58:59.452Z,1754924339.452 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.270074
2025-08-11T14:58:59.711Z,1754924339.711 [DAT](INFO): DAT read: 14:59:00.0228 LVL= 23536, 25921, 32754, 32755, AGC= 35, IDX= 439,-0.33,-2.380, 2.466, 2.974,-2.120, PHS=-0.158,-1.652,-1.233, RAW= 105.8,  38.9, CAL= 103.4,  45.7, ROT=  46.6, -45.7

2025-08-11T14:58:59.720Z,1754924339.720 [DAT](INFO): got valid direction response:
 14:59:00.0228 LVL= 23536, 25921, 32754, 32755, AGC= 35, IDX= 439,-0.33,-2.380, 2.466, 2.974,-2.120, PHS=-0.158,-1.652,-1.233, RAW= 105.8,  38.9, CAL= 103.4,  45.7, ROT=  46.6, -45.7

2025-08-11T14:58:59.721Z,1754924339.721 [DAT](INFO): DAT read: Bearing 351.2,  29.2 (Local)

2025-08-11T14:58:59.721Z,1754924339.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.2,  29.2 (Local)

2025-08-11T14:58:59.723Z,1754924339.723 [DAT](INFO): DAT read: Range 11 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-08-11T14:58:59.723Z,1754924339.723 [DAT](INFO): DAT read: user:282>

2025-08-11T14:58:59.724Z,1754924339.724 [DAT](INFO): DAT read: Tx time:14:59:01.1176

2025-08-11T14:58:59.724Z,1754924339.724 [DAT](INFO): Ping request sent.
2025-08-11T14:58:59.724Z,1754924339.724 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:58:59.725Z,1754924339.725 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-11T14:58:59.726Z,1754924339.726 [DAT](INFO): direction in FSK: [0.479872,0.507451,0.715693]
2025-08-11T14:58:59.726Z,1754924339.726 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:59.726Z,1754924339.726 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:59.760Z,1754924339.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.700000 m,
      deltaT: 3.526860 s,
      deltaX: -0.100000 m,
      approachRate: -0.028354 m/s,
      rangeRepo size: 4

2025-08-11T14:58:59.762Z,1754924339.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.700000 m,
      bearing: 32.026195 deg,
      lat: 36.905886 deg,
      lon: -122.115827 deg,
      deltaT: 6.803132 s,
      deltaX: -0.200000 m,
      approachRate: -0.029398 m/s,
      posRepo size: 4

2025-08-11T14:58:59.764Z,1754924339.764 [DAT](INFO): publishing transmit ping time
2025-08-11T14:58:59.764Z,1754924339.764 [DAT](INFO): publishing direction and range info
2025-08-11T14:58:59.775Z,1754924339.775 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.042543
2025-08-11T14:58:59.956Z,1754924339.956 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.231890
2025-08-11T14:59:00.208Z,1754924340.208 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.483798
2025-08-11T14:59:00.460Z,1754924340.460 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.735818
2025-08-11T14:59:00.553Z,1754924340.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:00.712Z,1754924340.712 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.987782
2025-08-11T14:59:00.964Z,1754924340.964 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.239779
2025-08-11T14:59:01.217Z,1754924341.217 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.493002
2025-08-11T14:59:01.468Z,1754924341.468 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.743682
2025-08-11T14:59:01.728Z,1754924341.728 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.003947
2025-08-11T14:59:01.986Z,1754924341.986 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.261104
2025-08-11T14:59:02.236Z,1754924342.236 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.511772
2025-08-11T14:59:02.489Z,1754924342.489 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.765019
2025-08-11T14:59:02.578Z,1754924342.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:02.741Z,1754924342.741 [DAT](INFO): DAT read: Rx Time:14:59:03.5229

2025-08-11T14:59:02.741Z,1754924342.741 [DAT](INFO): Rx dataTimestamp_ set to:1754924342.741038
2025-08-11T14:59:02.742Z,1754924342.742 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.017463
2025-08-11T14:59:02.992Z,1754924342.992 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.267816
2025-08-11T14:59:03.250Z,1754924343.250 [DAT](INFO): DAT read: 14:59:03.5229 LVL= 21488, 29649, 32754, 32755, AGC= 35, IDX= 439,-0.24, 2.013, 1.345, 1.757, 2.898, PHS=-0.783,-1.508,-1.185, RAW= 116.4,  62.9, CAL= 115.4,  67.0, ROT=  34.6, -67.0

2025-08-11T14:59:03.251Z,1754924343.251 [DAT](INFO): got valid direction response:
 14:59:03.5229 LVL= 21488, 29649, 32754, 32755, AGC= 35, IDX= 439,-0.24, 2.013, 1.345, 1.757, 2.898, PHS=-0.783,-1.508,-1.185, RAW= 116.4,  62.9, CAL= 115.4,  67.0, ROT=  34.6, -67.0

2025-08-11T14:59:03.252Z,1754924343.252 [DAT](INFO): DAT read: Bearing 356.0,  10.7 (Local)

2025-08-11T14:59:03.252Z,1754924343.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0,  10.7 (Local)

2025-08-11T14:59:03.254Z,1754924343.254 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T14:59:03.254Z,1754924343.254 [DAT](INFO): DAT read: user:283>

2025-08-11T14:59:03.255Z,1754924343.255 [DAT](INFO): DAT read: Tx time:14:59:04.6176

2025-08-11T14:59:03.255Z,1754924343.255 [DAT](INFO): Ping request sent.
2025-08-11T14:59:03.256Z,1754924343.256 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:03.256Z,1754924343.256 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-11T14:59:03.257Z,1754924343.257 [DAT](INFO): direction in FSK: [0.321625,0.221874,0.920505]
2025-08-11T14:59:03.257Z,1754924343.257 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:03.257Z,1754924343.257 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:03.261Z,1754924343.261 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:03.261Z,1754924343.261 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:03.266Z,1754924343.266 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.010118
2025-08-11T14:59:03.482Z,1754924343.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 3.540041 s,
      deltaX: 0.100000 m,
      approachRate: 0.028248 m/s,
      rangeRepo size: 4

2025-08-11T14:59:03.488Z,1754924343.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 167.959398 deg,
      lat: 36.905882 deg,
      lon: -122.115829 deg,
      deltaT: 3.540041 s,
      deltaX: 0.100000 m,
      approachRate: 0.028248 m/s,
      posRepo size: 4

2025-08-11T14:59:03.496Z,1754924343.496 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.240829
2025-08-11T14:59:03.748Z,1754924343.748 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.492503
2025-08-11T14:59:04.003Z,1754924344.003 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.747875
2025-08-11T14:59:04.254Z,1754924344.254 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.998234
2025-08-11T14:59:04.504Z,1754924344.504 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.248567
2025-08-11T14:59:04.756Z,1754924344.756 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.500659
2025-08-11T14:59:04.777Z,1754924344.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:05.009Z,1754924345.009 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.753244
2025-08-11T14:59:05.260Z,1754924345.260 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.004528
2025-08-11T14:59:05.512Z,1754924345.512 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.256871
2025-08-11T14:59:05.764Z,1754924345.764 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.508543
2025-08-11T14:59:06.016Z,1754924346.016 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.760624
2025-08-11T14:59:06.268Z,1754924346.268 [DAT](INFO): DAT read: Rx Time:14:59:07.0230

2025-08-11T14:59:06.269Z,1754924346.269 [DAT](INFO): Rx dataTimestamp_ set to:1754924346.268357
2025-08-11T14:59:06.269Z,1754924346.269 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.013626
2025-08-11T14:59:06.520Z,1754924346.520 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.264693
2025-08-11T14:59:06.782Z,1754924346.782 [DAT](INFO): DAT read: 14:59:07.0230 LVL= 32368, 32753, 32754, 32755, AGC= 35, IDX= 440,-0.11, 0.996, 1.365, 1.319, 2.542, PHS=-1.443,-1.131,-1.266, RAW= 295.5,  78.7, CAL= 296.2,  79.9, ROT= 213.8, -79.9

2025-08-11T14:59:06.783Z,1754924346.783 [DAT](INFO): got valid direction response:
 14:59:07.0230 LVL= 32368, 32753, 32754, 32755, AGC= 35, IDX= 440,-0.11, 0.996, 1.365, 1.319, 2.542, PHS=-1.443,-1.131,-1.266, RAW= 295.5,  78.7, CAL= 296.2,  79.9, ROT= 213.8, -79.9

2025-08-11T14:59:06.784Z,1754924346.784 [DAT](INFO): DAT read: Bearing  24.6,  -7.6 (Local)

2025-08-11T14:59:06.785Z,1754924346.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.6,  -7.6 (Local)

2025-08-11T14:59:06.786Z,1754924346.786 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-08-11T14:59:06.787Z,1754924346.787 [DAT](INFO): DAT read: user:284>

2025-08-11T14:59:06.788Z,1754924346.788 [DAT](INFO): DAT read: Tx time:14:59:08.1176

2025-08-11T14:59:06.788Z,1754924346.788 [DAT](INFO): Ping request sent.
2025-08-11T14:59:06.788Z,1754924346.788 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:06.788Z,1754924346.788 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-11T14:59:06.789Z,1754924346.789 [DAT](INFO): direction in FSK: [-0.145727,-0.097556,0.984503]
2025-08-11T14:59:06.790Z,1754924346.790 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:06.790Z,1754924346.790 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:06.817Z,1754924346.817 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:06.817Z,1754924346.817 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:06.828Z,1754924346.828 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.040227
2025-08-11T14:59:06.987Z,1754924346.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 3.528198 s,
      deltaX: 0.100000 m,
      approachRate: 0.028343 m/s,
      rangeRepo size: 4

2025-08-11T14:59:06.990Z,1754924346.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 183.139585 deg,
      lat: 36.905882 deg,
      lon: -122.115829 deg,
      deltaT: 3.528198 s,
      deltaX: 0.100000 m,
      approachRate: 0.028343 m/s,
      posRepo size: 4

2025-08-11T14:59:07.024Z,1754924347.024 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.236238
2025-08-11T14:59:07.276Z,1754924347.276 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.488152
2025-08-11T14:59:07.492Z,1754924347.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:07.529Z,1754924347.529 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.740795
2025-08-11T14:59:07.780Z,1754924347.780 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.992373
2025-08-11T14:59:08.033Z,1754924348.033 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.244640
2025-08-11T14:59:08.286Z,1754924348.286 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.497994
2025-08-11T14:59:08.536Z,1754924348.536 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.748149
2025-08-11T14:59:08.788Z,1754924348.788 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.000160
2025-08-11T14:59:09.040Z,1754924349.040 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.252076
2025-08-11T14:59:09.292Z,1754924349.292 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.504171
2025-08-11T14:59:09.518Z,1754924349.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:09.544Z,1754924349.544 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.756246
2025-08-11T14:59:09.796Z,1754924349.796 [DAT](INFO): DAT read: Rx Time:14:59:10.5228

2025-08-11T14:59:09.797Z,1754924349.797 [DAT](INFO): Rx dataTimestamp_ set to:1754924349.796310
2025-08-11T14:59:09.797Z,1754924349.797 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.009141
2025-08-11T14:59:09.950Z,1754924349.950 [DockingStepper](INFO): Changing to mode: 1
2025-08-11T14:59:10.049Z,1754924350.049 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.261044
2025-08-11T14:59:10.314Z,1754924350.314 [DAT](INFO): DAT read: Range 11 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-08-11T14:59:10.317Z,1754924350.317 [DAT](INFO): DAT read: user:285>

2025-08-11T14:59:10.317Z,1754924350.317 [DAT](INFO): DAT read: Tx time:14:59:11.6176

2025-08-11T14:59:10.318Z,1754924350.318 [DAT](INFO): Ping request sent.
2025-08-11T14:59:10.318Z,1754924350.318 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:10.318Z,1754924350.318 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-08-11T14:59:10.318Z,1754924350.318 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:10.319Z,1754924350.319 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:10.320Z,1754924350.320 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.002015
2025-08-11T14:59:10.442Z,1754924350.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.700000 m,
      deltaT: 3.537350 s,
      deltaX: -0.200000 m,
      approachRate: -0.056539 m/s,
      rangeRepo size: 4

2025-08-11T14:59:10.560Z,1754924350.560 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.242345
2025-08-11T14:59:10.813Z,1754924350.813 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.495019
2025-08-11T14:59:11.064Z,1754924351.064 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.746386
2025-08-11T14:59:11.316Z,1754924351.316 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.998680
2025-08-11T14:59:11.569Z,1754924351.569 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.250714
2025-08-11T14:59:11.601Z,1754924351.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:11.822Z,1754924351.822 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.503823
2025-08-11T14:59:12.072Z,1754924352.072 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.754349
2025-08-11T14:59:12.327Z,1754924352.327 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.008374
2025-08-11T14:59:12.576Z,1754924352.576 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.258343
2025-08-11T14:59:12.832Z,1754924352.832 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.513940
2025-08-11T14:59:13.084Z,1754924353.084 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.766301
2025-08-11T14:59:13.341Z,1754924353.341 [DAT](INFO): DAT read: Rx Time:14:59:14.0226

2025-08-11T14:59:13.343Z,1754924353.343 [DAT](INFO): Rx dataTimestamp_ set to:1754924353.341908
2025-08-11T14:59:13.346Z,1754924353.346 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.027415
2025-08-11T14:59:13.589Z,1754924353.589 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=3.270735
2025-08-11T14:59:13.842Z,1754924353.842 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T14:59:13.843Z,1754924353.843 [DAT](INFO): DAT read: user:286>

2025-08-11T14:59:13.845Z,1754924353.845 [DAT](INFO): DAT read: Tx time:14:59:15.1175

2025-08-11T14:59:13.846Z,1754924353.846 [DAT](INFO): Ping request sent.
2025-08-11T14:59:13.846Z,1754924353.846 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:13.846Z,1754924353.846 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-08-11T14:59:13.846Z,1754924353.846 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:13.847Z,1754924353.847 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:13.849Z,1754924353.849 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.003111
2025-08-11T14:59:13.906Z,1754924353.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:13.918Z,1754924353.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.530446 s,
      deltaX: -0.100000 m,
      approachRate: -0.028325 m/s,
      rangeRepo size: 4

2025-08-11T14:59:14.092Z,1754924354.092 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.246628
2025-08-11T14:59:14.349Z,1754924354.349 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.502525
2025-08-11T14:59:14.596Z,1754924354.596 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=0.750547
2025-08-11T14:59:14.849Z,1754924354.849 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.003490
2025-08-11T14:59:15.100Z,1754924355.100 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.254478
2025-08-11T14:59:15.356Z,1754924355.356 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.509706
2025-08-11T14:59:15.610Z,1754924355.610 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=1.763602
2025-08-11T14:59:15.857Z,1754924355.857 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.011047
2025-08-11T14:59:16.111Z,1754924356.111 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.265460
2025-08-11T14:59:16.280Z,1754924356.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:16.364Z,1754924356.364 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.517476
2025-08-11T14:59:16.612Z,1754924356.612 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.766526
2025-08-11T14:59:16.864Z,1754924356.864 [DAT](INFO): DAT read: Rx Time:14:59:17.5226

2025-08-11T14:59:16.865Z,1754924356.865 [DAT](INFO): Rx dataTimestamp_ set to:1754924356.864363
2025-08-11T14:59:16.865Z,1754924356.865 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.019642
2025-08-11T14:59:17.116Z,1754924357.116 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=3.270775
2025-08-11T14:59:17.392Z,1754924357.392 [DAT](INFO): DAT read: 14:59:17.5226 LVL= 25312, 29825, 32626, 32755, AGC= 35, IDX= 438, 0.41, 0.421, 1.501, 1.781, 2.708, PHS=-2.185,-1.162,-0.971, RAW= 261.6,  53.5, CAL= 263.1,  59.2, ROT= 246.9, -59.2

2025-08-11T14:59:17.398Z,1754924357.398 [DAT](INFO): got valid direction response:
 14:59:17.5226 LVL= 25312, 29825, 32626, 32755, AGC= 35, IDX= 438, 0.41, 0.421, 1.501, 1.781, 2.708, PHS=-2.185,-1.162,-0.971, RAW= 261.6,  53.5, CAL= 263.1,  59.2, ROT= 246.9, -59.2

2025-08-11T14:59:17.401Z,1754924357.401 [DAT](INFO): DAT read: Bearing  46.2, -27.3 (Local)

2025-08-11T14:59:17.402Z,1754924357.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.2, -27.3 (Local)

2025-08-11T14:59:17.438Z,1754924357.438 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T14:59:17.451Z,1754924357.451 [DAT](INFO): DAT read: user:287>

2025-08-11T14:59:17.452Z,1754924357.452 [DAT](INFO): DAT read: Tx time:14:59:18.6175

2025-08-11T14:59:17.452Z,1754924357.452 [DAT](INFO): Ping request sent.
2025-08-11T14:59:17.452Z,1754924357.452 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:17.453Z,1754924357.453 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-11T14:59:17.454Z,1754924357.454 [DAT](INFO): direction in FSK: [-0.200893,-0.470988,0.858960]
2025-08-11T14:59:17.454Z,1754924357.454 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:17.454Z,1754924357.454 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:17.473Z,1754924357.473 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:17.474Z,1754924357.474 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:17.493Z,1754924357.493 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.040650
2025-08-11T14:59:17.592Z,1754924357.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.529121 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:59:17.594Z,1754924357.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 88.154058 deg,
      lat: 36.905882 deg,
      lon: -122.115831 deg,
      deltaT: 10.596917 s,
      deltaX: -0.300000 m,
      approachRate: -0.028310 m/s,
      posRepo size: 4

2025-08-11T14:59:17.620Z,1754924357.620 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.167790
2025-08-11T14:59:17.872Z,1754924357.872 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.419775
2025-08-11T14:59:18.124Z,1754924358.124 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.671693
2025-08-11T14:59:18.348Z,1754924358.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:18.379Z,1754924358.379 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=0.926013
2025-08-11T14:59:18.629Z,1754924358.629 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.176311
2025-08-11T14:59:18.881Z,1754924358.881 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.428330
2025-08-11T14:59:18.900Z,1754924358.900 [DockingStepper](FAULT): Timed out moving from: 12432 to: 14700 response: ÿ
2025-08-11T14:59:18.900Z,1754924358.900 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-11T14:59:18.900Z,1754924358.900 [DockingStepper](ERROR): Hardware Fault
2025-08-11T14:59:19.062Z,1754924359.062 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-11T14:59:19.133Z,1754924359.133 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.680029
2025-08-11T14:59:19.144Z,1754924359.144 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-11T14:59:19.144Z,1754924359.144 [DockingStepper](INFO): Powering down
2025-08-11T14:59:19.387Z,1754924359.387 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=1.934196
2025-08-11T14:59:19.636Z,1754924359.636 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.183620
2025-08-11T14:59:19.888Z,1754924359.888 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.435667
2025-08-11T14:59:20.141Z,1754924360.141 [DAT](INFO): DAT read: Rx Time:14:59:21.0225

2025-08-11T14:59:20.142Z,1754924360.142 [DAT](INFO): Rx dataTimestamp_ set to:1754924360.141241
2025-08-11T14:59:20.142Z,1754924360.142 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.689842
2025-08-11T14:59:20.389Z,1754924360.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:20.392Z,1754924360.392 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=2.939797
2025-08-11T14:59:20.648Z,1754924360.648 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.194219
2025-08-11T14:59:20.902Z,1754924360.902 [DAT](INFO): DAT read: 14:59:21.0225 LVL= 29344, 30401, 30610, 32755, AGC= 38, IDX= 437, 0.34, 0.626, 0.666, 1.556, 2.500, PHS=-1.772,-1.789,-0.988, RAW= 208.9,  63.8, CAL= 207.5,  69.2, ROT= 302.5, -69.2

2025-08-11T14:59:20.903Z,1754924360.903 [DAT](INFO): got valid direction response:
 14:59:21.0225 LVL= 29344, 30401, 30610, 32755, AGC= 38, IDX= 437, 0.34, 0.626, 0.666, 1.556, 2.500, PHS=-1.772,-1.789,-0.988, RAW= 208.9,  63.8, CAL= 207.5,  69.2, ROT= 302.5, -69.2

2025-08-11T14:59:20.904Z,1754924360.904 [DAT](INFO): DAT read: Bearing   4.3, -19.9 (Local)

2025-08-11T14:59:20.904Z,1754924360.904 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3, -19.9 (Local)

2025-08-11T14:59:20.906Z,1754924360.906 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T14:59:20.906Z,1754924360.906 [DAT](INFO): DAT read: user:288>

2025-08-11T14:59:20.908Z,1754924360.908 [DAT](INFO): DAT read: Tx time:14:59:22.1175

2025-08-11T14:59:20.908Z,1754924360.908 [DAT](INFO): Ping request sent.
2025-08-11T14:59:20.908Z,1754924360.908 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:20.909Z,1754924360.909 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-11T14:59:20.910Z,1754924360.910 [DAT](INFO): direction in FSK: [0.190799,-0.299494,0.934826]
2025-08-11T14:59:20.911Z,1754924360.911 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:20.912Z,1754924360.912 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:20.917Z,1754924360.917 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:20.918Z,1754924360.918 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:20.961Z,1754924360.961 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.052887
2025-08-11T14:59:21.148Z,1754924361.148 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.240064
2025-08-11T14:59:21.222Z,1754924361.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.526697 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:59:21.224Z,1754924361.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 86.344055 deg,
      lat: 36.905883 deg,
      lon: -122.115831 deg,
      deltaT: 3.526697 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-11T14:59:21.406Z,1754924361.406 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.497696
2025-08-11T14:59:21.652Z,1754924361.652 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.744196
2025-08-11T14:59:21.904Z,1754924361.904 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=0.996035
2025-08-11T14:59:22.156Z,1754924362.156 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.248084
2025-08-11T14:59:22.408Z,1754924362.408 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.500197
2025-08-11T14:59:22.410Z,1754924362.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:22.662Z,1754924362.662 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=1.753126
2025-08-11T14:59:22.913Z,1754924362.913 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.004582
2025-08-11T14:59:23.164Z,1754924363.164 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.256075
2025-08-11T14:59:23.420Z,1754924363.420 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.512011
2025-08-11T14:59:23.668Z,1754924363.668 [DAT](INFO): DAT read: Rx Time:14:59:24.5227

2025-08-11T14:59:23.669Z,1754924363.669 [DAT](INFO): Rx dataTimestamp_ set to:1754924363.668467
2025-08-11T14:59:23.669Z,1754924363.669 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=2.761223
2025-08-11T14:59:23.921Z,1754924363.921 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.012733
2025-08-11T14:59:24.175Z,1754924364.175 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.266049
2025-08-11T14:59:24.430Z,1754924364.430 [DAT](INFO): DAT read: 14:59:24.5227 LVL= 32752, 26993, 28258, 32755, AGC= 36, IDX= 438,-0.34, 2.340,-2.773, 2.710,-2.324, PHS=-1.517,-0.404,-1.293, RAW= 319.0,  48.1, CAL= 319.2,  52.2, ROT= 190.8, -52.2

2025-08-11T14:59:24.432Z,1754924364.432 [DAT](INFO): got valid direction response:
 14:59:24.5227 LVL= 32752, 26993, 28258, 32755, AGC= 36, IDX= 438,-0.34, 2.340,-2.773, 2.710,-2.324, PHS=-1.517,-0.404,-1.293, RAW= 319.0,  48.1, CAL= 319.2,  52.2, ROT= 190.8, -52.2

2025-08-11T14:59:24.433Z,1754924364.433 [DAT](INFO): DAT read: Bearing  49.8,  -5.8 (Local)

2025-08-11T14:59:24.433Z,1754924364.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.8,  -5.8 (Local)

2025-08-11T14:59:24.434Z,1754924364.434 [DAT](INFO): DAT read: Range 11 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-08-11T14:59:24.435Z,1754924364.435 [DAT](INFO): DAT read: user:289>

2025-08-11T14:59:24.436Z,1754924364.436 [DAT](INFO): DAT read: Tx time:14:59:25.6175

2025-08-11T14:59:24.436Z,1754924364.436 [DAT](INFO): Ping request sent.
2025-08-11T14:59:24.436Z,1754924364.436 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:24.436Z,1754924364.436 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-11T14:59:24.437Z,1754924364.437 [DAT](INFO): direction in FSK: [-0.602051,-0.114847,0.790155]
2025-08-11T14:59:24.438Z,1754924364.438 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:24.438Z,1754924364.438 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:24.450Z,1754924364.450 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:24.450Z,1754924364.450 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:24.453Z,1754924364.453 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.016994
2025-08-11T14:59:24.640Z,1754924364.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.700000 m,
      deltaT: 3.528530 s,
      deltaX: 0.100000 m,
      approachRate: 0.028340 m/s,
      rangeRepo size: 4

2025-08-11T14:59:24.642Z,1754924364.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.700000 m,
      bearing: 171.286725 deg,
      lat: 36.905883 deg,
      lon: -122.115835 deg,
      deltaT: 3.528530 s,
      deltaX: 0.100000 m,
      approachRate: 0.028340 m/s,
      posRepo size: 4

2025-08-11T14:59:24.676Z,1754924364.676 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.240182
2025-08-11T14:59:24.929Z,1754924364.929 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.492351
2025-08-11T14:59:25.042Z,1754924365.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:25.181Z,1754924365.181 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.744344
2025-08-11T14:59:25.432Z,1754924365.432 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=0.996242
2025-08-11T14:59:25.685Z,1754924365.685 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.248357
2025-08-11T14:59:25.937Z,1754924365.937 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.500740
2025-08-11T14:59:26.188Z,1754924366.188 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=1.752005
2025-08-11T14:59:26.441Z,1754924366.441 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.004635
2025-08-11T14:59:26.692Z,1754924366.692 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.256219
2025-08-11T14:59:26.945Z,1754924366.945 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.508365
2025-08-11T14:59:27.081Z,1754924367.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:27.196Z,1754924367.196 [DAT](INFO): DAT read: Rx Time:14:59:28.0225

2025-08-11T14:59:27.197Z,1754924367.197 [DAT](INFO): Rx dataTimestamp_ set to:1754924367.196269
2025-08-11T14:59:27.197Z,1754924367.197 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=2.760961
2025-08-11T14:59:27.448Z,1754924367.448 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=3.012040
2025-08-11T14:59:27.710Z,1754924367.710 [DAT](INFO): DAT read: 14:59:28.0225 LVL= 26096, 22209, 23058, 26979, AGC= 35, IDX= 438,-0.24,-0.313, 1.367, 0.462, 1.502, PHS=-1.713,-0.090,-1.084, RAW= 307.4,  35.8, CAL= 308.8,  41.0, ROT= 201.2, -41.0

2025-08-11T14:59:27.711Z,1754924367.711 [DAT](INFO): got valid direction response:
 14:59:28.0225 LVL= 26096, 22209, 23058, 26979, AGC= 35, IDX= 438,-0.24,-0.313, 1.367, 0.462, 1.502, PHS=-1.713,-0.090,-1.084, RAW= 307.4,  35.8, CAL= 308.8,  41.0, ROT= 201.2, -41.0

2025-08-11T14:59:27.712Z,1754924367.712 [DAT](INFO): DAT read: Bearing  76.7, -11.5 (Local)

2025-08-11T14:59:27.713Z,1754924367.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.7, -11.5 (Local)

2025-08-11T14:59:27.714Z,1754924367.714 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T14:59:27.715Z,1754924367.715 [DAT](INFO): DAT read: user:290>

2025-08-11T14:59:27.716Z,1754924367.716 [DAT](INFO): DAT read: Tx time:14:59:29.1175

2025-08-11T14:59:27.717Z,1754924367.717 [DAT](INFO): Ping request sent.
2025-08-11T14:59:27.717Z,1754924367.717 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:27.717Z,1754924367.717 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-11T14:59:27.718Z,1754924367.718 [DAT](INFO): direction in FSK: [-0.703634,-0.272921,0.656059]
2025-08-11T14:59:27.718Z,1754924367.718 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:27.719Z,1754924367.719 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:27.722Z,1754924367.722 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:27.722Z,1754924367.722 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:27.730Z,1754924367.730 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.012857
2025-08-11T14:59:27.953Z,1754924367.953 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.235986
2025-08-11T14:59:27.978Z,1754924367.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.276663 s,
      deltaX: -0.100000 m,
      approachRate: -0.030519 m/s,
      rangeRepo size: 4

2025-08-11T14:59:27.984Z,1754924367.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 25.791825 deg,
      lat: 36.905887 deg,
      lon: -122.115835 deg,
      deltaT: 3.276663 s,
      deltaX: -0.100000 m,
      approachRate: -0.030519 m/s,
      posRepo size: 4

2025-08-11T14:59:28.204Z,1754924368.204 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.487462
2025-08-11T14:59:28.457Z,1754924368.457 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.739944
2025-08-11T14:59:28.708Z,1754924368.708 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=0.991458
2025-08-11T14:59:28.960Z,1754924368.960 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.243631
2025-08-11T14:59:29.101Z,1754924369.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:29.212Z,1754924369.212 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.495399
2025-08-11T14:59:29.464Z,1754924369.464 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=1.747395
2025-08-11T14:59:29.717Z,1754924369.717 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.000437
2025-08-11T14:59:29.968Z,1754924369.968 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.251549
2025-08-11T14:59:30.220Z,1754924370.220 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.503471
2025-08-11T14:59:30.472Z,1754924370.472 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=2.755604
2025-08-11T14:59:30.724Z,1754924370.724 [DAT](INFO): DAT read: Rx Time:14:59:31.5225

2025-08-11T14:59:30.725Z,1754924370.725 [DAT](INFO): Rx dataTimestamp_ set to:1754924370.724359
2025-08-11T14:59:30.725Z,1754924370.725 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.008488
2025-08-11T14:59:30.977Z,1754924370.977 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=3.260058
2025-08-11T14:59:31.195Z,1754924371.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:31.231Z,1754924371.231 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T14:59:31.232Z,1754924371.232 [DAT](INFO): DAT read: user:291>

2025-08-11T14:59:31.233Z,1754924371.233 [DAT](INFO): DAT read: Tx time:14:59:32.6174

2025-08-11T14:59:31.233Z,1754924371.233 [DAT](INFO): Ping request sent.
2025-08-11T14:59:31.233Z,1754924371.233 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:31.233Z,1754924371.233 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-08-11T14:59:31.233Z,1754924371.233 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:31.234Z,1754924371.234 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:31.235Z,1754924371.235 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.001873
2025-08-11T14:59:31.480Z,1754924371.480 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.247283
2025-08-11T14:59:31.644Z,1754924371.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.528758 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:59:31.732Z,1754924371.732 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.499205
2025-08-11T14:59:31.984Z,1754924371.984 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=0.751310
2025-08-11T14:59:32.237Z,1754924372.237 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.003922
2025-08-11T14:59:32.488Z,1754924372.488 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.255183
2025-08-11T14:59:32.740Z,1754924372.740 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.507471
2025-08-11T14:59:32.992Z,1754924372.992 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=1.759297
2025-08-11T14:59:33.199Z,1754924373.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:33.244Z,1754924373.244 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.011323
2025-08-11T14:59:33.496Z,1754924373.496 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.263183
2025-08-11T14:59:33.748Z,1754924373.748 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.515239
2025-08-11T14:59:34.000Z,1754924374.000 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=2.767279
2025-08-11T14:59:34.252Z,1754924374.252 [DAT](INFO): DAT read: Rx Time:14:59:35.0225

2025-08-11T14:59:34.253Z,1754924374.253 [DAT](INFO): Rx dataTimestamp_ set to:1754924374.252417
2025-08-11T14:59:34.253Z,1754924374.253 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.020331
2025-08-11T14:59:34.504Z,1754924374.504 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=3.271312
2025-08-11T14:59:34.762Z,1754924374.762 [DAT](INFO): DAT read: 14:59:35.0225 LVL= 24784, 32753, 32754, 32755, AGC= 34, IDX= 438, 0.22,-2.223,-0.669,-0.581, 0.394, PHS=-2.515,-1.018,-1.019, RAW= 270.0,  47.1, CAL= 272.0,  53.6, ROT= 238.0, -53.6

2025-08-11T14:59:34.763Z,1754924374.763 [DAT](INFO): got valid direction response:
 14:59:35.0225 LVL= 24784, 32753, 32754, 32755, AGC= 34, IDX= 438, 0.22,-2.223,-0.669,-0.581, 0.394, PHS=-2.515,-1.018,-1.019, RAW= 270.0,  47.1, CAL= 272.0,  53.6, ROT= 238.0, -53.6

2025-08-11T14:59:34.768Z,1754924374.768 [DAT](INFO): DAT read: Bearing  51.2, -28.0 (Local)

2025-08-11T14:59:34.768Z,1754924374.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.2, -28.0 (Local)

2025-08-11T14:59:34.770Z,1754924374.770 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T14:59:34.770Z,1754924374.770 [DAT](INFO): DAT read: user:292>

2025-08-11T14:59:34.775Z,1754924374.775 [DAT](INFO): DAT read: Tx time:14:59:36.1174

2025-08-11T14:59:34.776Z,1754924374.776 [DAT](INFO): Ping request sent.
2025-08-11T14:59:34.776Z,1754924374.776 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:34.776Z,1754924374.776 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-11T14:59:34.777Z,1754924374.777 [DAT](INFO): direction in FSK: [-0.314464,-0.503248,0.804894]
2025-08-11T14:59:34.777Z,1754924374.777 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:34.778Z,1754924374.778 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:34.781Z,1754924374.781 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:34.781Z,1754924374.781 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:34.836Z,1754924374.836 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.059820
2025-08-11T14:59:34.960Z,1754924374.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.526048 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:59:34.962Z,1754924374.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 40.510473 deg,
      lat: 36.905883 deg,
      lon: -122.115838 deg,
      deltaT: 7.054806 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-11T14:59:35.008Z,1754924375.008 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.232599
2025-08-11T14:59:35.239Z,1754924375.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:35.260Z,1754924375.260 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.484461
2025-08-11T14:59:35.512Z,1754924375.512 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.736392
2025-08-11T14:59:35.764Z,1754924375.764 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=0.988436
2025-08-11T14:59:36.016Z,1754924376.016 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.240554
2025-08-11T14:59:36.268Z,1754924376.268 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.492381
2025-08-11T14:59:36.520Z,1754924376.520 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.744621
2025-08-11T14:59:36.772Z,1754924376.772 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=1.996516
2025-08-11T14:59:37.025Z,1754924377.025 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.248806
2025-08-11T14:59:37.245Z,1754924377.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:37.276Z,1754924377.276 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.500566
2025-08-11T14:59:37.528Z,1754924377.528 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=2.752553
2025-08-11T14:59:37.780Z,1754924377.780 [DAT](INFO): DAT read: Rx Time:14:59:38.5225

2025-08-11T14:59:37.781Z,1754924377.781 [DAT](INFO): Rx dataTimestamp_ set to:1754924377.780334
2025-08-11T14:59:37.781Z,1754924377.781 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.005492
2025-08-11T14:59:38.036Z,1754924378.036 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=3.260230
2025-08-11T14:59:38.298Z,1754924378.298 [DAT](INFO): DAT read: 14:59:38.5225 LVL= 30832, 32753, 32754, 32755, AGC= 35, IDX= 438, 0.28,-2.076,-0.768,-0.724, 0.241, PHS=-2.214,-0.964,-1.008, RAW= 271.8,  50.3, CAL= 273.7,  56.2, ROT= 236.3, -56.2

2025-08-11T14:59:38.300Z,1754924378.300 [DAT](INFO): got valid direction response:
 14:59:38.5225 LVL= 30832, 32753, 32754, 32755, AGC= 35, IDX= 438, 0.28,-2.076,-0.768,-0.724, 0.241, PHS=-2.214,-0.964,-1.008, RAW= 271.8,  50.3, CAL= 273.7,  56.2, ROT= 236.3, -56.2

2025-08-11T14:59:38.301Z,1754924378.301 [DAT](INFO): DAT read: Bearing  37.0, -26.4 (Local)

2025-08-11T14:59:38.301Z,1754924378.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.0, -26.4 (Local)

2025-08-11T14:59:38.304Z,1754924378.304 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T14:59:38.305Z,1754924378.305 [DAT](INFO): DAT read: user:293>

2025-08-11T14:59:38.307Z,1754924378.307 [DAT](INFO): DAT read: Tx time:14:59:39.6174

2025-08-11T14:59:38.323Z,1754924378.323 [DAT](INFO): Ping request sent.
2025-08-11T14:59:38.323Z,1754924378.323 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:38.324Z,1754924378.324 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-11T14:59:38.325Z,1754924378.325 [DAT](INFO): direction in FSK: [-0.308657,-0.462812,0.830984]
2025-08-11T14:59:38.325Z,1754924378.325 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:38.325Z,1754924378.325 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:38.333Z,1754924378.333 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:38.333Z,1754924378.333 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:38.349Z,1754924378.349 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.025227
2025-08-11T14:59:38.477Z,1754924378.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.529019 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:59:38.484Z,1754924378.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 44.391258 deg,
      lat: 36.905883 deg,
      lon: -122.115838 deg,
      deltaT: 3.529019 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-11T14:59:38.537Z,1754924378.537 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.213437
2025-08-11T14:59:38.790Z,1754924378.790 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.466532
2025-08-11T14:59:39.041Z,1754924379.041 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.717167
2025-08-11T14:59:39.247Z,1754924379.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:39.293Z,1754924379.293 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=0.969373
2025-08-11T14:59:39.544Z,1754924379.544 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.220678
2025-08-11T14:59:39.798Z,1754924379.798 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.473816
2025-08-11T14:59:39.948Z,1754924379.948 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-11T14:59:39.948Z,1754924379.948 [DockingStepper] No Fault, FailCount= 1
2025-08-11T14:59:40.048Z,1754924380.048 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.724576
2025-08-11T14:59:40.128Z,1754924380.128 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-11T14:59:40.129Z,1754924380.129 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-11T14:59:40.301Z,1754924380.301 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=1.977833
2025-08-11T14:59:40.552Z,1754924380.552 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.228732
2025-08-11T14:59:40.805Z,1754924380.805 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.481633
2025-08-11T14:59:41.057Z,1754924381.057 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.733041
2025-08-11T14:59:41.273Z,1754924381.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:41.309Z,1754924381.309 [DAT](INFO): DAT read: Rx Time:14:59:42.0225

2025-08-11T14:59:41.310Z,1754924381.310 [DAT](INFO): Rx dataTimestamp_ set to:1754924381.309345
2025-08-11T14:59:41.310Z,1754924381.310 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=2.986728
2025-08-11T14:59:41.561Z,1754924381.561 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=3.237711
2025-08-11T14:59:41.818Z,1754924381.818 [DAT](INFO): DAT read: 14:59:42.0225 LVL= 31008, 28353, 29682, 32755, AGC= 35, IDX= 438, 0.46, 1.837,-2.966, 3.007,-2.394, PHS=-1.950,-0.526,-0.925, RAW= 285.8,  43.4, CAL= 288.9,  49.0, ROT= 221.1, -49.0

2025-08-11T14:59:41.820Z,1754924381.820 [DAT](INFO): got valid direction response:
 14:59:42.0225 LVL= 31008, 28353, 29682, 32755, AGC= 35, IDX= 438, 0.46, 1.837,-2.966, 3.007,-2.394, PHS=-1.950,-0.526,-0.925, RAW= 285.8,  43.4, CAL= 288.9,  49.0, ROT= 221.1, -49.0

2025-08-11T14:59:41.821Z,1754924381.821 [DAT](INFO): DAT read: Bearing  53.0, -22.5 (Local)

2025-08-11T14:59:41.821Z,1754924381.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.0, -22.5 (Local)

2025-08-11T14:59:41.822Z,1754924381.822 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T14:59:41.823Z,1754924381.823 [DAT](INFO): DAT read: user:294>

2025-08-11T14:59:41.824Z,1754924381.824 [DAT](INFO): DAT read: Tx time:14:59:43.1174

2025-08-11T14:59:41.824Z,1754924381.824 [DAT](INFO): Ping request sent.
2025-08-11T14:59:41.824Z,1754924381.824 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:41.825Z,1754924381.825 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-11T14:59:41.826Z,1754924381.826 [DAT](INFO): direction in FSK: [-0.494382,-0.431277,0.754710]
2025-08-11T14:59:41.826Z,1754924381.826 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:41.826Z,1754924381.826 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:41.829Z,1754924381.829 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:41.829Z,1754924381.829 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:41.853Z,1754924381.853 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.028548
2025-08-11T14:59:42.064Z,1754924382.064 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.239935
2025-08-11T14:59:42.136Z,1754924382.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.527101 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-11T14:59:42.138Z,1754924382.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 6.672723 deg,
      lat: 36.905884 deg,
      lon: -122.115841 deg,
      deltaT: 3.527101 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-11T14:59:42.316Z,1754924382.316 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.491832
2025-08-11T14:59:42.568Z,1754924382.568 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.744135
2025-08-11T14:59:42.820Z,1754924382.820 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=0.995847
2025-08-11T14:59:43.073Z,1754924383.073 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.248719
2025-08-11T14:59:43.311Z,1754924383.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:43.324Z,1754924383.324 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.499932
2025-08-11T14:59:43.576Z,1754924383.576 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=1.751821
2025-08-11T14:59:43.695Z,1754924383.695 [DockingStepper](INFO): Changing to mode: 1
2025-08-11T14:59:43.828Z,1754924383.828 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.003847
2025-08-11T14:59:44.080Z,1754924384.080 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.255907
2025-08-11T14:59:44.116Z,1754924384.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 0.60 m. Lat: 36.905884 Lon: -122.115841 Reached intercept timeout.
2025-08-11T14:59:44.116Z,1754924384.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-11T14:59:44.116Z,1754924384.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-11T14:59:44.116Z,1754924384.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-11T14:59:44.333Z,1754924384.333 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.508884
2025-08-11T14:59:44.487Z,1754924384.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-11T14:59:44.487Z,1754924384.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-11T14:59:44.487Z,1754924384.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-11T14:59:44.584Z,1754924384.584 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=2.759797
2025-08-11T14:59:44.836Z,1754924384.836 [DAT](INFO): DAT read: Rx Time:14:59:45.5224

2025-08-11T14:59:44.838Z,1754924384.838 [DAT](INFO): Rx dataTimestamp_ set to:1754924384.836792
2025-08-11T14:59:44.841Z,1754924384.841 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.015639
2025-08-11T14:59:44.943Z,1754924384.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-11T14:59:44.945Z,1754924384.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-11T14:59:44.945Z,1754924384.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-11T14:59:44.945Z,1754924384.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-11T14:59:44.945Z,1754924384.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-11T14:59:44.946Z,1754924384.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-11T14:59:44.946Z,1754924384.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-11T14:59:44.946Z,1754924384.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-11T14:59:44.946Z,1754924384.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-11T14:59:44.946Z,1754924384.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-11T14:59:44.946Z,1754924384.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-11T14:59:45.088Z,1754924385.088 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=3.264020
2025-08-11T14:59:45.316Z,1754924385.316 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-11T14:59:45.316Z,1754924385.316 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-11T14:59:45.316Z,1754924385.316 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-11T14:59:45.317Z,1754924385.317 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-11T14:59:45.317Z,1754924385.317 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-11T14:59:45.317Z,1754924385.317 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-11T14:59:45.317Z,1754924385.317 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-08-11T14:59:45.318Z,1754924385.318 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-11T14:59:45.318Z,1754924385.318 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-11T14:59:45.318Z,1754924385.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:45.319Z,1754924385.319 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-11T14:59:45.319Z,1754924385.319 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-11T14:59:45.319Z,1754924385.319 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-11T14:59:45.319Z,1754924385.319 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-11T14:59:45.320Z,1754924385.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-11T14:59:45.320Z,1754924385.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-11T14:59:45.320Z,1754924385.320 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-11T14:59:45.320Z,1754924385.320 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-11T14:59:45.347Z,1754924385.347 [DAT](INFO): DAT read: 14:59:45.5224 LVL= 32752, 32465, 32754, 32755, AGC= 34, IDX= 438,-0.39,-1.304, 0.431, 0.277, 1.093, PHS=-2.295,-0.617,-0.861, RAW= 277.7,  40.3, CAL= 280.7,  47.1, ROT= 229.3, -47.1

2025-08-11T14:59:45.348Z,1754924385.348 [DAT](INFO): got valid direction response:
 14:59:45.5224 LVL= 32752, 32465, 32754, 32755, AGC= 34, IDX= 438,-0.39,-1.304, 0.431, 0.277, 1.093, PHS=-2.295,-0.617,-0.861, RAW= 277.7,  40.3, CAL= 280.7,  47.1, ROT= 229.3, -47.1

2025-08-11T14:59:45.349Z,1754924385.349 [DAT](INFO): DAT read: Bearing  63.7, -27.6 (Local)

2025-08-11T14:59:45.349Z,1754924385.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing  63.7, -27.6 (Local)

2025-08-11T14:59:45.350Z,1754924385.350 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T14:59:45.351Z,1754924385.351 [DAT](INFO): DAT read: user:295>

2025-08-11T14:59:45.352Z,1754924385.352 [DAT](INFO): DAT read: Tx time:14:59:46.6174

2025-08-11T14:59:45.352Z,1754924385.352 [DAT](INFO): Ping request sent.
2025-08-11T14:59:45.352Z,1754924385.352 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:45.353Z,1754924385.353 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-11T14:59:45.354Z,1754924385.354 [DAT](INFO): direction in FSK: [-0.443897,-0.516078,0.732543]
2025-08-11T14:59:45.354Z,1754924385.354 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:45.354Z,1754924385.354 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:45.357Z,1754924385.357 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:45.358Z,1754924385.358 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:45.361Z,1754924385.361 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.008412
2025-08-11T14:59:45.592Z,1754924385.592 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.239797
2025-08-11T14:59:45.697Z,1754924385.697 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-11T14:59:45.698Z,1754924385.698 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-11T14:59:45.844Z,1754924385.844 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.491829
2025-08-11T14:59:46.096Z,1754924386.096 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.743776
2025-08-11T14:59:46.139Z,1754924386.139 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-11T14:59:46.139Z,1754924386.139 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-11T14:59:46.139Z,1754924386.139 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-11T14:59:46.348Z,1754924386.348 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=0.995776
2025-08-11T14:59:46.600Z,1754924386.600 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.247968
2025-08-11T14:59:46.856Z,1754924386.856 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.503845
2025-08-11T14:59:47.108Z,1754924387.108 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=1.755939
2025-08-11T14:59:47.363Z,1754924387.363 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.010258
2025-08-11T14:59:47.406Z,1754924387.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:47.616Z,1754924387.616 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.263706
2025-08-11T14:59:47.869Z,1754924387.869 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.516134
2025-08-11T14:59:48.120Z,1754924388.120 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=2.767820
2025-08-11T14:59:48.372Z,1754924388.372 [DAT](INFO): DAT read: Rx Time:14:59:49.0223

2025-08-11T14:59:48.373Z,1754924388.373 [DAT](INFO): Rx dataTimestamp_ set to:1754924388.372333
2025-08-11T14:59:48.373Z,1754924388.373 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.020830
2025-08-11T14:59:48.624Z,1754924388.624 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=3.272073
2025-08-11T14:59:48.888Z,1754924388.888 [DAT](INFO): DAT read: 14:59:49.0223 LVL= 26352, 32753, 32754, 32755, AGC= 35, IDX= 438,-0.22,-2.130,-0.776,-0.879, 0.163, PHS=-2.191,-0.893,-1.085, RAW= 277.9,  50.5, CAL= 280.2,  55.9, ROT= 229.8, -55.9

2025-08-11T14:59:48.889Z,1754924388.889 [DAT](INFO): got valid direction response:
 14:59:49.0223 LVL= 26352, 32753, 32754, 32755, AGC= 35, IDX= 438,-0.22,-2.130,-0.776,-0.879, 0.163, PHS=-2.191,-0.893,-1.085, RAW= 277.9,  50.5, CAL= 280.2,  55.9, ROT= 229.8, -55.9

2025-08-11T14:59:48.890Z,1754924388.890 [DAT](INFO): DAT read: Bearing  51.7, -22.5 (Local)

2025-08-11T14:59:48.891Z,1754924388.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.7, -22.5 (Local)

2025-08-11T14:59:48.892Z,1754924388.892 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T14:59:48.893Z,1754924388.893 [DAT](INFO): DAT read: user:296>

2025-08-11T14:59:48.894Z,1754924388.894 [DAT](INFO): DAT read: Tx time:14:59:50.1173

2025-08-11T14:59:48.894Z,1754924388.894 [DAT](INFO): Ping request sent.
2025-08-11T14:59:48.894Z,1754924388.894 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:48.894Z,1754924388.894 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-11T14:59:48.896Z,1754924388.896 [DAT](INFO): direction in FSK: [-0.361869,-0.428214,0.828060]
2025-08-11T14:59:48.896Z,1754924388.896 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:48.896Z,1754924388.896 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:48.899Z,1754924388.899 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:48.900Z,1754924388.900 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:48.903Z,1754924388.903 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.008544
2025-08-11T14:59:49.096Z,1754924389.096 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-11T14:59:49.096Z,1754924389.096 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-11T14:59:49.096Z,1754924389.096 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-11T14:59:49.096Z,1754924389.096 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-11T14:59:49.128Z,1754924389.128 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.233958
2025-08-11T14:59:49.380Z,1754924389.380 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.485985
2025-08-11T14:59:49.426Z,1754924389.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:49.443Z,1754924389.443 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-08-11T14:59:49.443Z,1754924389.443 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-11T14:59:49.445Z,1754924389.445 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-11T14:59:49.445Z,1754924389.445 [lineCaptureHoming:LineCapture] Stopped
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-11T14:59:49.446Z,1754924389.446 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-11T14:59:49.447Z,1754924389.447 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-11T14:59:49.447Z,1754924389.447 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-11T14:59:49.447Z,1754924389.447 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-11T14:59:49.447Z,1754924389.447 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-11T14:59:49.447Z,1754924389.447 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-11T14:59:49.451Z,1754924389.451 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-11T14:59:49.451Z,1754924389.451 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-11T14:59:49.632Z,1754924389.632 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.737955
2025-08-11T14:59:49.886Z,1754924389.886 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=0.991683
2025-08-11T14:59:49.933Z,1754924389.933 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-11T14:59:49.933Z,1754924389.933 [lineCaptureHoming:Lap:B] Stopped
2025-08-11T14:59:49.934Z,1754924389.934 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-11T14:59:49.934Z,1754924389.934 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-11T14:59:50.136Z,1754924390.136 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.241914
2025-08-11T14:59:50.237Z,1754924390.237 [lineCaptureHoming:Lap:C] Stopped
2025-08-11T14:59:50.237Z,1754924390.237 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-11T14:59:50.388Z,1754924390.388 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.493911
2025-08-11T14:59:50.629Z,1754924390.629 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-08-11T14:59:50.630Z,1754924390.630 [lineCaptureHoming:Lap:D] Stopped
2025-08-11T14:59:50.630Z,1754924390.630 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-11T14:59:50.630Z,1754924390.630 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-11T14:59:50.640Z,1754924390.640 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.745878
2025-08-11T14:59:50.895Z,1754924390.895 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=1.999911
2025-08-11T14:59:51.068Z,1754924391.068 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-11T14:59:51.069Z,1754924391.069 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-11T14:59:51.069Z,1754924391.069 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-11T14:59:51.069Z,1754924391.069 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-11T14:59:51.069Z,1754924391.069 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-11T14:59:51.069Z,1754924391.069 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-11T14:59:51.144Z,1754924391.144 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.250067
2025-08-11T14:59:51.396Z,1754924391.396 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.501833
2025-08-11T14:59:51.444Z,1754924391.444 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-11T14:59:51.444Z,1754924391.444 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-11T14:59:51.444Z,1754924391.444 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-11T14:59:51.444Z,1754924391.444 [lineCaptureHoming:restartDHCP] Stopped
2025-08-11T14:59:51.444Z,1754924391.444 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-11T14:59:51.445Z,1754924391.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T14:59:51.477Z,1754924391.477 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-11T14:59:51.652Z,1754924391.652 [DAT](INFO): DAT read: Rx Time:14:59:52.5223

2025-08-11T14:59:51.653Z,1754924391.653 [DAT](INFO): Rx dataTimestamp_ set to:1754924391.652186
2025-08-11T14:59:51.654Z,1754924391.654 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=2.759258
2025-08-11T14:59:51.908Z,1754924391.908 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.012538
2025-08-11T14:59:51.933Z,1754924391.933 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-11UTC145951_sh
  
2025-08-11T14:59:51.971Z,1754924391.971 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-11T14:59:51.972Z,1754924391.972 [lineCaptureHoming:Lap:E] Stopped
2025-08-11T14:59:51.972Z,1754924391.972 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-11T14:59:51.972Z,1754924391.972 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-11T14:59:51.972Z,1754924391.972 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-11T14:59:51.972Z,1754924391.972 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-11T14:59:52.158Z,1754924392.158 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=3.263523
2025-08-11T14:59:52.385Z,1754924392.385 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-08-11T14:59:52.385Z,1754924392.385 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-11T14:59:52.385Z,1754924392.385 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-11T14:59:52.414Z,1754924392.414 [DAT](INFO): DAT read: 14:59:52.5223 LVL= 31968, 32753, 32754, 32755, AGC= 36, IDX= 438,-0.21,-0.979,-0.461,-0.229, 0.913, PHS=-1.790,-1.329,-1.186, RAW= 256.9,  70.2, CAL= 257.8,  73.4, ROT= 252.2, -73.4

2025-08-11T14:59:52.415Z,1754924392.415 [DAT](INFO): got valid direction response:
 14:59:52.5223 LVL= 31968, 32753, 32754, 32755, AGC= 36, IDX= 438,-0.21,-0.979,-0.461,-0.229, 0.913, PHS=-1.790,-1.329,-1.186, RAW= 256.9,  70.2, CAL= 257.8,  73.4, ROT= 252.2, -73.4

2025-08-11T14:59:52.416Z,1754924392.416 [DAT](INFO): DAT read: B20.9, -16.0 (Local)

2025-08-11T14:59:52.416Z,1754924392.416 [DAT](INFO): Local bearing/azimuth received:
 B20.9, -16.0 (Local)

2025-08-11T14:59:52.418Z,1754924392.418 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T14:59:52.418Z,1754924392.418 [DAT](INFO): DAT read: user:297>

2025-08-11T14:59:52.419Z,1754924392.419 [DAT](INFO): DAT read: Tx time:14:59:53.6173

2025-08-11T14:59:52.420Z,1754924392.420 [DAT](INFO): Ping request sent.
2025-08-11T14:59:52.420Z,1754924392.420 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:52.420Z,1754924392.420 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-11T14:59:52.421Z,1754924392.421 [DAT](INFO): direction in FSK: [-0.087334,-0.272012,0.958323]
2025-08-11T14:59:52.422Z,1754924392.422 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:52.422Z,1754924392.422 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:52.426Z,1754924392.426 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:52.426Z,1754924392.426 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:52.430Z,1754924392.430 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.009880
2025-08-11T14:59:52.660Z,1754924392.660 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.240581
2025-08-11T14:59:52.683Z,1754924392.683 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-11T14:59:52.683Z,1754924392.683 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-11T14:59:52.915Z,1754924392.915 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.494779
2025-08-11T14:59:53.077Z,1754924393.077 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-11T14:59:53.078Z,1754924393.078 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-11T14:59:53.078Z,1754924393.078 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-11T14:59:53.078Z,1754924393.078 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-11T14:59:53.165Z,1754924393.165 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.744990
2025-08-11T14:59:53.416Z,1754924393.416 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=0.996393
2025-08-11T14:59:53.470Z,1754924393.470 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-11T14:59:53.471Z,1754924393.471 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-11T14:59:53.624Z,1754924393.624 [DockingStepper](FAULT): Timed out moving from: 12623 to: 14700 response: ÿ
2025-08-11T14:59:53.624Z,1754924393.624 [DockingStepper] Hardware Fault, FailCount= 2
2025-08-11T14:59:53.624Z,1754924393.624 [DockingStepper](ERROR): Hardware Fault
2025-08-11T14:59:53.628Z,1754924393.628 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-11T14:59:53.668Z,1754924393.668 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.248534
2025-08-11T14:59:53.924Z,1754924393.924 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.503907
2025-08-11T14:59:53.976Z,1754924393.976 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-11T14:59:53.976Z,1754924393.976 [DockingStepper](INFO): Powering down
2025-08-11T14:59:54.172Z,1754924394.172 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=1.752450
2025-08-11T14:59:54.172Z,1754924394.172 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-11T14:59:54.424Z,1754924394.424 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.004381
2025-08-11T14:59:54.424Z,1754924394.424 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-11T14:59:54.676Z,1754924394.676 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.256522
2025-08-11T14:59:54.677Z,1754924394.677 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-11T14:59:54.932Z,1754924394.932 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.511257
2025-08-11T14:59:55.180Z,1754924395.180 [DAT](INFO): DAT read: Rx Time:14:59:56.0228

2025-08-11T14:59:55.181Z,1754924395.181 [DAT](INFO): Rx dataTimestamp_ set to:1754924395.180281
2025-08-11T14:59:55.181Z,1754924395.181 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=2.761415
2025-08-11T14:59:55.432Z,1754924395.432 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=3.012410
2025-08-11T14:59:55.712Z,1754924395.712 [DAT](INFO): DAT read: 14:59:56.0228 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 438,-0.08,-2.030,-1.139,-1.581,-0.309, PHS=-1.620,-0.786,-1.317, RAW= 309.0,  60.9, CAL= 309.7,  63.7, ROT= 200.3, -63.7

2025-08-11T14:59:55.713Z,1754924395.713 [DAT](INFO): got valid direction response:
 14:59:56.0228 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 438,-0.08,-2.030,-1.139,-1.581,-0.309, PHS=-1.620,-0.786,-1.317, RAW= 309.0,  60.9, CAL= 309.7,  63.7, ROT= 200.3, -63.7

2025-08-11T14:59:55.714Z,1754924395.714 [DAT](INFO): DAT read: Bearing  37.9,  -8.1 (Local)

2025-08-11T14:59:55.715Z,1754924395.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.9,  -8.1 (Local)

2025-08-11T14:59:55.716Z,1754924395.716 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-11T14:59:55.717Z,1754924395.717 [DAT](INFO): DAT read: user:298>

2025-08-11T14:59:55.718Z,1754924395.718 [DAT](INFO): DAT read: Tx time:14:59:57.1173

2025-08-11T14:59:55.718Z,1754924395.718 [DAT](INFO): Ping request sent.
2025-08-11T14:59:55.718Z,1754924395.718 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:55.718Z,1754924395.718 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-11T14:59:55.720Z,1754924395.720 [DAT](INFO): direction in FSK: [-0.415552,-0.153717,0.896486]
2025-08-11T14:59:55.720Z,1754924395.720 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:55.720Z,1754924395.720 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:55.724Z,1754924395.724 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:55.724Z,1754924395.724 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:55.727Z,1754924395.727 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.008883
2025-08-11T14:59:55.941Z,1754924395.941 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.222399
2025-08-11T14:59:56.188Z,1754924396.188 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.470220
2025-08-11T14:59:56.440Z,1754924396.440 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.722007
2025-08-11T14:59:56.692Z,1754924396.692 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=0.973925
2025-08-11T14:59:56.947Z,1754924396.947 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.227838
2025-08-11T14:59:57.196Z,1754924397.196 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.478126
2025-08-11T14:59:57.448Z,1754924397.448 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.729901
2025-08-11T14:59:57.700Z,1754924397.700 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=1.982217
2025-08-11T14:59:57.955Z,1754924397.955 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.236451
2025-08-11T14:59:58.204Z,1754924398.204 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.485979
2025-08-11T14:59:58.457Z,1754924398.457 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.738915
2025-08-11T14:59:58.708Z,1754924398.708 [DAT](INFO): DAT read: Rx Time:14:59:59.5226

2025-08-11T14:59:58.709Z,1754924398.709 [DAT](INFO): Rx dataTimestamp_ set to:1754924398.708522
2025-08-11T14:59:58.709Z,1754924398.709 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=2.991225
2025-08-11T14:59:58.960Z,1754924398.960 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=3.242007
2025-08-11T14:59:59.218Z,1754924399.218 [DAT](INFO): DAT read: 14:59:59.5226 LVL= 32752, 32337, 32754, 32755, AGC= 39, IDX= 438, 0.00,-2.549,-1.771,-1.932,-0.813, PHS=-1.634,-0.913,-1.163, RAW= 290.0,  64.2, CAL= 291.7,  67.2, ROT= 218.3, -67.2

2025-08-11T14:59:59.219Z,1754924399.219 [DAT](INFO): got valid direction response:
 14:59:59.5226 LVL= 32752, 32337, 32754, 32755, AGC= 39, IDX= 438, 0.00,-2.549,-1.771,-1.932,-0.813, PHS=-1.634,-0.913,-1.163, RAW= 290.0,  64.2, CAL= 291.7,  67.2, ROT= 218.3, -67.2

2025-08-11T14:59:59.220Z,1754924399.220 [DAT](INFO): DAT read: Bearing  36.7, -13.9 (Local)

2025-08-11T14:59:59.220Z,1754924399.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.7, -13.9 (Local)

2025-08-11T14:59:59.222Z,1754924399.222 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T14:59:59.222Z,1754924399.222 [DAT](INFO): DAT read: user:299>

2025-08-11T14:59:59.223Z,1754924399.223 [DAT](INFO): DAT read: Tx time:15:00:00.6173

2025-08-11T14:59:59.223Z,1754924399.223 [DAT](INFO): Ping request sent.
2025-08-11T14:59:59.224Z,1754924399.224 [DAT](INFO): transmitted an acoustic signal
2025-08-11T14:59:59.224Z,1754924399.224 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-11T14:59:59.225Z,1754924399.225 [DAT](INFO): direction in FSK: [-0.304113,-0.240174,0.921863]
2025-08-11T14:59:59.225Z,1754924399.225 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:59.225Z,1754924399.225 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:59.229Z,1754924399.229 [DAT](INFO): publishing transmit ping time
2025-08-11T14:59:59.230Z,1754924399.230 [DAT](INFO): publishing direction and range info
2025-08-11T14:59:59.233Z,1754924399.233 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.009480
2025-08-11T14:59:59.464Z,1754924399.464 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.240572
2025-08-11T14:59:59.716Z,1754924399.716 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.492567
2025-08-11T14:59:59.972Z,1754924399.972 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.747993
2025-08-11T15:00:00.220Z,1754924400.220 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=0.996603
2025-08-11T15:00:00.472Z,1754924400.472 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.248548
2025-08-11T15:00:00.724Z,1754924400.724 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.500779
2025-08-11T15:00:00.976Z,1754924400.976 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=1.752757
2025-08-11T15:00:01.228Z,1754924401.228 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.004547
2025-08-11T15:00:01.480Z,1754924401.480 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.256580
2025-08-11T15:00:01.732Z,1754924401.732 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.508836
2025-08-11T15:00:01.992Z,1754924401.992 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=2.768583
2025-08-11T15:00:02.239Z,1754924402.239 [DAT](INFO): DAT read: Rx Time:15:00:03.0223

2025-08-11T15:00:02.240Z,1754924402.240 [DAT](INFO): Rx dataTimestamp_ set to:1754924402.239111
2025-08-11T15:00:02.242Z,1754924402.242 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.017383
2025-08-11T15:00:02.488Z,1754924402.488 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=3.264621
2025-08-11T15:00:02.751Z,1754924402.751 [DAT](INFO): DAT read: 15:00:03.0223 LVL= 23392, 30033, 27810, 32755, AGC= 38, IDX= 438,-0.42, 2.223, 1.945, 2.418,-2.678, PHS=-1.280,-1.615,-1.231, RAW= 156.7,  76.0, CAL= 157.7,  79.0, ROT= 352.3, -79.0

2025-08-11T15:00:02.752Z,1754924402.752 [DAT](INFO): got valid direction response:
 15:00:03.0223 LVL= 23392, 30033, 27810, 32755, AGC= 38, IDX= 438,-0.42, 2.223, 1.945, 2.418,-2.678, PHS=-1.280,-1.615,-1.231, RAW= 156.7,  76.0, CAL= 157.7,  79.0, ROT= 352.3, -79.0

2025-08-11T15:00:02.754Z,1754924402.754 [DAT](INFO): DAT read: Bearing   2.7,  -2.6 (Local)

2025-08-11T15:00:02.755Z,1754924402.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  -2.6 (Local)

2025-08-11T15:00:02.757Z,1754924402.757 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T15:00:02.758Z,1754924402.758 [DAT](INFO): DAT read: user:300>

2025-08-11T15:00:02.764Z,1754924402.764 [DAT](INFO): DAT read: Tx time:15:00:04.1173

2025-08-11T15:00:02.764Z,1754924402.764 [DAT](INFO): Ping request sent.
2025-08-11T15:00:02.765Z,1754924402.765 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:02.765Z,1754924402.765 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-11T15:00:02.766Z,1754924402.766 [DAT](INFO): direction in FSK: [0.189088,-0.025566,0.981627]
2025-08-11T15:00:02.766Z,1754924402.766 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:02.767Z,1754924402.767 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:02.774Z,1754924402.774 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:02.774Z,1754924402.774 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:02.810Z,1754924402.810 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.045018
2025-08-11T15:00:02.992Z,1754924402.992 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.227624
2025-08-11T15:00:03.245Z,1754924403.245 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.480097
2025-08-11T15:00:03.496Z,1754924403.496 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.731610
2025-08-11T15:00:03.750Z,1754924403.750 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=0.985087
2025-08-11T15:00:04.001Z,1754924404.001 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.236232
2025-08-11T15:00:04.253Z,1754924404.253 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.488220
2025-08-11T15:00:04.504Z,1754924404.504 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.739618
2025-08-11T15:00:04.758Z,1754924404.758 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=1.993181
2025-08-11T15:00:05.008Z,1754924405.008 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.243735
2025-08-11T15:00:05.265Z,1754924405.265 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.500288
2025-08-11T15:00:05.516Z,1754924405.516 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=2.751693
2025-08-11T15:00:05.769Z,1754924405.769 [DAT](INFO): DAT read: Rx Time:15:00:06.5222

2025-08-11T15:00:05.769Z,1754924405.769 [DAT](INFO): Rx dataTimestamp_ set to:1754924405.769131
2025-08-11T15:00:05.770Z,1754924405.770 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=3.005519
2025-08-11T15:00:06.021Z,1754924406.021 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=3.256499
2025-08-11T15:00:06.278Z,1754924406.278 [DAT](INFO): DAT read: 15:00:06.5222 LVL= 28400, 32753, 32754, 32755, AGC= 40, IDX= 437, 0.33, 0.082,-0.857,-0.548, 1.010, PHS=-0.826,-1.822,-1.602, RAW= 102.1,  58.9, CAL= 100.8,  63.0, ROT=  49.2, -63.0

2025-08-11T15:00:06.279Z,1754924406.279 [DAT](INFO): got valid direction response:
 15:00:06.5222 LVL= 28400, 32753, 32754, 32755, AGC= 40, IDX= 437, 0.33, 0.082,-0.857,-0.548, 1.010, PHS=-0.826,-1.822,-1.602, RAW= 102.1,  58.9, CAL= 100.8,  63.0, ROT=  49.2, -63.0

2025-08-11T15:00:06.280Z,1754924406.280 [DAT](INFO): DAT read: Bearing 346.5,  19.5 (Local)

2025-08-11T15:00:06.280Z,1754924406.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.5,  19.5 (Local)

2025-08-11T15:00:06.282Z,1754924406.282 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T15:00:06.282Z,1754924406.282 [DAT](INFO): DAT read: user:301>

2025-08-11T15:00:06.283Z,1754924406.283 [DAT](INFO): DAT read: Tx time:15:00:07.6172

2025-08-11T15:00:06.283Z,1754924406.283 [DAT](INFO): Ping request sent.
2025-08-11T15:00:06.283Z,1754924406.283 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:06.284Z,1754924406.284 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-11T15:00:06.285Z,1754924406.285 [DAT](INFO): direction in FSK: [0.296647,0.343669,0.891007]
2025-08-11T15:00:06.285Z,1754924406.285 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:06.285Z,1754924406.285 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:06.288Z,1754924406.288 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:06.289Z,1754924406.289 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:06.292Z,1754924406.292 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.008462
2025-08-11T15:00:06.524Z,1754924406.524 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.240815
2025-08-11T15:00:06.776Z,1754924406.776 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.492752
2025-08-11T15:00:07.029Z,1754924407.029 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.745112
2025-08-11T15:00:07.280Z,1754924407.280 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=0.996794
2025-08-11T15:00:07.532Z,1754924407.532 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.248693
2025-08-11T15:00:07.784Z,1754924407.784 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.500718
2025-08-11T15:00:08.037Z,1754924408.037 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=1.753217
2025-08-11T15:00:08.288Z,1754924408.288 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.004854
2025-08-11T15:00:08.540Z,1754924408.540 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.256743
2025-08-11T15:00:08.792Z,1754924408.792 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.508953
2025-08-11T15:00:09.044Z,1754924409.044 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=2.760693
2025-08-11T15:00:09.309Z,1754924409.309 [DAT](INFO): DAT read: Rx Time:15:00:10.0225

2025-08-11T15:00:09.310Z,1754924409.310 [DAT](INFO): Rx dataTimestamp_ set to:1754924409.309330
2025-08-11T15:00:09.311Z,1754924409.311 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.027071
2025-08-11T15:00:09.560Z,1754924409.560 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=3.276712
2025-08-11T15:00:09.818Z,1754924409.818 [DAT](INFO): DAT read: 15:00:10.0225 LVL= 23232, 32577, 32754, 32755, AGC= 37, IDX= 438, 0.23,-2.943, 3.000, 2.848,-1.967, PHS=-0.874,-1.272,-1.512, RAW=  68.1,  66.6, CAL=  66.1,  69.7, ROT=  83.9, -69.7

2025-08-11T15:00:09.819Z,1754924409.819 [DAT](INFO): got valid direction response:
 15:00:10.0225 LVL= 23232, 32577, 32754, 32755, AGC= 37, IDX= 438, 0.23,-2.943, 3.000, 2.848,-1.967, PHS=-0.874,-1.272,-1.512, RAW=  68.1,  66.6, CAL=  66.1,  69.7, ROT=  83.9, -69.7

2025-08-11T15:00:09.820Z,1754924409.820 [DAT](INFO): DAT read: Bearing   5.1,  19.8 (Local)

2025-08-11T15:00:09.820Z,1754924409.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.1,  19.8 (Local)

2025-08-11T15:00:09.822Z,1754924409.822 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T15:00:09.822Z,1754924409.822 [DAT](INFO): DAT read: user:302>

2025-08-11T15:00:09.828Z,1754924409.828 [DAT](INFO): DAT read: Tx time:15:00:11.1172

2025-08-11T15:00:09.828Z,1754924409.828 [DAT](INFO): Ping request sent.
2025-08-11T15:00:09.828Z,1754924409.828 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:09.829Z,1754924409.829 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-11T15:00:09.830Z,1754924409.830 [DAT](INFO): direction in FSK: [0.036867,0.344971,0.937889]
2025-08-11T15:00:09.830Z,1754924409.830 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:09.830Z,1754924409.830 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:09.833Z,1754924409.833 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:09.833Z,1754924409.833 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:09.849Z,1754924409.849 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.020660
2025-08-11T15:00:10.067Z,1754924410.067 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.239005
2025-08-11T15:00:10.316Z,1754924410.316 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.487827
2025-08-11T15:00:10.568Z,1754924410.568 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.740135
2025-08-11T15:00:10.820Z,1754924410.820 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=0.991840
2025-08-11T15:00:11.072Z,1754924411.072 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.243807
2025-08-11T15:00:11.324Z,1754924411.324 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.495926
2025-08-11T15:00:11.576Z,1754924411.576 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.747897
2025-08-11T15:00:11.828Z,1754924411.828 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=1.999852
2025-08-11T15:00:12.080Z,1754924412.080 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.252182
2025-08-11T15:00:12.332Z,1754924412.332 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.503855
2025-08-11T15:00:12.584Z,1754924412.584 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=2.755826
2025-08-11T15:00:12.837Z,1754924412.837 [DAT](INFO): DAT read: Rx Time:15:00:13.5225

2025-08-11T15:00:12.837Z,1754924412.837 [DAT](INFO): Rx dataTimestamp_ set to:1754924412.836877
2025-08-11T15:00:12.838Z,1754924412.838 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.009457
2025-08-11T15:00:13.088Z,1754924413.088 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=3.259872
2025-08-11T15:00:13.348Z,1754924413.348 [DAT](INFO): DAT read: 15:00:13.5225 LVL= 32752, 30049, 32754, 32755, AGC= 38, IDX= 440,-0.27,-1.607,-2.613,-2.294,-0.751, PHS=-0.754,-1.817,-1.587, RAW= 101.8,  56.6, CAL= 100.5,  61.0, ROT=  49.5, -61.0

2025-08-11T15:00:13.349Z,1754924413.349 [DAT](INFO): got valid direction response:
 15:00:13.5225 LVL= 32752, 30049, 32754, 32755, AGC= 38, IDX= 440,-0.27,-1.607,-2.613,-2.294,-0.751, PHS=-0.754,-1.817,-1.587, RAW= 101.8,  56.6, CAL= 100.5,  61.0, ROT=  49.5, -61.0

2025-08-11T15:00:13.350Z,1754924413.350 [DAT](INFO): DAT read: Bearing 356.1,  23.2 (Local)

2025-08-11T15:00:13.350Z,1754924413.350 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,  23.2 (Local)

2025-08-11T15:00:13.353Z,1754924413.353 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T15:00:13.353Z,1754924413.353 [DAT](INFO): DAT read: user:303>

2025-08-11T15:00:13.354Z,1754924413.354 [DAT](INFO): DAT read: Tx time:15:00:14.6172

2025-08-11T15:00:13.354Z,1754924413.354 [DAT](INFO): Ping request sent.
2025-08-11T15:00:13.354Z,1754924413.354 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:13.355Z,1754924413.355 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-11T15:00:13.360Z,1754924413.360 [DAT](INFO): direction in FSK: [0.314859,0.368652,0.874620]
2025-08-11T15:00:13.360Z,1754924413.360 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:13.360Z,1754924413.360 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:13.376Z,1754924413.376 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:13.376Z,1754924413.376 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:13.379Z,1754924413.379 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.024509
2025-08-11T15:00:13.592Z,1754924413.592 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.237633
2025-08-11T15:00:13.844Z,1754924413.844 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.489764
2025-08-11T15:00:14.096Z,1754924414.096 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.741633
2025-08-11T15:00:14.348Z,1754924414.348 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=0.993765
2025-08-11T15:00:14.552Z,1754924414.552 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-11T15:00:14.552Z,1754924414.552 [DockingStepper] No Fault, FailCount= 2
2025-08-11T15:00:14.600Z,1754924414.600 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.245675
2025-08-11T15:00:14.852Z,1754924414.852 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.497550
2025-08-11T15:00:15.048Z,1754924415.048 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-11T15:00:15.048Z,1754924415.048 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-11T15:00:15.104Z,1754924415.104 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=1.749625
2025-08-11T15:00:15.356Z,1754924415.356 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.001729
2025-08-11T15:00:15.608Z,1754924415.608 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.253601
2025-08-11T15:00:15.860Z,1754924415.860 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.505725
2025-08-11T15:00:16.112Z,1754924416.112 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=2.757758
2025-08-11T15:00:16.364Z,1754924416.364 [DAT](INFO): DAT read: Rx Time:15:00:17.0223

2025-08-11T15:00:16.365Z,1754924416.365 [DAT](INFO): Rx dataTimestamp_ set to:1754924416.364481
2025-08-11T15:00:16.365Z,1754924416.365 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.010835
2025-08-11T15:00:16.616Z,1754924416.616 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=3.261876
2025-08-11T15:00:16.879Z,1754924416.879 [DAT](INFO): DAT read: 15:00:17.0223 LVL= 32752, 26321, 32754, 32755, AGC= 37, IDX= 438,-0.24, 1.704, 0.601, 0.894, 2.428, PHS=-0.622,-1.783,-1.578, RAW=  99.5,  52.7, CAL=  98.1,  57.7, ROT=  51.9, -57.7

2025-08-11T15:00:16.880Z,1754924416.880 [DAT](INFO): got valid direction response:
 15:00:17.0223 LVL= 32752, 26321, 32754, 32755, AGC= 37, IDX= 438,-0.24, 1.704, 0.601, 0.894, 2.428, PHS=-0.622,-1.783,-1.578, RAW=  99.5,  52.7, CAL=  98.1,  57.7, ROT=  51.9, -57.7

2025-08-11T15:00:16.881Z,1754924416.881 [DAT](INFO): DAT read: Bearing 349.5,  27.1 (Local)

2025-08-11T15:00:16.881Z,1754924416.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.5,  27.1 (Local)

2025-08-11T15:00:16.882Z,1754924416.882 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T15:00:16.903Z,1754924416.903 [DAT](INFO): DAT read: user:304>

2025-08-11T15:00:16.904Z,1754924416.904 [DAT](INFO): DAT read: Tx time:15:00:18.1172

2025-08-11T15:00:16.904Z,1754924416.904 [DAT](INFO): Ping request sent.
2025-08-11T15:00:16.905Z,1754924416.905 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:16.905Z,1754924416.905 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-11T15:00:16.906Z,1754924416.906 [DAT](INFO): direction in FSK: [0.329715,0.420501,0.845262]
2025-08-11T15:00:16.906Z,1754924416.906 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:16.907Z,1754924416.907 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:16.933Z,1754924416.933 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:16.933Z,1754924416.933 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:16.945Z,1754924416.945 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.040633
2025-08-11T15:00:17.120Z,1754924417.120 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.215456
2025-08-11T15:00:17.374Z,1754924417.374 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.469281
2025-08-11T15:00:17.624Z,1754924417.624 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.719548
2025-08-11T15:00:17.876Z,1754924417.876 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=0.971445
2025-08-11T15:00:18.128Z,1754924418.128 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.223592
2025-08-11T15:00:18.380Z,1754924418.380 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.475554
2025-08-11T15:00:18.618Z,1754924418.618 [DockingStepper](INFO): Changing to mode: 1
2025-08-11T15:00:18.653Z,1754924418.653 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.748067
2025-08-11T15:00:18.905Z,1754924418.905 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=1.999902
2025-08-11T15:00:19.156Z,1754924419.156 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.251535
2025-08-11T15:00:19.408Z,1754924419.408 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.503507
2025-08-11T15:00:19.660Z,1754924419.660 [DAT](INFO): DAT read: Rx Time:15:00:20.5222

2025-08-11T15:00:19.661Z,1754924419.661 [DAT](INFO): Rx dataTimestamp_ set to:1754924419.660335
2025-08-11T15:00:19.661Z,1754924419.661 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=2.756586
2025-08-11T15:00:19.913Z,1754924419.913 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=3.008447
2025-08-11T15:00:20.168Z,1754924420.168 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=3.262423
2025-08-11T15:00:20.422Z,1754924420.422 [DAT](INFO): DAT read: 15:00:20.5222 LVL= 32752, 29169, 32754, 32755, AGC= 37, IDX= 437,-0.19, 0.744,-0.516,-0.131, 1.422, PHS=-0.577,-1.893,-1.597, RAW= 102.4,  50.2, CAL= 100.7,  55.5, ROT=  49.3, -55.5

2025-08-11T15:00:20.423Z,1754924420.423 [DAT](INFO): got valid direction response:
 15:00:20.5222 LVL= 32752, 29169, 32754, 32755, AGC= 37, IDX= 437,-0.19, 0.744,-0.516,-0.131, 1.422, PHS=-0.577,-1.893,-1.597, RAW= 102.4,  50.2, CAL= 100.7,  55.5, ROT=  49.3, -55.5

2025-08-11T15:00:20.424Z,1754924420.424 [DAT](INFO): DAT read: Bearing 336.6,  27.1 (Local)

2025-08-11T15:00:20.424Z,1754924420.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.6,  27.1 (Local)

2025-08-11T15:00:20.426Z,1754924420.426 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T15:00:20.426Z,1754924420.426 [DAT](INFO): DAT read: user:305>

2025-08-11T15:00:20.427Z,1754924420.427 [DAT](INFO): DAT read: Tx time:15:00:21.6172

2025-08-11T15:00:20.428Z,1754924420.428 [DAT](INFO): Ping request sent.
2025-08-11T15:00:20.428Z,1754924420.428 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:20.428Z,1754924420.428 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-11T15:00:20.429Z,1754924420.429 [DAT](INFO): direction in FSK: [0.369353,0.429412,0.824126]
2025-08-11T15:00:20.429Z,1754924420.429 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:20.429Z,1754924420.429 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:20.433Z,1754924420.433 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:20.433Z,1754924420.433 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:20.436Z,1754924420.436 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.008479
2025-08-11T15:00:20.669Z,1754924420.669 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.241396
2025-08-11T15:00:20.921Z,1754924420.921 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.492794
2025-08-11T15:00:21.172Z,1754924421.172 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.744388
2025-08-11T15:00:21.424Z,1754924421.424 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=0.996344
2025-08-11T15:00:21.679Z,1754924421.679 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.250825
2025-08-11T15:00:21.928Z,1754924421.928 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.500735
2025-08-11T15:00:22.180Z,1754924422.180 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=1.752506
2025-08-11T15:00:22.432Z,1754924422.432 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.004371
2025-08-11T15:00:22.689Z,1754924422.689 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.261414
2025-08-11T15:00:22.937Z,1754924422.937 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.509105
2025-08-11T15:00:23.188Z,1754924423.188 [DAT](INFO): DAT read: Rx Time:15:00:24.0224

2025-08-11T15:00:23.189Z,1754924423.189 [DAT](INFO): Rx dataTimestamp_ set to:1754924423.188479
2025-08-11T15:00:23.189Z,1754924423.189 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=2.761605
2025-08-11T15:00:23.440Z,1754924423.440 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=3.012509
2025-08-11T15:00:23.706Z,1754924423.706 [DAT](INFO): DAT read: 15:00:24.0224 LVL= 24416, 29425, 32594, 32755, AGC= 38, IDX= 438,-0.13, 1.501, 2.128, 1.045, 2.553, PHS=-0.950,-0.380,-1.553, RAW=   0.9,  45.1, CAL= 359.5,  49.6, ROT= 150.5, -49.6

2025-08-11T15:00:23.709Z,1754924423.709 [DAT](INFO): got valid direction response:
 15:00:24.0224 LVL= 24416, 29425, 32594, 32755, AGC= 38, IDX= 438,-0.13, 1.501, 2.128, 1.045, 2.553, PHS=-0.950,-0.380,-1.553, RAW=   0.9,  45.1, CAL= 359.5,  49.6, ROT= 150.5, -49.6

2025-08-11T15:00:23.710Z,1754924423.710 [DAT](INFO): DAT read: Bearing  38.4,  19.1 (Local)

2025-08-11T15:00:23.710Z,1754924423.710 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.4,  19.1 (Local)

2025-08-11T15:00:23.713Z,1754924423.713 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T15:00:23.714Z,1754924423.714 [DAT](INFO): DAT read: user:306>

2025-08-11T15:00:23.743Z,1754924423.743 [DAT](INFO): DAT read: Tx time:15:00:25.1171

2025-08-11T15:00:23.744Z,1754924423.744 [DAT](INFO): Ping request sent.
2025-08-11T15:00:23.744Z,1754924423.744 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:23.744Z,1754924423.744 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-11T15:00:23.745Z,1754924423.745 [DAT](INFO): direction in FSK: [-0.564095,0.319150,0.761538]
2025-08-11T15:00:23.745Z,1754924423.745 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:23.746Z,1754924423.746 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:23.770Z,1754924423.770 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:23.771Z,1754924423.771 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:23.774Z,1754924423.774 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.030597
2025-08-11T15:00:23.945Z,1754924423.945 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.200955
2025-08-11T15:00:24.198Z,1754924424.198 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.453709
2025-08-11T15:00:24.448Z,1754924424.448 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.704475
2025-08-11T15:00:24.703Z,1754924424.703 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=0.958983
2025-08-11T15:00:24.952Z,1754924424.952 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.208798
2025-08-11T15:00:25.205Z,1754924425.205 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.460856
2025-08-11T15:00:25.456Z,1754924425.456 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.712483
2025-08-11T15:00:25.709Z,1754924425.709 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=1.965454
2025-08-11T15:00:25.960Z,1754924425.960 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.216496
2025-08-11T15:00:26.213Z,1754924426.213 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.469487
2025-08-11T15:00:26.464Z,1754924426.464 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.720483
2025-08-11T15:00:26.718Z,1754924426.718 [DAT](INFO): DAT read: Rx Time:15:00:27.5227

2025-08-11T15:00:26.718Z,1754924426.718 [DAT](INFO): Rx dataTimestamp_ set to:1754924426.717890
2025-08-11T15:00:26.719Z,1754924426.719 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=2.975367
2025-08-11T15:00:26.968Z,1754924426.968 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=3.224460
2025-08-11T15:00:27.226Z,1754924427.226 [DAT](INFO): DAT read: 15:00:27.5227 LVL= 32752, 29873, 32754, 32755, AGC= 36, IDX= 441, 0.14, 1.814, 2.873, 1.841,-3.042, PHS=-1.325,-0.323,-1.444, RAW= 335.5,  45.7, CAL= 334.7,  50.0, ROT= 175.3, -50.0

2025-08-11T15:00:27.227Z,1754924427.227 [DAT](INFO): got valid direction response:
 15:00:27.5227 LVL= 32752, 29873, 32754, 32755, AGC= 36, IDX= 441, 0.14, 1.814, 2.873, 1.841,-3.042, PHS=-1.325,-0.323,-1.444, RAW= 335.5,  45.7, CAL= 334.7,  50.0, ROT= 175.3, -50.0

2025-08-11T15:00:27.228Z,1754924427.228 [DAT](INFO): DAT read: Bearing  50.1,   4.3 (Local)

2025-08-11T15:00:27.229Z,1754924427.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.1,   4.3 (Local)

2025-08-11T15:00:27.230Z,1754924427.230 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-11T15:00:27.231Z,1754924427.231 [DAT](INFO): DAT read: user:307>

2025-08-11T15:00:27.231Z,1754924427.231 [DAT](INFO): DAT read: Tx time:15:00:28.6171

2025-08-11T15:00:27.232Z,1754924427.232 [DAT](INFO): Ping request sent.
2025-08-11T15:00:27.232Z,1754924427.232 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:27.232Z,1754924427.232 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-11T15:00:27.233Z,1754924427.233 [DAT](INFO): direction in FSK: [-0.640626,0.052669,0.766044]
2025-08-11T15:00:27.233Z,1754924427.233 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:27.234Z,1754924427.234 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:27.237Z,1754924427.237 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:27.237Z,1754924427.237 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:27.240Z,1754924427.240 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.008448
2025-08-11T15:00:27.472Z,1754924427.472 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.240341
2025-08-11T15:00:27.724Z,1754924427.724 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.492205
2025-08-11T15:00:27.978Z,1754924427.978 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=0.746441
2025-08-11T15:00:28.232Z,1754924428.232 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.000384
2025-08-11T15:00:28.367Z,1754924428.367 [DockingStepper](FAULT): Timed out moving from: 12624 to: 14700 response: ÿ
2025-08-11T15:00:28.368Z,1754924428.368 [DockingStepper] Hardware Fault, FailCount= 3
2025-08-11T15:00:28.368Z,1754924428.368 [DockingStepper](ERROR): Hardware Fault
2025-08-11T15:00:28.414Z,1754924428.414 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-11T15:00:28.485Z,1754924428.485 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.253465
2025-08-11T15:00:28.736Z,1754924428.736 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.504312
2025-08-11T15:00:28.744Z,1754924428.744 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-11T15:00:28.744Z,1754924428.744 [DockingStepper](INFO): Powering down
2025-08-11T15:00:28.988Z,1754924428.988 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=1.756253
2025-08-11T15:00:29.240Z,1754924429.240 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.008195
2025-08-11T15:00:29.496Z,1754924429.496 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.264370
2025-08-11T15:00:29.748Z,1754924429.748 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.516248
2025-08-11T15:00:30.000Z,1754924430.000 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=2.768142
2025-08-11T15:00:30.253Z,1754924430.253 [DAT](INFO): DAT read: Rx Time:15:00:31.0226

2025-08-11T15:00:30.254Z,1754924430.254 [DAT](INFO): Rx dataTimestamp_ set to:1754924430.252968
2025-08-11T15:00:30.254Z,1754924430.254 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=3.022254
2025-08-11T15:00:30.504Z,1754924430.504 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=3.272291
2025-08-11T15:00:30.762Z,1754924430.762 [DAT](INFO): DAT read: 15:00:31.0226 LVL= 32752, 31649, 32754, 32755, AGC= 36, IDX= 440, 0.20,-0.363, 0.766, 0.133, 1.385, PHS=-1.646,-0.574,-1.296, RAW= 311.3,  52.7, CAL= 312.0,  56.3, ROT= 198.0, -56.3

2025-08-11T15:00:30.763Z,1754924430.763 [DAT](INFO): got valid direction response:
 15:00:31.0226 LVL= 32752, 31649, 32754, 32755, AGC= 36, IDX= 440, 0.20,-0.363, 0.766, 0.133, 1.385, PHS=-1.646,-0.574,-1.296, RAW= 311.3,  52.7, CAL= 312.0,  56.3, ROT= 198.0, -56.3

2025-08-11T15:00:30.764Z,1754924430.764 [DAT](INFO): DAT read: Bearing  47.3,  -7.8 (Local)

2025-08-11T15:00:30.764Z,1754924430.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.3,  -7.8 (Local)

2025-08-11T15:00:30.766Z,1754924430.766 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-11T15:00:30.766Z,1754924430.766 [DAT](INFO): DAT read: user:308>

2025-08-11T15:00:30.767Z,1754924430.767 [DAT](INFO): DAT read: Tx time:15:00:32.1171

2025-08-11T15:00:30.768Z,1754924430.768 [DAT](INFO): Ping request sent.
2025-08-11T15:00:30.768Z,1754924430.768 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:30.768Z,1754924430.768 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-11T15:00:30.769Z,1754924430.769 [DAT](INFO): direction in FSK: [-0.527688,-0.171456,0.831954]
2025-08-11T15:00:30.769Z,1754924430.769 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:30.769Z,1754924430.769 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:30.773Z,1754924430.773 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:30.773Z,1754924430.773 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:30.776Z,1754924430.776 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.008416
2025-08-11T15:00:31.009Z,1754924431.009 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.240962
2025-08-11T15:00:31.260Z,1754924431.260 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.492466
2025-08-11T15:00:31.515Z,1754924431.515 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.746977
2025-08-11T15:00:31.764Z,1754924431.764 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=0.996578
2025-08-11T15:00:32.016Z,1754924432.016 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.248471
2025-08-11T15:00:32.268Z,1754924432.268 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.500345
2025-08-11T15:00:32.520Z,1754924432.520 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=1.752706
2025-08-11T15:00:32.772Z,1754924432.772 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.004593
2025-08-11T15:00:33.024Z,1754924433.024 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.256505
2025-08-11T15:00:33.276Z,1754924433.276 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.508409
2025-08-11T15:00:33.532Z,1754924433.532 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=2.764024
2025-08-11T15:00:33.781Z,1754924433.781 [DAT](INFO): DAT read: Rx Time:15:00:34.5220

2025-08-11T15:00:33.781Z,1754924433.781 [DAT](INFO): Rx dataTimestamp_ set to:1754924433.780923
2025-08-11T15:00:33.782Z,1754924433.782 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=3.014418
2025-08-11T15:00:34.032Z,1754924434.032 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=3.264695
2025-08-11T15:00:34.290Z,1754924434.290 [DAT](INFO): DAT read: 15:00:34.5220 LVL= 32752, 32753, 32754, 32755, AGC= 35, IDX= 437, 0.31, 1.428, 2.767, 2.562,-2.677, PHS=-2.076,-0.795,-1.089, RAW= 282.6,  50.3, CAL= 285.2,  55.3, ROT= 224.8, -55.3

2025-08-11T15:00:34.291Z,1754924434.291 [DAT](INFO): got valid direction response:
 15:00:34.5220 LVL= 32752, 32753, 32754, 32755, AGC= 35, IDX= 437, 0.31, 1.428, 2.767, 2.562,-2.677, PHS=-2.076,-0.795,-1.089, RAW= 282.6,  50.3, CAL= 285.2,  55.3, ROT= 224.8, -55.3

2025-08-11T15:00:34.292Z,1754924434.292 [DAT](INFO): DAT read: Bearing  49.0, -20.6 (Local)

2025-08-11T15:00:34.292Z,1754924434.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.0, -20.6 (Local)

2025-08-11T15:00:34.294Z,1754924434.294 [DAT](INFO): DAT read: Range 11 to 50 : 0.5 m  (Round-trip  0.7 ms) speed  0.0 m/s

2025-08-11T15:00:34.294Z,1754924434.294 [DAT](INFO): DAT read: user:309>

2025-08-11T15:00:34.295Z,1754924434.295 [DAT](INFO): DAT read: Tx time:15:00:35.6187

2025-08-11T15:00:34.295Z,1754924434.295 [DAT](INFO): Ping request sent.
2025-08-11T15:00:34.295Z,1754924434.295 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:34.296Z,1754924434.296 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-11T15:00:34.297Z,1754924434.297 [DAT](INFO): direction in FSK: [-0.403944,-0.401134,0.822144]
2025-08-11T15:00:34.297Z,1754924434.297 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:34.297Z,1754924434.297 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:34.300Z,1754924434.300 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:34.301Z,1754924434.301 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:34.325Z,1754924434.325 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.029654
2025-08-11T15:00:34.539Z,1754924434.539 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.242912
2025-08-11T15:00:34.788Z,1754924434.788 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.492720
2025-08-11T15:00:35.040Z,1754924435.040 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.744678
2025-08-11T15:00:35.293Z,1754924435.293 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=0.996998
2025-08-11T15:00:35.547Z,1754924435.547 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.250944
2025-08-11T15:00:35.796Z,1754924435.796 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.500633
2025-08-11T15:00:36.048Z,1754924436.048 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=1.752600
2025-08-11T15:00:36.300Z,1754924436.300 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.004898
2025-08-11T15:00:36.555Z,1754924436.555 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.259075
2025-08-11T15:00:36.804Z,1754924436.804 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.508500
2025-08-11T15:00:37.056Z,1754924437.056 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=2.760653
2025-08-11T15:00:37.310Z,1754924437.310 [DAT](INFO): DAT read: Rx Time:15:00:38.0238

2025-08-11T15:00:37.311Z,1754924437.311 [DAT](INFO): Rx dataTimestamp_ set to:1754924437.310355
2025-08-11T15:00:37.311Z,1754924437.311 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=3.015824
2025-08-11T15:00:37.567Z,1754924437.567 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=3.271138
2025-08-11T15:00:37.822Z,1754924437.822 [DAT](INFO): DAT read: 15:00:38.0238 LVL= 28656, 31873, 32754, 32755, AGC= 36, IDX= 439,-0.50,-0.335, 1.084, 0.873, 1.927, PHS=-2.160,-0.798,-1.099, RAW= 282.1,  49.2, CAL= 284.7,  54.4, ROT= 225.3, -54.4

2025-08-11T15:00:37.823Z,1754924437.823 [DAT](INFO): got valid direction response:
 15:00:38.0238 LVL= 28656, 31873, 32754, 32755, AGC= 36, IDX= 439,-0.50,-0.335, 1.084, 0.873, 1.927, PHS=-2.160,-0.798,-1.099, RAW= 282.1,  49.2, CAL= 284.7,  54.4, ROT= 225.3, -54.4

2025-08-11T15:00:37.824Z,1754924437.824 [DAT](INFO): DAT read: Bearing  48.8, -21.6 (Local)

2025-08-11T15:00:37.824Z,1754924437.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.8, -21.6 (Local)

2025-08-11T15:00:37.826Z,1754924437.826 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T15:00:37.826Z,1754924437.826 [DAT](INFO): DAT read: user:310>

2025-08-11T15:00:37.828Z,1754924437.828 [DAT](INFO): DAT read: Tx time:15:00:39.1171

2025-08-11T15:00:37.828Z,1754924437.828 [DAT](INFO): Ping request sent.
2025-08-11T15:00:37.828Z,1754924437.828 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:37.829Z,1754924437.829 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-11T15:00:37.830Z,1754924437.830 [DAT](INFO): direction in FSK: [-0.409462,-0.413773,0.813101]
2025-08-11T15:00:37.830Z,1754924437.830 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:37.830Z,1754924437.830 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:37.833Z,1754924437.833 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:37.833Z,1754924437.833 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:37.873Z,1754924437.873 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.045112
2025-08-11T15:00:38.068Z,1754924438.068 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.239830
2025-08-11T15:00:38.320Z,1754924438.320 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.491780
2025-08-11T15:00:38.576Z,1754924438.576 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.747665
2025-08-11T15:00:38.824Z,1754924438.824 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=0.995947
2025-08-11T15:00:39.076Z,1754924439.076 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.247816
2025-08-11T15:00:39.328Z,1754924439.328 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.499767
2025-08-11T15:00:39.583Z,1754924439.583 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=1.754028
2025-08-11T15:00:39.832Z,1754924439.832 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.003768
2025-08-11T15:00:40.084Z,1754924440.084 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.256037
2025-08-11T15:00:40.340Z,1754924440.340 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.511807
2025-08-11T15:00:40.591Z,1754924440.591 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=2.761736
2025-08-11T15:00:40.840Z,1754924440.840 [DAT](INFO): DAT read: Rx Time:15:00:41.5220

2025-08-11T15:00:40.841Z,1754924440.841 [DAT](INFO): Rx dataTimestamp_ set to:1754924440.840462
2025-08-11T15:00:40.841Z,1754924440.841 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=3.012988
2025-08-11T15:00:41.092Z,1754924441.092 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=3.263863
2025-08-11T15:00:41.350Z,1754924441.350 [DAT](INFO): DAT read: 15:00:41.5220 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 437, 0.47, 0.780, 1.573, 1.729, 2.811, PHS=-1.929,-1.192,-1.126, RAW= 265.7,  62.8, CAL= 266.9,  67.1, ROT= 243.1, -67.1

2025-08-11T15:00:41.351Z,1754924441.351 [DAT](INFO): got valid direction response:
 15:00:41.5220 LVL= 32752, 32753, 32754, 32755, AGC= 38, IDX= 437, 0.47, 0.780, 1.573, 1.729, 2.811, PHS=-1.929,-1.192,-1.126, RAW= 265.7,  62.8, CAL= 266.9,  67.1, ROT= 243.1, -67.1

2025-08-11T15:00:41.352Z,1754924441.352 [DAT](INFO): DAT read: Bearing  18.6, -19.7 (Local)

2025-08-11T15:00:41.352Z,1754924441.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.6, -19.7 (Local)

2025-08-11T15:00:41.354Z,1754924441.354 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T15:00:41.354Z,1754924441.354 [DAT](INFO): DAT read: user:311>

2025-08-11T15:00:41.355Z,1754924441.355 [DAT](INFO): DAT read: Tx time:15:00:42.6170

2025-08-11T15:00:41.355Z,1754924441.355 [DAT](INFO): Ping request sent.
2025-08-11T15:00:41.355Z,1754924441.355 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:41.356Z,1754924441.356 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-11T15:00:41.357Z,1754924441.357 [DAT](INFO): direction in FSK: [-0.176053,-0.347020,0.921185]
2025-08-11T15:00:41.357Z,1754924441.357 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:41.357Z,1754924441.357 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:41.361Z,1754924441.361 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:41.361Z,1754924441.361 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:41.364Z,1754924441.364 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.008518
2025-08-11T15:00:41.596Z,1754924441.596 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.240480
2025-08-11T15:00:41.848Z,1754924441.848 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.492591
2025-08-11T15:00:42.100Z,1754924442.100 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.744671
2025-08-11T15:00:42.352Z,1754924442.352 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=0.996852
2025-08-11T15:00:42.607Z,1754924442.607 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.250471
2025-08-11T15:00:42.856Z,1754924442.856 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.500456
2025-08-11T15:00:43.108Z,1754924443.108 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=1.752530
2025-08-11T15:00:43.364Z,1754924443.364 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.008684
2025-08-11T15:00:43.618Z,1754924443.618 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.262191
2025-08-11T15:00:43.868Z,1754924443.868 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.512843
2025-08-11T15:00:44.120Z,1754924444.120 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=2.764693
2025-08-11T15:00:44.372Z,1754924444.372 [DAT](INFO): DAT read: Rx Time:15:00:45.0223

2025-08-11T15:00:44.373Z,1754924444.373 [DAT](INFO): Rx dataTimestamp_ set to:1754924444.372319
2025-08-11T15:00:44.373Z,1754924444.373 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=3.017636
2025-08-11T15:00:44.625Z,1754924444.625 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=3.269528
2025-08-11T15:00:44.882Z,1754924444.882 [DAT](INFO): DAT read: 15:00:45.0223 LVL= 26352, 23313, 24258, 32755, AGC= 37, IDX= 438,-0.14,-3.129,-1.856,-3.030,-1.634, PHS=-1.393,-0.177,-1.439, RAW= 331.9,  40.6, CAL= 331.1,  45.5, ROT= 178.9, -45.5

2025-08-11T15:00:44.884Z,1754924444.884 [DAT](INFO): got valid direction response:
 15:00:45.0223 LVL= 26352, 23313, 24258, 32755, AGC= 37, IDX= 438,-0.14,-3.129,-1.856,-3.030,-1.634, PHS=-1.393,-0.177,-1.439, RAW= 331.9,  40.6, CAL= 331.1,  45.5, ROT= 178.9, -45.5

2025-08-11T15:00:44.885Z,1754924444.885 [DAT](INFO): DAT read: Bearing  45.0,   2.2 (Local)

2025-08-11T15:00:44.885Z,1754924444.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing  45.0,   2.2 (Local)

2025-08-11T15:00:44.886Z,1754924444.886 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T15:00:44.887Z,1754924444.887 [DAT](INFO): DAT read: user:312>

2025-08-11T15:00:44.888Z,1754924444.888 [DAT](INFO): DAT read: Tx time:15:00:46.1170

2025-08-11T15:00:44.888Z,1754924444.888 [DAT](INFO): Ping request sent.
2025-08-11T15:00:44.888Z,1754924444.888 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:44.889Z,1754924444.889 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-11T15:00:44.890Z,1754924444.890 [DAT](INFO): direction in FSK: [-0.700780,0.013456,0.713250]
2025-08-11T15:00:44.890Z,1754924444.890 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:44.890Z,1754924444.890 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:44.910Z,1754924444.910 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:44.910Z,1754924444.910 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:44.932Z,1754924444.932 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.034587
2025-08-11T15:00:45.128Z,1754924445.128 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.239723
2025-08-11T15:00:45.380Z,1754924445.380 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.491779
2025-08-11T15:00:45.632Z,1754924445.632 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.743820
2025-08-11T15:00:45.884Z,1754924445.884 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=0.995751
2025-08-11T15:00:46.136Z,1754924446.136 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.248119
2025-08-11T15:00:46.388Z,1754924446.388 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.499772
2025-08-11T15:00:46.640Z,1754924446.640 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=1.751772
2025-08-11T15:00:46.892Z,1754924446.892 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.003899
2025-08-11T15:00:47.145Z,1754924447.145 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.256043
2025-08-11T15:00:47.396Z,1754924447.396 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.507751
2025-08-11T15:00:47.650Z,1754924447.650 [DAT](INFO): DAT read: Rx Time:15:00:48.5226

2025-08-11T15:00:47.650Z,1754924447.650 [DAT](INFO): Rx dataTimestamp_ set to:1754924447.649879
2025-08-11T15:00:47.652Z,1754924447.652 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=2.763333
2025-08-11T15:00:47.900Z,1754924447.900 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=3.011809
2025-08-11T15:00:48.155Z,1754924448.155 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=3.266617
2025-08-11T15:00:48.410Z,1754924448.410 [DAT](INFO): DAT read: 15:00:48.5226 LVL= 15712, 16049, 20898, 21043, AGC= 34, IDX= 441,-0.11,-0.597, 1.285,-0.176, 1.138, PHS=-1.633, 0.192,-1.358, RAW= 322.0,  30.1, CAL= 321.8,  35.4, ROT= 188.2, -35.4

2025-08-11T15:00:48.411Z,1754924448.411 [DAT](INFO): got valid direction response:
 15:00:48.5226 LVL= 15712, 16049, 20898, 21043, AGC= 34, IDX= 441,-0.11,-0.597, 1.285,-0.176, 1.138, PHS=-1.633, 0.192,-1.358, RAW= 322.0,  30.1, CAL= 321.8,  35.4, ROT= 188.2, -35.4

2025-08-11T15:00:48.412Z,1754924448.412 [DAT](INFO): DAT read: Bearing  70.0,  -5.5 (Local)

2025-08-11T15:00:48.412Z,1754924448.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.0,  -5.5 (Local)

2025-08-11T15:00:48.414Z,1754924448.414 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-11T15:00:48.415Z,1754924448.415 [DAT](INFO): DAT read: user:313>

2025-08-11T15:00:48.415Z,1754924448.415 [DAT](INFO): DAT read: Tx time:15:00:49.6170

2025-08-11T15:00:48.416Z,1754924448.416 [DAT](INFO): Ping request sent.
2025-08-11T15:00:48.416Z,1754924448.416 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:48.416Z,1754924448.416 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-11T15:00:48.417Z,1754924448.417 [DAT](INFO): direction in FSK: [-0.806794,-0.116261,0.579281]
2025-08-11T15:00:48.417Z,1754924448.417 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:48.418Z,1754924448.418 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:48.421Z,1754924448.421 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:48.421Z,1754924448.421 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:48.425Z,1754924448.425 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.009256
2025-08-11T15:00:48.658Z,1754924448.658 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.241848
2025-08-11T15:00:48.909Z,1754924448.909 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.493048
2025-08-11T15:00:49.160Z,1754924449.160 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.744698
2025-08-11T15:00:49.412Z,1754924449.412 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=0.996455
2025-08-11T15:00:49.446Z,1754924449.446 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-11T15:00:49.446Z,1754924449.446 [DockingStepper] No Fault, FailCount= 3
2025-08-11T15:00:49.665Z,1754924449.665 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.249283
2025-08-11T15:00:49.756Z,1754924449.756 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-11T15:00:49.757Z,1754924449.757 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-11T15:00:49.917Z,1754924449.917 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.501100
2025-08-11T15:00:50.169Z,1754924450.169 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=1.752990
2025-08-11T15:00:50.420Z,1754924450.420 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.004359
2025-08-11T15:00:50.672Z,1754924450.672 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.256429
2025-08-11T15:00:50.925Z,1754924450.925 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.508876
2025-08-11T15:00:51.176Z,1754924451.176 [DAT](INFO): DAT read: Rx Time:15:00:52.0226

2025-08-11T15:00:51.177Z,1754924451.177 [DAT](INFO): Rx dataTimestamp_ set to:1754924451.176355
2025-08-11T15:00:51.177Z,1754924451.177 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=2.761469
2025-08-11T15:00:51.428Z,1754924451.428 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=3.012344
2025-08-11T15:00:51.699Z,1754924451.699 [DAT](INFO): DAT read: 15:00:52.0226 LVL= 29072, 26433, 28770, 32147, AGC= 37, IDX= 441, 0.11,-1.137,-0.055,-0.868, 0.428, PHS=-1.463,-0.438,-1.340, RAW= 323.7,  49.8, CAL= 323.6,  53.8, ROT= 186.4, -53.8

2025-08-11T15:00:51.712Z,1754924451.712 [DAT](INFO): got valid direction response:
 15:00:52.0226 LVL= 29072, 26433, 28770, 32147, AGC= 37, IDX= 441, 0.11,-1.137,-0.055,-0.868, 0.428, PHS=-1.463,-0.438,-1.340, RAW= 323.7,  49.8, CAL= 323.6,  53.8, ROT= 186.4, -53.8

2025-08-11T15:00:51.713Z,1754924451.713 [DAT](INFO): DAT read: Bearing  65.6,  -3.0 (Local)

2025-08-11T15:00:51.713Z,1754924451.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.6,  -3.0 (Local)

2025-08-11T15:00:51.714Z,1754924451.714 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-11T15:00:51.719Z,1754924451.719 [DAT](INFO): DAT read: user:314>

2025-08-11T15:00:51.720Z,1754924451.720 [DAT](INFO): DAT read: Tx time:15:00:53.1170

2025-08-11T15:00:51.720Z,1754924451.720 [DAT](INFO): Ping request sent.
2025-08-11T15:00:51.720Z,1754924451.720 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:51.721Z,1754924451.721 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-11T15:00:51.722Z,1754924451.722 [DAT](INFO): direction in FSK: [-0.586925,-0.065834,0.806960]
2025-08-11T15:00:51.722Z,1754924451.722 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:51.722Z,1754924451.722 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:51.741Z,1754924451.741 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:51.742Z,1754924451.742 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:51.803Z,1754924451.803 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.070129
2025-08-11T15:00:51.933Z,1754924451.933 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.212596
2025-08-11T15:00:52.184Z,1754924452.184 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.464068
2025-08-11T15:00:52.436Z,1754924452.436 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.715879
2025-08-11T15:00:52.688Z,1754924452.688 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=0.967810
2025-08-11T15:00:52.941Z,1754924452.941 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.220455
2025-08-11T15:00:53.192Z,1754924453.192 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.471859
2025-08-11T15:00:53.380Z,1754924453.380 [DockingStepper](INFO): Changing to mode: 1
2025-08-11T15:00:53.444Z,1754924453.444 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.723818
2025-08-11T15:00:53.696Z,1754924453.696 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=1.975777
2025-08-11T15:00:53.948Z,1754924453.948 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.227984
2025-08-11T15:00:54.200Z,1754924454.200 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.479918
2025-08-11T15:00:54.452Z,1754924454.452 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.732035
2025-08-11T15:00:54.704Z,1754924454.704 [DAT](INFO): DAT read: Rx Time:15:00:55.5221

2025-08-11T15:00:54.705Z,1754924454.705 [DAT](INFO): Rx dataTimestamp_ set to:1754924454.704424
2025-08-11T15:00:54.705Z,1754924454.705 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=2.984984
2025-08-11T15:00:54.956Z,1754924454.956 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=3.235885
2025-08-11T15:00:55.214Z,1754924455.214 [DAT](INFO): DAT read: 15:00:55.5221 LVL= 22064, 28433, 32754, 32755, AGC= 38, IDX= 437, 0.27,-1.153,-1.441,-1.503, 0.018, PHS=-1.069,-1.414,-1.565, RAW=  72.7,  72.9, CAL=  71.3,  75.3, ROT=  78.7, -75.3

2025-08-11T15:00:55.215Z,1754924455.215 [DAT](INFO): got valid direction response:
 15:00:55.5221 LVL= 22064, 28433, 32754, 32755, AGC= 38, IDX= 437, 0.27,-1.153,-1.441,-1.503, 0.018, PHS=-1.069,-1.414,-1.565, RAW=  72.7,  72.9, CAL=  71.3,  75.3, ROT=  78.7, -75.3

2025-08-11T15:00:55.216Z,1754924455.216 [DAT](INFO): DAT read: Bearing  20.6,  14.2 (Local)

2025-08-11T15:00:55.217Z,1754924455.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.6,  14.2 (Local)

2025-08-11T15:00:55.218Z,1754924455.218 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T15:00:55.219Z,1754924455.219 [DAT](INFO): DAT read: user:315>

2025-08-11T15:00:55.270Z,1754924455.270 [DAT](INFO): DAT read: Tx time:15:00:56.6170

2025-08-11T15:00:55.271Z,1754924455.271 [DAT](INFO): Ping request sent.
2025-08-11T15:00:55.275Z,1754924455.275 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:55.275Z,1754924455.275 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-11T15:00:55.276Z,1754924455.276 [DAT](INFO): direction in FSK: [0.049723,0.248839,0.967268]
2025-08-11T15:00:55.277Z,1754924455.277 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:55.277Z,1754924455.277 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:55.292Z,1754924455.292 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:55.292Z,1754924455.292 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:55.310Z,1754924455.310 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.038826
2025-08-11T15:00:55.461Z,1754924455.461 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.189686
2025-08-11T15:00:55.712Z,1754924455.712 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.441272
2025-08-11T15:00:55.968Z,1754924455.968 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.697530
2025-08-11T15:00:56.220Z,1754924456.220 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=0.949359
2025-08-11T15:00:56.472Z,1754924456.472 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.201189
2025-08-11T15:00:56.725Z,1754924456.725 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.453622
2025-08-11T15:00:56.976Z,1754924456.976 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.705322
2025-08-11T15:00:57.230Z,1754924457.230 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=1.958666
2025-08-11T15:00:57.480Z,1754924457.480 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.209328
2025-08-11T15:00:57.732Z,1754924457.732 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.461209
2025-08-11T15:00:57.984Z,1754924457.984 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.713184
2025-08-11T15:00:58.237Z,1754924458.237 [DAT](INFO): DAT read: Rx Time:15:00:59.0220

2025-08-11T15:00:58.237Z,1754924458.237 [DAT](INFO): Rx dataTimestamp_ set to:1754924458.236705
2025-08-11T15:00:58.238Z,1754924458.238 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=2.966645
2025-08-11T15:00:58.488Z,1754924458.488 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=3.217263
2025-08-11T15:00:58.746Z,1754924458.746 [DAT](INFO): DAT read: 15:00:59.0220 LVL= 28288, 24945, 32754, 32755, AGC= 36, IDX= 437, 0.31,-0.230,-1.188,-1.081, 0.460, PHS=-0.588,-1.603,-1.585, RAW=  90.9,  53.0, CAL=  89.9,  58.3, ROT=  60.1, -58.3

2025-08-11T15:00:58.747Z,1754924458.747 [DAT](INFO): got valid direction response:
 15:00:59.0220 LVL= 28288, 24945, 32754, 32755, AGC= 36, IDX= 437, 0.31,-0.230,-1.188,-1.081, 0.460, PHS=-0.588,-1.603,-1.585, RAW=  90.9,  53.0, CAL=  89.9,  58.3, ROT=  60.1, -58.3

2025-08-11T15:00:58.748Z,1754924458.748 [DAT](INFO): DAT read: Bearing 348.0,  25.7 (Local)

2025-08-11T15:00:58.749Z,1754924458.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.0,  25.7 (Local)

2025-08-11T15:00:58.751Z,1754924458.751 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed  0.0 m/s

2025-08-11T15:00:58.753Z,1754924458.753 [DAT](INFO): DAT read: user:316>

2025-08-11T15:00:58.754Z,1754924458.754 [DAT](INFO): DAT read: Tx time:15:01:00.1169

2025-08-11T15:00:58.754Z,1754924458.754 [DAT](INFO): Ping request sent.
2025-08-11T15:00:58.754Z,1754924458.754 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:00:58.755Z,1754924458.755 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-11T15:00:58.756Z,1754924458.756 [DAT](INFO): direction in FSK: [0.261941,0.455530,0.850811]
2025-08-11T15:00:58.757Z,1754924458.757 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:58.757Z,1754924458.757 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:58.762Z,1754924458.762 [DAT](INFO): publishing transmit ping time
2025-08-11T15:00:58.762Z,1754924458.762 [DAT](INFO): publishing direction and range info
2025-08-11T15:00:58.769Z,1754924458.769 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.014700
2025-08-11T15:00:58.992Z,1754924458.992 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.238058
2025-08-11T15:00:59.244Z,1754924459.244 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.490001
2025-08-11T15:00:59.496Z,1754924459.496 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.742010
2025-08-11T15:00:59.748Z,1754924459.748 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=0.993899
2025-08-11T15:01:00.001Z,1754924460.001 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.246599
2025-08-11T15:01:00.252Z,1754924460.252 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.498009
2025-08-11T15:01:00.504Z,1754924460.504 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=1.750220
2025-08-11T15:01:00.756Z,1754924460.756 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.002175
2025-08-11T15:01:01.008Z,1754924461.008 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.253920
2025-08-11T15:01:01.260Z,1754924461.260 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.505905
2025-08-11T15:01:01.512Z,1754924461.512 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=2.758010
2025-08-11T15:01:01.764Z,1754924461.764 [DAT](INFO): DAT read: Rx Time:15:01:02.5222

2025-08-11T15:01:01.765Z,1754924461.765 [DAT](INFO): Rx dataTimestamp_ set to:1754924461.764405
2025-08-11T15:01:01.765Z,1754924461.765 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=3.011100
2025-08-11T15:01:02.016Z,1754924462.016 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=3.261956
2025-08-11T15:01:02.274Z,1754924462.274 [DAT](INFO): DAT read: 15:01:02.5222 LVL= 24080, 21601, 32754, 32755, AGC= 37, IDX= 437, 0.40,-1.461,-2.824,-2.388,-0.937, PHS=-0.422,-1.842,-1.494, RAW= 103.6,  46.0, CAL= 101.7,  51.9, ROT=  48.3, -51.9

2025-08-11T15:01:02.275Z,1754924462.275 [DAT](INFO): got valid direction response:
 15:01:02.5222 LVL= 24080, 21601, 32754, 32755, AGC= 37, IDX= 437, 0.40,-1.461,-2.824,-2.388,-0.937, PHS=-0.422,-1.842,-1.494, RAW= 103.6,  46.0, CAL= 101.7,  51.9, ROT=  48.3, -51.9

2025-08-11T15:01:02.276Z,1754924462.276 [DAT](INFO): DAT read: Bearing 331.0,  27.3 (Local)

2025-08-11T15:01:02.276Z,1754924462.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.0,  27.3 (Local)

2025-08-11T15:01:02.278Z,1754924462.278 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T15:01:02.279Z,1754924462.279 [DAT](INFO): DAT read: user:317>

2025-08-11T15:01:02.279Z,1754924462.279 [DAT](INFO): DAT read: Tx time:15:01:03.6169

2025-08-11T15:01:02.280Z,1754924462.280 [DAT](INFO): Ping request sent.
2025-08-11T15:01:02.280Z,1754924462.280 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:02.280Z,1754924462.280 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-11T15:01:02.281Z,1754924462.281 [DAT](INFO): direction in FSK: [0.410471,0.460703,0.786935]
2025-08-11T15:01:02.281Z,1754924462.281 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:02.282Z,1754924462.282 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:02.285Z,1754924462.285 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:02.285Z,1754924462.285 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:02.288Z,1754924462.288 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.008315
2025-08-11T15:01:02.520Z,1754924462.520 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.240505
2025-08-11T15:01:02.772Z,1754924462.772 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.492689
2025-08-11T15:01:03.024Z,1754924463.024 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.744607
2025-08-11T15:01:03.172Z,1754924463.172 [DockingStepper](FAULT): Timed out moving from: 12656 to: 14700 response: ÿ
2025-08-11T15:01:03.172Z,1754924463.172 [DockingStepper] Hardware Fault, FailCount= 4
2025-08-11T15:01:03.172Z,1754924463.172 [DockingStepper](ERROR): Hardware Fault
2025-08-11T15:01:03.204Z,1754924463.204 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-11T15:01:03.276Z,1754924463.276 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=0.996325
2025-08-11T15:01:03.435Z,1754924463.435 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-11T15:01:03.435Z,1754924463.435 [DockingStepper](INFO): Powering down
2025-08-11T15:01:03.528Z,1754924463.528 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.248369
2025-08-11T15:01:03.780Z,1754924463.780 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.500353
2025-08-11T15:01:04.032Z,1754924464.032 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=1.752367
2025-08-11T15:01:04.297Z,1754924464.297 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.017401
2025-08-11T15:01:04.548Z,1754924464.548 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.268426
2025-08-11T15:01:04.800Z,1754924464.800 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.520335
2025-08-11T15:01:05.052Z,1754924465.052 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=2.772439
2025-08-11T15:01:05.304Z,1754924465.304 [DAT](INFO): DAT read: Rx Time:15:01:06.0222

2025-08-11T15:01:05.305Z,1754924465.305 [DAT](INFO): Rx dataTimestamp_ set to:1754924465.304381
2025-08-11T15:01:05.305Z,1754924465.305 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=3.025478
2025-08-11T15:01:05.556Z,1754924465.556 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=3.276348
2025-08-11T15:01:05.814Z,1754924465.814 [DAT](INFO): DAT read: 15:01:06.0222 LVL= 10832, 14465, 20978, 21923, AGC= 33, IDX= 440, 0.21, 2.576,-1.840, 2.797,-2.229, PHS=-1.376, 0.434,-1.301, RAW= 327.9,  24.1, CAL= 327.5,  29.0, ROT= 182.5, -29.0

2025-08-11T15:01:05.815Z,1754924465.815 [DAT](INFO): got valid direction response:
 15:01:06.0222 LVL= 10832, 14465, 20978, 21923, AGC= 33, IDX= 440, 0.21, 2.576,-1.840, 2.797,-2.229, PHS=-1.376, 0.434,-1.301, RAW= 327.9,  24.1, CAL= 327.5,  29.0, ROT= 182.5, -29.0

2025-08-11T15:01:05.820Z,1754924465.820 [DAT](INFO): DAT read: Bearing  74.7,  -4.0 (Local)

2025-08-11T15:01:05.820Z,1754924465.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.7,  -4.0 (Local)

2025-08-11T15:01:05.821Z,1754924465.821 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T15:01:05.822Z,1754924465.822 [DAT](INFO): DAT read: user:318>

2025-08-11T15:01:05.831Z,1754924465.831 [DAT](INFO): DAT read: Tx time:15:01:07.1169

2025-08-11T15:01:05.831Z,1754924465.831 [DAT](INFO): Ping request sent.
2025-08-11T15:01:05.832Z,1754924465.832 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:05.832Z,1754924465.832 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-11T15:01:05.833Z,1754924465.833 [DAT](INFO): direction in FSK: [-0.873787,-0.038150,0.484810]
2025-08-11T15:01:05.833Z,1754924465.833 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:05.833Z,1754924465.833 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:05.836Z,1754924465.836 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:05.837Z,1754924465.837 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:05.844Z,1754924465.844 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.012396
2025-08-11T15:01:06.060Z,1754924466.060 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.228786
2025-08-11T15:01:06.313Z,1754924466.313 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.481152
2025-08-11T15:01:06.564Z,1754924466.564 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.732791
2025-08-11T15:01:06.816Z,1754924466.816 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=0.984752
2025-08-11T15:01:07.072Z,1754924467.072 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.240706
2025-08-11T15:01:07.324Z,1754924467.324 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.492541
2025-08-11T15:01:07.576Z,1754924467.576 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.744604
2025-08-11T15:01:07.828Z,1754924467.828 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=1.996553
2025-08-11T15:01:08.080Z,1754924468.080 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.248562
2025-08-11T15:01:08.332Z,1754924468.332 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.500534
2025-08-11T15:01:08.584Z,1754924468.584 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=2.752564
2025-08-11T15:01:08.836Z,1754924468.836 [DAT](INFO): DAT read: Rx Time:15:01:09.5224

2025-08-11T15:01:08.837Z,1754924468.837 [DAT](INFO): Rx dataTimestamp_ set to:1754924468.836281
2025-08-11T15:01:08.837Z,1754924468.837 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=3.005576
2025-08-11T15:01:09.088Z,1754924469.088 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=3.256697
2025-08-11T15:01:09.346Z,1754924469.346 [DAT](INFO): DAT read: 15:01:09.5224 LVL= 23024, 23025, 22354, 30179, AGC= 36, IDX= 425,-0.21, 2.198,-2.767, 2.531,-2.460, PHS=-1.522,-0.262,-1.336, RAW= 322.1,  43.1, CAL= 322.1,  47.8, ROT= 187.9, -47.8

2025-08-11T15:01:09.347Z,1754924469.347 [DAT](INFO): got valid direction response:
 15:01:09.5224 LVL= 23024, 23025, 22354, 30179, AGC= 36, IDX= 425,-0.21, 2.198,-2.767, 2.531,-2.460, PHS=-1.522,-0.262,-1.336, RAW= 322.1,  43.1, CAL= 322.1,  47.8, ROT= 187.9, -47.8

2025-08-11T15:01:09.348Z,1754924469.348 [DAT](INFO): DAT read: Bearing  71.5,  -4.3 (Local)

2025-08-11T15:01:09.348Z,1754924469.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.5,  -4.3 (Local)

2025-08-11T15:01:09.350Z,1754924469.350 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-11T15:01:09.350Z,1754924469.350 [DAT](INFO): DAT read: user:319>

2025-08-11T15:01:09.351Z,1754924469.351 [DAT](INFO): DAT read: Tx time:15:01:10.6169

2025-08-11T15:01:09.351Z,1754924469.351 [DAT](INFO): Ping request sent.
2025-08-11T15:01:09.351Z,1754924469.351 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:09.352Z,1754924469.352 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-11T15:01:09.353Z,1754924469.353 [DAT](INFO): direction in FSK: [-0.665346,-0.092324,0.740805]
2025-08-11T15:01:09.353Z,1754924469.353 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:09.353Z,1754924469.353 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:09.356Z,1754924469.356 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:09.357Z,1754924469.357 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:09.360Z,1754924469.360 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.008513
2025-08-11T15:01:09.592Z,1754924469.592 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.240734
2025-08-11T15:01:09.844Z,1754924469.844 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.492742
2025-08-11T15:01:10.096Z,1754924470.096 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.744660
2025-08-11T15:01:10.348Z,1754924470.348 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=0.997025
2025-08-11T15:01:10.602Z,1754924470.602 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.250069
2025-08-11T15:01:10.852Z,1754924470.852 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.500634
2025-08-11T15:01:11.106Z,1754924471.106 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=1.754095
2025-08-11T15:01:11.356Z,1754924471.356 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.004724
2025-08-11T15:01:11.609Z,1754924471.609 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.256736
2025-08-11T15:01:11.860Z,1754924471.860 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.508669
2025-08-11T15:01:12.115Z,1754924472.115 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=2.763515
2025-08-11T15:01:12.364Z,1754924472.364 [DAT](INFO): DAT read: Rx Time:15:01:13.0219

2025-08-11T15:01:12.365Z,1754924472.365 [DAT](INFO): Rx dataTimestamp_ set to:1754924472.364419
2025-08-11T15:01:12.365Z,1754924472.365 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=3.013821
2025-08-11T15:01:12.617Z,1754924472.617 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=3.265075
2025-08-11T15:01:12.874Z,1754924472.874 [DAT](INFO): DAT read: 15:01:13.0219 LVL= 22512, 27745, 25954, 29939, AGC= 37, IDX= 437, 0.12, 1.267, 1.734, 1.919, 3.073, PHS=-1.704,-1.294,-1.198, RAW= 259.7,  72.6, CAL= 260.4,  75.3, ROT= 249.6, -75.3

2025-08-11T15:01:12.875Z,1754924472.875 [DAT](INFO): got valid direction response:
 15:01:13.0219 LVL= 22512, 27745, 25954, 29939, AGC= 37, IDX= 437, 0.12, 1.267, 1.734, 1.919, 3.073, PHS=-1.704,-1.294,-1.198, RAW= 259.7,  72.6, CAL= 260.4,  75.3, ROT= 249.6, -75.3

2025-08-11T15:01:12.876Z,1754924472.876 [DAT](INFO): DAT read: Bearing  26.7, -14.6 (Local)

2025-08-11T15:01:12.876Z,1754924472.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.7, -14.6 (Local)

2025-08-11T15:01:12.877Z,1754924472.877 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T15:01:12.878Z,1754924472.878 [DAT](INFO): DAT read: user:320>

2025-08-11T15:01:12.879Z,1754924472.879 [DAT](INFO): DAT read: Tx time:15:01:14.1169

2025-08-11T15:01:12.879Z,1754924472.879 [DAT](INFO): Ping request sent.
2025-08-11T15:01:12.879Z,1754924472.879 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:12.880Z,1754924472.880 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-11T15:01:12.881Z,1754924472.881 [DAT](INFO): direction in FSK: [-0.088453,-0.237843,0.967268]
2025-08-11T15:01:12.881Z,1754924472.881 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:12.881Z,1754924472.881 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:12.921Z,1754924472.921 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:12.921Z,1754924472.921 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:12.938Z,1754924472.938 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.058640
2025-08-11T15:01:13.121Z,1754924473.121 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.242024
2025-08-11T15:01:13.372Z,1754924473.372 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.492775
2025-08-11T15:01:13.625Z,1754924473.625 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.745346
2025-08-11T15:01:13.877Z,1754924473.877 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=0.997136
2025-08-11T15:01:14.133Z,1754924474.133 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.253053
2025-08-11T15:01:14.380Z,1754924474.380 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.500903
2025-08-11T15:01:14.632Z,1754924474.632 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=1.752733
2025-08-11T15:01:14.884Z,1754924474.884 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.004767
2025-08-11T15:01:15.140Z,1754924475.140 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.259282
2025-08-11T15:01:15.388Z,1754924475.388 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.508747
2025-08-11T15:01:15.640Z,1754924475.640 [DAT](INFO): DAT read: Rx Time:15:01:16.5218

2025-08-11T15:01:15.641Z,1754924475.641 [DAT](INFO): Rx dataTimestamp_ set to:1754924475.640419
2025-08-11T15:01:15.641Z,1754924475.641 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=2.761930
2025-08-11T15:01:15.892Z,1754924475.892 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=3.012813
2025-08-11T15:01:16.149Z,1754924476.149 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=3.268442
2025-08-11T15:01:16.408Z,1754924476.408 [DAT](INFO): DAT read: 15:01:16.5218 LVL= 22624, 32561, 32322, 32755, AGC= 38, IDX= 437, 0.15, 1.884, 1.633, 1.859,-3.044, PHS=-1.253,-1.562,-1.425, RAW= 116.4,  79.9, CAL= 116.0,  81.4, ROT=  34.0, -81.4

2025-08-11T15:01:16.410Z,1754924476.410 [DAT](INFO): got valid direction response:
 15:01:16.5218 LVL= 22624, 32561, 32322, 32755, AGC= 38, IDX= 437, 0.15, 1.884, 1.633, 1.859,-3.044, PHS=-1.253,-1.562,-1.425, RAW= 116.4,  79.9, CAL= 116.0,  81.4, ROT=  34.0, -81.4

2025-08-11T15:01:16.415Z,1754924476.415 [DAT](INFO): DAT read: Bearing 354.5,   2.9 (Local)

2025-08-11T15:01:16.415Z,1754924476.415 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,   2.9 (Local)

2025-08-11T15:01:16.417Z,1754924476.417 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T15:01:16.418Z,1754924476.418 [DAT](INFO): DAT read: user:321>

2025-08-11T15:01:16.418Z,1754924476.418 [DAT](INFO): DAT read: Tx time:15:01:17.6168

2025-08-11T15:01:16.419Z,1754924476.419 [DAT](INFO): Ping request sent.
2025-08-11T15:01:16.419Z,1754924476.419 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:16.423Z,1754924476.423 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-11T15:01:16.424Z,1754924476.424 [DAT](INFO): direction in FSK: [0.123970,0.083619,0.988756]
2025-08-11T15:01:16.424Z,1754924476.424 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:16.425Z,1754924476.425 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:16.436Z,1754924476.436 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:16.436Z,1754924476.436 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:16.440Z,1754924476.440 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.021292
2025-08-11T15:01:16.648Z,1754924476.648 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.229466
2025-08-11T15:01:16.900Z,1754924476.900 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.481394
2025-08-11T15:01:17.156Z,1754924477.156 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.736981
2025-08-11T15:01:17.404Z,1754924477.404 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=0.985455
2025-08-11T15:01:17.656Z,1754924477.656 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.237378
2025-08-11T15:01:17.909Z,1754924477.909 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.489983
2025-08-11T15:01:18.163Z,1754924478.163 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.743825
2025-08-11T15:01:18.412Z,1754924478.412 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=1.993527
2025-08-11T15:01:18.664Z,1754924478.664 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.245403
2025-08-11T15:01:18.917Z,1754924478.917 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.498098
2025-08-11T15:01:19.171Z,1754924479.171 [DAT](INFO): DAT read: Rx Time:15:01:20.0221

2025-08-11T15:01:19.172Z,1754924479.172 [DAT](INFO): Rx dataTimestamp_ set to:1754924479.171521
2025-08-11T15:01:19.174Z,1754924479.174 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=2.754949
2025-08-11T15:01:19.420Z,1754924479.420 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=3.001673
2025-08-11T15:01:19.675Z,1754924479.675 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=3.255618
2025-08-11T15:01:19.932Z,1754924479.932 [DAT](INFO): DAT read: 15:01:20.0221 LVL= 21136, 26977, 30482, 32755, AGC= 37, IDX= 438, 0.15,-2.088,-1.045,-2.424,-0.953, PHS=-1.033,-0.047,-1.515, RAW= 348.8,  35.3, CAL= 347.3,  40.5, ROT= 162.7, -40.5

2025-08-11T15:01:19.933Z,1754924479.933 [DAT](INFO): got valid direction response:
 15:01:20.0221 LVL= 21136, 26977, 30482, 32755, AGC= 37, IDX= 438, 0.15,-2.088,-1.045,-2.424,-0.953, PHS=-1.033,-0.047,-1.515, RAW= 348.8,  35.3, CAL= 347.3,  40.5, ROT= 162.7, -40.5

2025-08-11T15:01:19.935Z,1754924479.935 [DAT](INFO): DAT read: Bearing  43.1,  10.7 (Local)

2025-08-11T15:01:19.935Z,1754924479.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing  43.1,  10.7 (Local)

2025-08-11T15:01:19.937Z,1754924479.937 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T15:01:19.938Z,1754924479.938 [DAT](INFO): DAT read: user:322>

2025-08-11T15:01:19.939Z,1754924479.939 [DAT](INFO): DAT read: Tx time:15:01:21.1168

2025-08-11T15:01:19.940Z,1754924479.940 [DAT](INFO): Ping request sent.
2025-08-11T15:01:19.940Z,1754924479.940 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:19.941Z,1754924479.941 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-11T15:01:19.942Z,1754924479.942 [DAT](INFO): direction in FSK: [-0.726006,0.226126,0.649448]
2025-08-11T15:01:19.942Z,1754924479.942 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:19.943Z,1754924479.943 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:19.946Z,1754924479.946 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:19.946Z,1754924479.946 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:19.950Z,1754924479.950 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.009924
2025-08-11T15:01:20.180Z,1754924480.180 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.239552
2025-08-11T15:01:20.428Z,1754924480.428 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.488336
2025-08-11T15:01:20.680Z,1754924480.680 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.740181
2025-08-11T15:01:20.935Z,1754924480.935 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=0.995533
2025-08-11T15:01:21.187Z,1754924481.187 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.246336
2025-08-11T15:01:21.436Z,1754924481.436 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.496215
2025-08-11T15:01:21.688Z,1754924481.688 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=1.748196
2025-08-11T15:01:21.941Z,1754924481.941 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.000954
2025-08-11T15:01:22.192Z,1754924482.192 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.252152
2025-08-11T15:01:22.457Z,1754924482.457 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.517133
2025-08-11T15:01:22.708Z,1754924482.708 [DAT](INFO): DAT read: Rx Time:15:01:23.5223

2025-08-11T15:01:22.709Z,1754924482.709 [DAT](INFO): Rx dataTimestamp_ set to:1754924482.708425
2025-08-11T15:01:22.709Z,1754924482.709 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=2.769362
2025-08-11T15:01:22.960Z,1754924482.960 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=3.020204
2025-08-11T15:01:23.242Z,1754924483.242 [DAT](INFO): DAT read: 15:01:23.5223 LVL= 12688, 17473, 23586, 23443, AGC= 35, IDX= 441,-0.47, 1.965,-2.960, 1.982,-3.010, PHS=-1.206, 0.095,-1.335, RAW= 334.7,  32.2, CAL= 333.8,  37.6, ROT= 176.2, -37.6

2025-08-11T15:01:23.254Z,1754924483.254 [DAT](INFO): got valid direction response:
 15:01:23.5223 LVL= 12688, 17473, 23586, 23443, AGC= 35, IDX= 441,-0.47, 1.965,-2.960, 1.982,-3.010, PHS=-1.206, 0.095,-1.335, RAW= 334.7,  32.2, CAL= 333.8,  37.6, ROT= 176.2, -37.6

2025-08-11T15:01:23.265Z,1754924483.265 [DAT](INFO): DAT read: Bearing  61.4,   1.1 (Local)

2025-08-11T15:01:23.265Z,1754924483.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing  61.4,   1.1 (Local)

2025-08-11T15:01:23.266Z,1754924483.266 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-11T15:01:23.279Z,1754924483.279 [DAT](INFO): DAT read: user:323>

2025-08-11T15:01:23.280Z,1754924483.280 [DAT](INFO): DAT read: Tx time:15:01:24.6168

2025-08-11T15:01:23.280Z,1754924483.280 [DAT](INFO): Ping request sent.
2025-08-11T15:01:23.280Z,1754924483.280 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:23.281Z,1754924483.281 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-11T15:01:23.282Z,1754924483.282 [DAT](INFO): direction in FSK: [-0.790548,0.052508,0.610145]
2025-08-11T15:01:23.282Z,1754924483.282 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:23.282Z,1754924483.282 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:23.294Z,1754924483.294 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:23.294Z,1754924483.294 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:23.305Z,1754924483.305 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.024714
2025-08-11T15:01:23.464Z,1754924483.464 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.183744
2025-08-11T15:01:23.647Z,1754924483.647 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-11T15:01:23.647Z,1754924483.647 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-11T15:01:23.716Z,1754924483.716 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.435721
2025-08-11T15:01:23.717Z,1754924483.717 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-11T15:01:23.803Z,1754924483.803 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-11T15:01:23.803Z,1754924483.803 [DockingStepper] No Fault, FailCount= 4
2025-08-11T15:01:23.968Z,1754924483.968 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.687607
2025-08-11T15:01:23.968Z,1754924483.968 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-11T15:01:24.065Z,1754924484.065 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-11T15:01:24.065Z,1754924484.065 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-11T15:01:24.220Z,1754924484.220 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=0.939698
2025-08-11T15:01:24.221Z,1754924484.221 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-11T15:01:24.472Z,1754924484.472 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.191676
2025-08-11T15:01:24.724Z,1754924484.724 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.443582
2025-08-11T15:01:24.983Z,1754924484.983 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.702361
2025-08-11T15:01:25.231Z,1754924485.231 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=1.949925
2025-08-11T15:01:25.480Z,1754924485.480 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.199620
2025-08-11T15:01:25.732Z,1754924485.732 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.451737
2025-08-11T15:01:25.984Z,1754924485.984 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.703579
2025-08-11T15:01:26.239Z,1754924486.239 [DAT](INFO): DAT read: Rx Time:15:01:27.0223

2025-08-11T15:01:26.240Z,1754924486.240 [DAT](INFO): Rx dataTimestamp_ set to:1754924486.239475
2025-08-11T15:01:26.240Z,1754924486.240 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=2.959806
2025-08-11T15:01:26.488Z,1754924486.488 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=3.207714
2025-08-11T15:01:26.749Z,1754924486.749 [DAT](INFO): DAT read: 15:01:27.0223 LVL= 22640, 24657, 26994, 28915, AGC= 36, IDX= 441,-0.50, 2.432,-2.680, 2.444,-2.448, PHS=-1.301,-0.188,-1.436, RAW= 335.6,  41.1, CAL= 334.7,  45.8, ROT= 175.3, -45.8

2025-08-11T15:01:26.750Z,1754924486.750 [DAT](INFO): got valid direction response:
 15:01:27.0223 LVL= 22640, 24657, 26994, 28915, AGC= 36, IDX= 441,-0.50, 2.432,-2.680, 2.444,-2.448, PHS=-1.301,-0.188,-1.436, RAW= 335.6,  41.1, CAL= 334.7,  45.8, ROT= 175.3, -45.8

2025-08-11T15:01:26.751Z,1754924486.751 [DAT](INFO): DAT read: Bearing  68.1,   2.5 (Local)

2025-08-11T15:01:26.753Z,1754924486.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.1,   2.5 (Local)

2025-08-11T15:01:26.754Z,1754924486.754 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-11T15:01:26.755Z,1754924486.755 [DAT](INFO): DAT read: user:324>

2025-08-11T15:01:26.756Z,1754924486.756 [DAT](INFO): DAT read: Tx time:15:01:28.1168

2025-08-11T15:01:26.756Z,1754924486.756 [DAT](INFO): Ping request sent.
2025-08-11T15:01:26.756Z,1754924486.756 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:26.756Z,1754924486.756 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-11T15:01:26.757Z,1754924486.757 [DAT](INFO): direction in FSK: [-0.694821,0.057125,0.716911]
2025-08-11T15:01:26.758Z,1754924486.758 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:26.758Z,1754924486.758 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:26.761Z,1754924486.761 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:26.761Z,1754924486.761 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:26.771Z,1754924486.771 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.014868
2025-08-11T15:01:26.992Z,1754924486.992 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.236117
2025-08-11T15:01:27.247Z,1754924487.247 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.490761
2025-08-11T15:01:27.496Z,1754924487.496 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.740005
2025-08-11T15:01:27.711Z,1754924487.711 [DockingStepper](INFO): Changing to mode: 4
2025-08-11T15:01:27.749Z,1754924487.749 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=0.992563
2025-08-11T15:01:28.000Z,1754924488.000 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.244107
2025-08-11T15:01:28.253Z,1754924488.253 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.496464
2025-08-11T15:01:28.504Z,1754924488.504 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=1.748358
2025-08-11T15:01:28.756Z,1754924488.756 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.000243
2025-08-11T15:01:29.008Z,1754924489.008 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.251967
2025-08-11T15:01:29.260Z,1754924489.260 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.504022
2025-08-11T15:01:29.513Z,1754924489.513 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=2.757238
2025-08-11T15:01:29.764Z,1754924489.764 [DAT](INFO): DAT read: Rx Time:15:01:30.5220

2025-08-11T15:01:29.765Z,1754924489.765 [DAT](INFO): Rx dataTimestamp_ set to:1754924489.764502
2025-08-11T15:01:29.765Z,1754924489.765 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=3.009271
2025-08-11T15:01:30.016Z,1754924490.016 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=3.260023
2025-08-11T15:01:30.274Z,1754924490.274 [DAT](INFO): DAT read: 15:01:30.5220 LVL= 26080, 24849, 32306, 30195, AGC= 37, IDX= 438, 0.11,-1.077,-0.462,-0.306, 0.785, PHS=-1.760,-1.202,-1.136, RAW= 264.4,  67.7, CAL= 265.4,  71.2, ROT= 244.6, -71.2

2025-08-11T15:01:30.275Z,1754924490.275 [DAT](INFO): got valid direction response:
 15:01:30.5220 LVL= 26080, 24849, 32306, 30195, AGC= 37, IDX= 438, 0.11,-1.077,-0.462,-0.306, 0.785, PHS=-1.760,-1.202,-1.136, RAW= 264.4,  67.7, CAL= 265.4,  71.2, ROT= 244.6, -71.2

2025-08-11T15:01:30.276Z,1754924490.276 [DAT](INFO): DAT read: Bearing  31.6, -19.1 (Local)

2025-08-11T15:01:30.276Z,1754924490.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing  31.6, -19.1 (Local)

2025-08-11T15:01:30.278Z,1754924490.278 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-11T15:01:30.278Z,1754924490.278 [DAT](INFO): DAT read: user:325>

2025-08-11T15:01:30.279Z,1754924490.279 [DAT](INFO): DAT read: Tx time:15:01:31.6167

2025-08-11T15:01:30.280Z,1754924490.280 [DAT](INFO): Ping request sent.
2025-08-11T15:01:30.280Z,1754924490.280 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:30.280Z,1754924490.280 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-11T15:01:30.281Z,1754924490.281 [DAT](INFO): direction in FSK: [-0.138231,-0.291114,0.946649]
2025-08-11T15:01:30.281Z,1754924490.281 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:30.281Z,1754924490.281 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:30.285Z,1754924490.285 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:30.285Z,1754924490.285 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:30.289Z,1754924490.289 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.009301
2025-08-11T15:01:30.520Z,1754924490.520 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.240501
2025-08-11T15:01:30.772Z,1754924490.772 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.492434
2025-08-11T15:01:31.025Z,1754924491.025 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.745134
2025-08-11T15:01:31.276Z,1754924491.276 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=0.996421
2025-08-11T15:01:31.532Z,1754924491.532 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.252507
2025-08-11T15:01:31.784Z,1754924491.784 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.504775
2025-08-11T15:01:32.036Z,1754924492.036 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=1.756408
2025-08-11T15:01:32.289Z,1754924492.289 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.008832
2025-08-11T15:01:32.540Z,1754924492.540 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.260574
2025-08-11T15:01:32.792Z,1754924492.792 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.512435
2025-08-11T15:01:33.045Z,1754924493.045 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=2.764934
2025-08-11T15:01:33.296Z,1754924493.296 [DAT](INFO): DAT read: Rx Time:15:01:34.0217

2025-08-11T15:01:33.297Z,1754924493.297 [DAT](INFO): Rx dataTimestamp_ set to:1754924493.296386
2025-08-11T15:01:33.297Z,1754924493.297 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=3.017561
2025-08-11T15:01:33.548Z,1754924493.548 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=3.268472
2025-08-11T15:01:33.806Z,1754924493.806 [DAT](INFO): DAT read: 15:01:34.0217 LVL= 20208, 25649, 30802, 32755, AGC= 38, IDX= 437,-0.04, 0.033,-0.497,-0.299, 1.105, PHS=-0.971,-1.557,-1.448, RAW= 100.1,  69.0, CAL=  99.2,  71.8, ROT=  50.8, -71.8

2025-08-11T15:01:33.807Z,1754924493.807 [DAT](INFO): got valid direction response:
 15:01:34.0217 LVL= 20208, 25649, 30802, 32755, AGC= 38, IDX= 437,-0.04, 0.033,-0.497,-0.299, 1.105, PHS=-0.971,-1.557,-1.448, RAW= 100.1,  69.0, CAL=  99.2,  71.8, ROT=  50.8, -71.8

2025-08-11T15:01:33.808Z,1754924493.808 [DAT](INFO): DAT read: Bearing 355.6,  12.6 (Local)

2025-08-11T15:01:33.809Z,1754924493.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  12.6 (Local)

2025-08-11T15:01:33.810Z,1754924493.810 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.8 ms) speed  0.0 m/s

2025-08-11T15:01:33.811Z,1754924493.811 [DAT](INFO): DAT read: user:326>

2025-08-11T15:01:33.812Z,1754924493.812 [DAT](INFO): DAT read: Tx time:15:01:35.1167

2025-08-11T15:01:33.812Z,1754924493.812 [DAT](INFO): Ping request sent.
2025-08-11T15:01:33.812Z,1754924493.812 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:33.812Z,1754924493.812 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-11T15:01:33.813Z,1754924493.813 [DAT](INFO): direction in FSK: [0.197405,0.242042,0.949972]
2025-08-11T15:01:33.814Z,1754924493.814 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:33.814Z,1754924493.814 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:33.833Z,1754924493.833 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:33.833Z,1754924493.833 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:33.845Z,1754924493.845 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.032755
2025-08-11T15:01:34.054Z,1754924494.054 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.241353
2025-08-11T15:01:34.305Z,1754924494.305 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.492884
2025-08-11T15:01:34.558Z,1754924494.558 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.745915
2025-08-11T15:01:34.808Z,1754924494.808 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=0.996184
2025-08-11T15:01:35.061Z,1754924495.061 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.248936
2025-08-11T15:01:35.312Z,1754924495.312 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.500132
2025-08-11T15:01:35.567Z,1754924495.567 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=1.754793
2025-08-11T15:01:35.816Z,1754924495.816 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.004100
2025-08-11T15:01:36.069Z,1754924496.069 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.257231
2025-08-11T15:01:36.321Z,1754924496.321 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.508776
2025-08-11T15:01:36.573Z,1754924496.573 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=2.760747
2025-08-11T15:01:36.824Z,1754924496.824 [DAT](INFO): DAT read: Rx Time:15:01:37.5218

2025-08-11T15:01:36.825Z,1754924496.825 [DAT](INFO): Rx dataTimestamp_ set to:1754924496.824589
2025-08-11T15:01:36.825Z,1754924496.825 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=3.013442
2025-08-11T15:01:37.078Z,1754924497.078 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=3.265089
2025-08-11T15:01:37.334Z,1754924497.334 [DAT](INFO): DAT read: 15:01:37.5218 LVL= 24640, 22001, 24242, 31091, AGC= 38, IDX= 438,-0.04,-1.577,-3.104,-2.545,-0.890, PHS=-0.585,-2.169,-1.699, RAW= 106.8,  48.2, CAL= 104.8,  53.8, ROT=  45.2, -53.8

2025-08-11T15:01:37.335Z,1754924497.335 [DAT](INFO): got valid direction response:
 15:01:37.5218 LVL= 24640, 22001, 24242, 31091, AGC= 38, IDX= 438,-0.04,-1.577,-3.104,-2.545,-0.890, PHS=-0.585,-2.169,-1.699, RAW= 106.8,  48.2, CAL= 104.8,  53.8, ROT=  45.2, -53.8

2025-08-11T15:01:37.336Z,1754924497.336 [DAT](INFO): DAT read: Bearing 327.8,  25.0 (Local)

2025-08-11T15:01:37.336Z,1754924497.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.8,  25.0 (Local)

2025-08-11T15:01:37.338Z,1754924497.338 [DAT](INFO): DAT read: Range 11 to 50 : 0.6 m  (Round-trip  0.9 ms) speed -0.1 m/s

2025-08-11T15:01:37.338Z,1754924497.338 [DAT](INFO): DAT read: user:327>

2025-08-11T15:01:37.339Z,1754924497.339 [DAT](INFO): DAT read: Tx time:15:01:38.6167

2025-08-11T15:01:37.339Z,1754924497.339 [DAT](INFO): Ping request sent.
2025-08-11T15:01:37.339Z,1754924497.339 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:37.340Z,1754924497.340 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-11T15:01:37.341Z,1754924497.341 [DAT](INFO): direction in FSK: [0.416161,0.419076,0.806960]
2025-08-11T15:01:37.341Z,1754924497.341 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:37.341Z,1754924497.341 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:37.344Z,1754924497.344 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:37.345Z,1754924497.345 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:37.353Z,1754924497.353 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.013434
2025-08-11T15:01:37.581Z,1754924497.581 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.241368
2025-08-11T15:01:37.832Z,1754924497.832 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.492885
2025-08-11T15:01:38.084Z,1754924498.084 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.744658
2025-08-11T15:01:38.337Z,1754924498.337 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=0.997386
2025-08-11T15:01:38.588Z,1754924498.588 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.248806
2025-08-11T15:01:38.840Z,1754924498.840 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.500620
2025-08-11T15:01:39.093Z,1754924499.093 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=1.753630
2025-08-11T15:01:39.344Z,1754924499.344 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.004697
2025-08-11T15:01:39.596Z,1754924499.596 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.256607
2025-08-11T15:01:39.848Z,1754924499.848 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.508787
2025-08-11T15:01:40.100Z,1754924500.100 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=2.760742
2025-08-11T15:01:40.353Z,1754924500.353 [DAT](INFO): DAT read: Rx Time:15:01:41.0221

2025-08-11T15:01:40.353Z,1754924500.353 [DAT](INFO): Rx dataTimestamp_ set to:1754924500.352943
2025-08-11T15:01:40.354Z,1754924500.354 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=3.014672
2025-08-11T15:01:40.604Z,1754924500.604 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=3.264917
2025-08-11T15:01:40.858Z,1754924500.858 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.2 ms) speed  0.0 m/s

2025-08-11T15:01:40.858Z,1754924500.858 [DAT](INFO): DAT read: user:328>

2025-08-11T15:01:40.859Z,1754924500.859 [DAT](INFO): DAT read: Tx time:15:01:42.1167

2025-08-11T15:01:40.859Z,1754924500.859 [DAT](INFO): Ping request sent.
2025-08-11T15:01:40.859Z,1754924500.859 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:40.860Z,1754924500.860 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-08-11T15:01:40.860Z,1754924500.860 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:40.861Z,1754924500.861 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:40.861Z,1754924500.861 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.001899
2025-08-11T15:01:41.109Z,1754924501.109 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.248940
2025-08-11T15:01:41.360Z,1754924501.360 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.500894
2025-08-11T15:01:41.612Z,1754924501.612 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=0.752667
2025-08-11T15:01:41.864Z,1754924501.864 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.004689
2025-08-11T15:01:42.116Z,1754924502.116 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.256623
2025-08-11T15:01:42.368Z,1754924502.368 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.508693
2025-08-11T15:01:42.620Z,1754924502.620 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=1.760655
2025-08-11T15:01:42.872Z,1754924502.872 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.012866
2025-08-11T15:01:43.124Z,1754924503.124 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.264736
2025-08-11T15:01:43.376Z,1754924503.376 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.516592
2025-08-11T15:01:43.634Z,1754924503.634 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=2.774518
2025-08-11T15:01:43.884Z,1754924503.884 [DAT](INFO): DAT read: Rx Time:15:01:44.5221

2025-08-11T15:01:43.885Z,1754924503.885 [DAT](INFO): Rx dataTimestamp_ set to:1754924503.884480
2025-08-11T15:01:43.885Z,1754924503.885 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=3.025828
2025-08-11T15:01:44.136Z,1754924504.136 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=3.276601
2025-08-11T15:01:44.395Z,1754924504.395 [DAT](INFO): DAT read: 15:01:44.5221 LVL= 19680, 21873, 27842, 31603, AGC= 34, IDX= 438,-0.11,-2.537, 1.771, 2.491,-2.600, PHS= 0.165,-1.867,-1.236, RAW= 107.7,  30.0, CAL= 105.5,  37.0, ROT=  44.5, -37.0

2025-08-11T15:01:44.396Z,1754924504.396 [DAT](INFO): got valid direction response:
 15:01:44.5221 LVL= 19680, 21873, 27842, 31603, AGC= 34, IDX= 438,-0.11,-2.537, 1.771, 2.491,-2.600, PHS= 0.165,-1.867,-1.236, RAW= 107.7,  30.0, CAL= 105.5,  37.0, ROT=  44.5, -37.0

2025-08-11T15:01:44.397Z,1754924504.397 [DAT](INFO): DAT read: Bearing 332.1,  29.5 (Local)

2025-08-11T15:01:44.397Z,1754924504.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.1,  29.5 (Local)

2025-08-11T15:01:44.399Z,1754924504.399 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.2 ms) speed -0.1 m/s

2025-08-11T15:01:44.404Z,1754924504.404 [DAT](INFO): DAT read: user:329>

2025-08-11T15:01:44.404Z,1754924504.404 [DAT](INFO): DAT read: Tx time:15:01:45.6167

2025-08-11T15:01:44.405Z,1754924504.405 [DAT](INFO): Ping request sent.
2025-08-11T15:01:44.405Z,1754924504.405 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:44.405Z,1754924504.405 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-11T15:01:44.406Z,1754924504.406 [DAT](INFO): direction in FSK: [0.569627,0.559771,0.601815]
2025-08-11T15:01:44.406Z,1754924504.406 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:44.407Z,1754924504.407 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:44.410Z,1754924504.410 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:44.410Z,1754924504.410 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:44.451Z,1754924504.451 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.046062
2025-08-11T15:01:44.640Z,1754924504.640 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.235381
2025-08-11T15:01:44.892Z,1754924504.892 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.487360
2025-08-11T15:01:45.145Z,1754924505.145 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.740026
2025-08-11T15:01:45.396Z,1754924505.396 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=0.991392
2025-08-11T15:01:45.648Z,1754924505.648 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.243320
2025-08-11T15:01:45.900Z,1754924505.900 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.495445
2025-08-11T15:01:46.152Z,1754924506.152 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.747403
2025-08-11T15:01:46.404Z,1754924506.404 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=1.999305
2025-08-11T15:01:46.656Z,1754924506.656 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.251560
2025-08-11T15:01:46.909Z,1754924506.909 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.503918
2025-08-11T15:01:47.160Z,1754924507.160 [DAT](INFO): DAT read: Rx Time:15:01:48.0221

2025-08-11T15:01:47.161Z,1754924507.161 [DAT](INFO): Rx dataTimestamp_ set to:1754924507.160325
2025-08-11T15:01:47.161Z,1754924507.161 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=2.756401
2025-08-11T15:01:47.412Z,1754924507.412 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=3.007327
2025-08-11T15:01:47.667Z,1754924507.667 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=3.261483
2025-08-11T15:01:47.924Z,1754924507.924 [DAT](INFO): DAT read: 15:01:48.0221 LVL= 17520, 12657, 29362, 29235, AGC= 39, IDX= 426, 0.19, 0.671, 1.149, 1.448, 2.206, PHS=-1.433,-1.012,-0.802, RAW= 250.9,  64.1, CAL= 252.3,  68.2, ROT= 257.7, -68.2

2025-08-11T15:01:47.926Z,1754924507.926 [DAT](INFO): got valid direction response:
 15:01:48.0221 LVL= 17520, 12657, 29362, 29235, AGC= 39, IDX= 426, 0.19, 0.671, 1.149, 1.448, 2.206, PHS=-1.433,-1.012,-0.802, RAW= 250.9,  64.1, CAL= 252.3,  68.2, ROT= 257.7, -68.2

2025-08-11T15:01:47.927Z,1754924507.927 [DAT](INFO): DAT read: Bearing  36.9, -21.3 (Local)

2025-08-11T15:01:47.928Z,1754924507.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.9, -21.3 (Local)

2025-08-11T15:01:47.930Z,1754924507.930 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-11T15:01:47.935Z,1754924507.935 [DAT](INFO): DAT read: user:330>

2025-08-11T15:01:47.937Z,1754924507.937 [DAT](INFO): DAT read: Tx time:15:01:49.1166

2025-08-11T15:01:47.937Z,1754924507.937 [DAT](INFO): Ping request sent.
2025-08-11T15:01:47.937Z,1754924507.937 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:47.938Z,1754924507.938 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-11T15:01:47.939Z,1754924507.939 [DAT](INFO): direction in FSK: [-0.079113,-0.362843,0.928486]
2025-08-11T15:01:47.940Z,1754924507.940 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:47.940Z,1754924507.940 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:47.965Z,1754924507.965 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:47.965Z,1754924507.965 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:47.976Z,1754924507.976 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.039327
2025-08-11T15:01:48.168Z,1754924508.168 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.231294
2025-08-11T15:01:48.420Z,1754924508.420 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.483202
2025-08-11T15:01:48.672Z,1754924508.672 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.735214
2025-08-11T15:01:48.925Z,1754924508.925 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=0.987949
2025-08-11T15:01:49.177Z,1754924509.177 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.239666
2025-08-11T15:01:49.428Z,1754924509.428 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.491172
2025-08-11T15:01:49.680Z,1754924509.680 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.743320
2025-08-11T15:01:49.933Z,1754924509.933 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=1.995990
2025-08-11T15:01:50.184Z,1754924510.184 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.247131
2025-08-11T15:01:50.436Z,1754924510.436 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.499342
2025-08-11T15:01:50.688Z,1754924510.688 [DAT](INFO): DAT read: Rx Time:15:01:51.5229

2025-08-11T15:01:50.689Z,1754924510.689 [DAT](INFO): Rx dataTimestamp_ set to:1754924510.688435
2025-08-11T15:01:50.689Z,1754924510.689 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=2.752364
2025-08-11T15:01:50.941Z,1754924510.941 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=3.003837
2025-08-11T15:01:51.206Z,1754924511.206 [DAT](INFO): DAT read: 15:01:51.5229 LVL= 28784, 29073, 31586, 32755, AGC= 41, IDX= 447, 0.13,-1.297,-2.799,-0.449,-0.852, PHS=-0.343,-1.902, 0.359, RAW= 167.6,  18.4, CAL= 168.6,  24.6, ROT= 341.4, -24.6

2025-08-11T15:01:51.207Z,1754924511.207 [DAT](INFO): got valid direction response:
 15:01:51.5229 LVL= 28784, 29073, 31586, 32755, AGC= 41, IDX= 447, 0.13,-1.297,-2.799,-0.449,-0.852, PHS=-0.343,-1.902, 0.359, RAW= 167.6,  18.4, CAL= 168.6,  24.6, ROT= 341.4, -24.6

2025-08-11T15:01:51.208Z,1754924511.208 [DAT](INFO): DAT read: Bearing 312.5, -27.1 (Local)

2025-08-11T15:01:51.208Z,1754924511.208 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.5, -27.1 (Local)

2025-08-11T15:01:51.210Z,1754924511.210 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-08-11T15:01:51.211Z,1754924511.211 [DAT](INFO): DAT read: user:331>

2025-08-11T15:01:51.211Z,1754924511.211 [DAT](INFO): DAT read: Tx time:15:01:52.6166

2025-08-11T15:01:51.212Z,1754924511.212 [DAT](INFO): Ping request sent.
2025-08-11T15:01:51.212Z,1754924511.212 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:51.212Z,1754924511.212 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-11T15:01:51.213Z,1754924511.213 [DAT](INFO): direction in FSK: [0.861745,-0.290010,0.416281]
2025-08-11T15:01:51.213Z,1754924511.213 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:51.214Z,1754924511.214 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:51.217Z,1754924511.217 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:51.217Z,1754924511.217 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:51.220Z,1754924511.220 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.008476
2025-08-11T15:01:51.444Z,1754924511.444 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.232420
2025-08-11T15:01:51.696Z,1754924511.696 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.484405
2025-08-11T15:01:51.948Z,1754924511.948 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.736469
2025-08-11T15:01:52.006Z,1754924512.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-11T15:01:52.200Z,1754924512.200 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=0.988409
2025-08-11T15:01:52.453Z,1754924512.453 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.240719
2025-08-11T15:01:52.708Z,1754924512.708 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.495743
2025-08-11T15:01:52.956Z,1754924512.956 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.744410
2025-08-11T15:01:53.209Z,1754924513.209 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=1.996782
2025-08-11T15:01:53.460Z,1754924513.460 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.248297
2025-08-11T15:01:53.714Z,1754924513.714 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.502025
2025-08-11T15:01:53.964Z,1754924513.964 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=2.752409
2025-08-11T15:01:54.216Z,1754924514.216 [DAT](INFO): DAT read: Rx Time:15:01:55.0224

2025-08-11T15:01:54.217Z,1754924514.217 [DAT](INFO): Rx dataTimestamp_ set to:1754924514.216331
2025-08-11T15:01:54.217Z,1754924514.217 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=3.005417
2025-08-11T15:01:54.468Z,1754924514.468 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=3.256432
2025-08-11T15:01:54.764Z,1754924514.764 [DAT](INFO): DAT read: 15:01:55.0224 LVL= 22048, 27185, 18210, 32755, AGC= 26, IDX= 429, 0.10,-2.558, 2.218,-1.849,-2.308, PHS=-0.149,-1.712, 0.414, RAW= 164.8,  15.0, CAL= 165.5,  18.1, ROT= 344.5, -18.1

2025-08-11T15:01:54.765Z,1754924514.765 [DAT](INFO): got valid direction response:
 15:01:55.0224 LVL= 22048, 27185, 18210, 32755, AGC= 26, IDX= 429, 0.10,-2.558, 2.218,-1.849,-2.308, PHS=-0.149,-1.712, 0.414, RAW= 164.8,  15.0, CAL= 165.5,  18.1, ROT= 344.5, -18.1

2025-08-11T15:01:54.766Z,1754924514.766 [DAT](INFO): DAT read: Bearing 297.7, -21.0 (Local)

2025-08-11T15:01:54.767Z,1754924514.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.7, -21.0 (Local)

2025-08-11T15:01:54.772Z,1754924514.772 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m  (Round-trip  1.6 ms) speed  0.0 m/s

2025-08-11T15:01:54.773Z,1754924514.773 [DAT](INFO): DAT read: user:332>

2025-08-11T15:01:54.774Z,1754924514.774 [DAT](INFO): DAT read: Tx time:15:01:56.1166

2025-08-11T15:01:54.774Z,1754924514.774 [DAT](INFO): Ping request sent.
2025-08-11T15:01:54.774Z,1754924514.774 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:54.774Z,1754924514.774 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-11T15:01:54.776Z,1754924514.776 [DAT](INFO): direction in FSK: [0.915946,-0.254014,0.310676]
2025-08-11T15:01:54.776Z,1754924514.776 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:54.776Z,1754924514.776 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:54.783Z,1754924514.783 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:54.784Z,1754924514.784 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:54.787Z,1754924514.787 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.012517
2025-08-11T15:01:54.973Z,1754924514.973 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.198356
2025-08-11T15:01:55.225Z,1754924515.225 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.450494
2025-08-11T15:01:55.476Z,1754924515.476 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.701908
2025-08-11T15:01:55.731Z,1754924515.731 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=0.955870
2025-08-11T15:01:55.980Z,1754924515.980 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.206057
2025-08-11T15:01:56.232Z,1754924516.232 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.457906
2025-08-11T15:01:56.484Z,1754924516.484 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.710160
2025-08-11T15:01:56.750Z,1754924516.750 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=1.964699
2025-08-11T15:01:56.802Z,1754924516.802 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021618490682,35.0   0.0,1490.4,  0
2025-08-11T15:01:56.988Z,1754924516.988 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.213914
2025-08-11T15:01:57.241Z,1754924517.241 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.466348
2025-08-11T15:01:57.492Z,1754924517.492 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.717964
2025-08-11T15:01:57.746Z,1754924517.746 [DAT](INFO): DAT read: Rx Time:15:01:58.5225

2025-08-11T15:01:57.750Z,1754924517.750 [DAT](INFO): Rx dataTimestamp_ set to:1754924517.748860
2025-08-11T15:01:57.752Z,1754924517.752 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=2.976852
2025-08-11T15:01:57.996Z,1754924517.996 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=3.222048
2025-08-11T15:01:58.254Z,1754924518.254 [DAT](INFO): DAT read: 15:01:58.5225 LVL= 30304, 32625, 30402, 32755, AGC= 33, IDX= 448,-0.27,-1.782, 2.687,-1.839,-2.136, PHS= 0.456,-1.415, 0.253, RAW= 144.3,   8.0, CAL= 143.9,   8.7, ROT=   6.1,  -8.7

2025-08-11T15:01:58.255Z,1754924518.255 [DAT](INFO): got valid direction response:
 15:01:58.5225 LVL= 30304, 32625, 30402, 32755, AGC= 33, IDX= 448,-0.27,-1.782, 2.687,-1.839,-2.136, PHS= 0.456,-1.415, 0.253, RAW= 144.3,   8.0, CAL= 143.9,   8.7, ROT=   6.1,  -8.7

2025-08-11T15:01:58.256Z,1754924518.256 [DAT](INFO): DAT read: Bearing 287.0,   5.3 (Local)

2025-08-11T15:01:58.257Z,1754924518.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.0,   5.3 (Local)

2025-08-11T15:01:58.258Z,1754924518.258 [DAT](INFO): DAT read: Range 11 to 50 : 1.3 m  (Round-trip  1.8 ms) speed -0.1 m/s

2025-08-11T15:01:58.259Z,1754924518.259 [DAT](INFO): DAT read: user:333>

2025-08-11T15:01:58.260Z,1754924518.260 [DAT](INFO): DAT read: Tx time:15:01:59.6166

2025-08-11T15:01:58.260Z,1754924518.260 [DAT](INFO): Ping request sent.
2025-08-11T15:01:58.260Z,1754924518.260 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:01:58.260Z,1754924518.260 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-11T15:01:58.261Z,1754924518.261 [DAT](INFO): direction in FSK: [0.982897,0.105041,0.151261]
2025-08-11T15:01:58.261Z,1754924518.261 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:58.262Z,1754924518.262 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:58.270Z,1754924518.270 [DAT](INFO): publishing transmit ping time
2025-08-11T15:01:58.270Z,1754924518.270 [DAT](INFO): publishing direction and range info
2025-08-11T15:01:58.274Z,1754924518.274 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.013905
2025-08-11T15:01:58.501Z,1754924518.501 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.240834
2025-08-11T15:01:58.757Z,1754924518.757 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.496405
2025-08-11T15:01:59.005Z,1754924519.005 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.745347
2025-08-11T15:01:59.257Z,1754924519.257 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=0.996823
2025-08-11T15:01:59.509Z,1754924519.509 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.249093
2025-08-11T15:01:59.764Z,1754924519.764 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.502998
2025-08-11T15:02:00.013Z,1754924520.013 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=1.752635
2025-08-11T15:02:00.265Z,1754924520.265 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.004559
2025-08-11T15:02:00.517Z,1754924520.517 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.257168
2025-08-11T15:02:00.771Z,1754924520.771 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.510451
2025-08-11T15:02:01.021Z,1754924521.021 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=2.760982
2025-08-11T15:02:01.272Z,1754924521.272 [DAT](INFO): DAT read: Rx Time:15:02:02.0231

2025-08-11T15:02:01.273Z,1754924521.273 [DAT](INFO): Rx dataTimestamp_ set to:1754924521.272390
2025-08-11T15:02:01.273Z,1754924521.273 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=3.013328
2025-08-11T15:02:01.525Z,1754924521.525 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=3.265019
2025-08-11T15:02:01.802Z,1754924521.802 [DAT](INFO): DAT read: 15:02:02.0231 LVL= 24912, 29729, 26802, 32707, AGC= 33, IDX= 437, 0.43,-1.796, 2.769,-2.094,-2.378, PHS= 0.684,-1.091, 0.239, RAW= 136.1,   2.1, CAL= 136.4,   3.0, ROT=  13.6,  -3.0

2025-08-11T15:02:01.826Z,1754924521.826 [DAT](INFO): got valid direction response:
 15:02:02.0231 LVL= 24912, 29729, 26802, 32707, AGC= 33, IDX= 437, 0.43,-1.796, 2.769,-2.094,-2.378, PHS= 0.684,-1.091, 0.239, RAW= 136.1,   2.1, CAL= 136.4,   3.0, ROT=  13.6,  -3.0

2025-08-11T15:02:01.836Z,1754924521.836 [DAT](INFO): DAT read: Bearing 283.2,  17.2 (Local)

2025-08-11T15:02:01.837Z,1754924521.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.2,  17.2 (Local)

2025-08-11T15:02:01.838Z,1754924521.838 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed -0.2 m/s

2025-08-11T15:02:01.839Z,1754924521.839 [DAT](INFO): DAT read: user:334>

2025-08-11T15:02:01.844Z,1754924521.844 [DAT](INFO): DAT read: Tx time:15:02:03.1166

2025-08-11T15:02:01.844Z,1754924521.844 [DAT](INFO): Ping request sent.
2025-08-11T15:02:01.844Z,1754924521.844 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:01.844Z,1754924521.844 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-11T15:02:01.845Z,1754924521.845 [DAT](INFO): direction in FSK: [0.970629,0.234820,0.052336]
2025-08-11T15:02:01.846Z,1754924521.846 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:01.846Z,1754924521.846 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:01.857Z,1754924521.857 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:01.857Z,1754924521.857 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:01.869Z,1754924521.869 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.024750
2025-08-11T15:02:02.028Z,1754924522.028 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.183966
2025-08-11T15:02:02.281Z,1754924522.281 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.436651
2025-08-11T15:02:02.532Z,1754924522.532 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.688057
2025-08-11T15:02:02.786Z,1754924522.786 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=0.942163
2025-08-11T15:02:03.036Z,1754924523.036 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.192099
2025-08-11T15:02:03.288Z,1754924523.288 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.444180
2025-08-11T15:02:03.540Z,1754924523.540 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.696044
2025-08-11T15:02:03.792Z,1754924523.792 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=1.947978
2025-08-11T15:02:04.044Z,1754924524.044 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.199938
2025-08-11T15:02:04.296Z,1754924524.296 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.451988
2025-08-11T15:02:04.549Z,1754924524.549 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.705100
2025-08-11T15:02:04.800Z,1754924524.800 [DAT](INFO): DAT read: Rx Time:15:02:05.5238

2025-08-11T15:02:04.801Z,1754924524.801 [DAT](INFO): Rx dataTimestamp_ set to:1754924524.800611
2025-08-11T15:02:04.801Z,1754924524.801 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=2.957297
2025-08-11T15:02:05.056Z,1754924525.056 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=3.211336
2025-08-11T15:02:05.324Z,1754924525.324 [DAT](INFO): DAT read: 15:02:05.5238 LVL= 27680, 32753, 32754, 32755, AGC= 32, IDX= 428, 0.26,-2.411, 2.350,-2.504,-3.120, PHS= 0.811,-0.768, 0.572, RAW= 141.9,  -8.4, CAL= 142.0,  -9.9, ROT=   8.0,   9.9

2025-08-11T15:02:05.326Z,1754924525.326 [DAT](INFO): got valid direction response:
 15:02:05.5238 LVL= 27680, 32753, 32754, 32755, AGC= 32, IDX= 428, 0.26,-2.411, 2.350,-2.504,-3.120, PHS= 0.811,-0.768, 0.572, RAW= 141.9,  -8.4, CAL= 142.0,  -9.9, ROT=   8.0,   9.9

2025-08-11T15:02:05.336Z,1754924525.336 [DAT](INFO): DAT read: Bearing 271.7,  13.2 (Local)

2025-08-11T15:02:05.336Z,1754924525.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.7,  13.2 (Local)

2025-08-11T15:02:05.338Z,1754924525.338 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m  (Round-trip  3.1 ms) speed  0.0 m/s

2025-08-11T15:02:05.338Z,1754924525.338 [DAT](INFO): DAT read: user:335>

2025-08-11T15:02:05.339Z,1754924525.339 [DAT](INFO): DAT read: Tx time:15:02:06.6166

2025-08-11T15:02:05.339Z,1754924525.339 [DAT](INFO): Ping request sent.
2025-08-11T15:02:05.339Z,1754924525.339 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:05.340Z,1754924525.340 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-11T15:02:05.341Z,1754924525.341 [DAT](INFO): direction in FSK: [0.975522,0.137101,-0.171929]
2025-08-11T15:02:05.341Z,1754924525.341 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:05.341Z,1754924525.341 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:05.356Z,1754924525.356 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:05.356Z,1754924525.356 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:05.361Z,1754924525.361 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.021083
2025-08-11T15:02:05.560Z,1754924525.560 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.220552
2025-08-11T15:02:05.815Z,1754924525.815 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.475276
2025-08-11T15:02:06.064Z,1754924526.064 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.724620
2025-08-11T15:02:06.316Z,1754924526.316 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=0.976583
2025-08-11T15:02:06.568Z,1754924526.568 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.228727
2025-08-11T15:02:06.820Z,1754924526.820 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.480589
2025-08-11T15:02:07.072Z,1754924527.072 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.732947
2025-08-11T15:02:07.324Z,1754924527.324 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=1.984766
2025-08-11T15:02:07.576Z,1754924527.576 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.236587
2025-08-11T15:02:07.828Z,1754924527.828 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.488596
2025-08-11T15:02:08.080Z,1754924528.080 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.740539
2025-08-11T15:02:08.332Z,1754924528.332 [DAT](INFO): DAT read: Rx Time:15:02:09.0242

2025-08-11T15:02:08.333Z,1754924528.333 [DAT](INFO): Rx dataTimestamp_ set to:1754924528.332296
2025-08-11T15:02:08.333Z,1754924528.333 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=2.993619
2025-08-11T15:02:08.584Z,1754924528.584 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=3.244861
2025-08-11T15:02:08.842Z,1754924528.842 [DAT](INFO): DAT read: 15:02:09.0242 LVL= 27168, 32753, 26338, 32755, AGC= 33, IDX= 448,-0.03,-2.955, 1.999,-2.591, 2.692, PHS= 0.738,-0.648, 0.956, RAW= 157.2, -13.8, CAL= 158.9, -15.4, ROT= 351.1,  15.4

2025-08-11T15:02:08.843Z,1754924528.843 [DAT](INFO): got valid direction response:
 15:02:09.0242 LVL= 27168, 32753, 26338, 32755, AGC= 33, IDX= 448,-0.03,-2.955, 1.999,-2.591, 2.692, PHS= 0.738,-0.648, 0.956, RAW= 157.2, -13.8, CAL= 158.9, -15.4, ROT= 351.1,  15.4

2025-08-11T15:02:08.844Z,1754924528.844 [DAT](INFO): DAT read: Bearing 267.1,  -4.7 (Local)

2025-08-11T15:02:08.844Z,1754924528.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.1,  -4.7 (Local)

2025-08-11T15:02:08.846Z,1754924528.846 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m  (Round-trip  3.5 ms) speed -0.1 m/s

2025-08-11T15:02:08.846Z,1754924528.846 [DAT](INFO): DAT read: user:336>

2025-08-11T15:02:08.847Z,1754924528.847 [DAT](INFO): DAT read: Tx time:15:02:10.1166

2025-08-11T15:02:08.847Z,1754924528.847 [DAT](INFO): Ping request sent.
2025-08-11T15:02:08.847Z,1754924528.847 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:08.848Z,1754924528.848 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-11T15:02:08.849Z,1754924528.849 [DAT](INFO): direction in FSK: [0.952488,-0.149156,-0.265556]
2025-08-11T15:02:08.849Z,1754924528.849 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:08.849Z,1754924528.849 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:08.853Z,1754924528.853 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:08.853Z,1754924528.853 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:08.856Z,1754924528.856 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.008547
2025-08-11T15:02:09.088Z,1754924529.088 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.240856
2025-08-11T15:02:09.340Z,1754924529.340 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.492626
2025-08-11T15:02:09.592Z,1754924529.592 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.744847
2025-08-11T15:02:09.844Z,1754924529.844 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=0.996578
2025-08-11T15:02:10.096Z,1754924530.096 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.248530
2025-08-11T15:02:10.348Z,1754924530.348 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.500776
2025-08-11T15:02:10.601Z,1754924530.601 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=1.753586
2025-08-11T15:02:10.852Z,1754924530.852 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.004827
2025-08-11T15:02:11.105Z,1754924531.105 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.257376
2025-08-11T15:02:11.356Z,1754924531.356 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.508714
2025-08-11T15:02:11.608Z,1754924531.608 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=2.760677
2025-08-11T15:02:11.860Z,1754924531.860 [DAT](INFO): DAT read: Rx Time:15:02:12.5247

2025-08-11T15:02:11.861Z,1754924531.861 [DAT](INFO): Rx dataTimestamp_ set to:1754924531.860470
2025-08-11T15:02:11.861Z,1754924531.861 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=3.013822
2025-08-11T15:02:12.112Z,1754924532.112 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=3.264663
2025-08-11T15:02:12.372Z,1754924532.372 [DAT](INFO): DAT read: 15:02:12.5247 LVL= 28224, 32129, 25682, 32755, AGC= 36, IDX= 437, 0.35,-1.618,-2.951,-1.062,-2.000, PHS= 0.484,-0.906, 0.894, RAW= 162.5,  -5.8, CAL= 162.7,  -7.6, ROT= 347.3,   7.6

2025-08-11T15:02:12.373Z,1754924532.373 [DAT](INFO): got valid direction response:
 15:02:12.5247 LVL= 28224, 32129, 25682, 32755, AGC= 36, IDX= 437, 0.35,-1.618,-2.951,-1.062,-2.000, PHS= 0.484,-0.906, 0.894, RAW= 162.5,  -5.8, CAL= 162.7,  -7.6, ROT= 347.3,   7.6

2025-08-11T15:02:12.374Z,1754924532.374 [DAT](INFO): DAT read: Bearing 275.5, -12.7 (Local)

2025-08-11T15:02:12.374Z,1754924532.374 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.5, -12.7 (Local)

2025-08-11T15:02:12.375Z,1754924532.375 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m  (Round-trip  4.0 ms) speed -0.1 m/s

2025-08-11T15:02:12.376Z,1754924532.376 [DAT](INFO): DAT read: user:337>

2025-08-11T15:02:12.377Z,1754924532.377 [DAT](INFO): DAT read: Tx time:15:02:13.6166

2025-08-11T15:02:12.377Z,1754924532.377 [DAT](INFO): Ping request sent.
2025-08-11T15:02:12.377Z,1754924532.377 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:12.377Z,1754924532.377 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-11T15:02:12.378Z,1754924532.378 [DAT](INFO): direction in FSK: [0.966965,-0.217915,-0.132256]
2025-08-11T15:02:12.379Z,1754924532.379 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:12.379Z,1754924532.379 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:12.382Z,1754924532.382 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:12.382Z,1754924532.382 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:12.386Z,1754924532.386 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.008608
2025-08-11T15:02:12.616Z,1754924532.616 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.239220
2025-08-11T15:02:12.868Z,1754924532.868 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.491005
2025-08-11T15:02:13.121Z,1754924533.121 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.743958
2025-08-11T15:02:13.372Z,1754924533.372 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=0.995158
2025-08-11T15:02:13.624Z,1754924533.624 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.247113
2025-08-11T15:02:13.876Z,1754924533.876 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.499018
2025-08-11T15:02:14.128Z,1754924534.128 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=1.751029
2025-08-11T15:02:14.380Z,1754924534.380 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.003001
2025-08-11T15:02:14.633Z,1754924534.633 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.255649
2025-08-11T15:02:14.884Z,1754924534.884 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.507071
2025-08-11T15:02:15.140Z,1754924535.140 [DAT](INFO): DAT read: Rx Time:15:02:16.0251

2025-08-11T15:02:15.140Z,1754924535.140 [DAT](INFO): Rx dataTimestamp_ set to:1754924535.139767
2025-08-11T15:02:15.141Z,1754924535.141 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=2.763531
2025-08-11T15:02:15.392Z,1754924535.392 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=3.015170
2025-08-11T15:02:15.645Z,1754924535.645 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=3.267103
2025-08-11T15:02:15.902Z,1754924535.902 [DAT](INFO): DAT read: 15:02:16.0251 LVL= 32368, 32049, 26674, 32755, AGC= 38, IDX= 427, 0.24,-1.739, 3.065,-1.191,-2.087, PHS= 0.450,-1.087, 0.852, RAW= 161.3,  -2.5, CAL= 160.7,  -4.2, ROT= 349.3,   4.2

2025-08-11T15:02:15.903Z,1754924535.903 [DAT](INFO): got valid direction response:
 15:02:16.0251 LVL= 32368, 32049, 26674, 32755, AGC= 38, IDX= 427, 0.24,-1.739, 3.065,-1.191,-2.087, PHS= 0.450,-1.087, 0.852, RAW= 161.3,  -2.5, CAL= 160.7,  -4.2, ROT= 349.3,   4.2

2025-08-11T15:02:15.904Z,1754924535.904 [DAT](INFO): DAT read: Bearing 280.2, -15.7 (Local)

2025-08-11T15:02:15.904Z,1754924535.904 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.2, -15.7 (Local)

2025-08-11T15:02:15.906Z,1754924535.906 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m  (Round-trip  4.5 ms) speed -0.1 m/s

2025-08-11T15:02:15.907Z,1754924535.907 [DAT](INFO): DAT read: user:338>

2025-08-11T15:02:15.908Z,1754924535.908 [DAT](INFO): DAT read: Tx time:15:02:17.1165

2025-08-11T15:02:15.909Z,1754924535.909 [DAT](INFO): Ping request sent.
2025-08-11T15:02:15.909Z,1754924535.909 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:15.909Z,1754924535.909 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-11T15:02:15.911Z,1754924535.911 [DAT](INFO): direction in FSK: [0.979974,-0.185168,-0.073238]
2025-08-11T15:02:15.911Z,1754924535.911 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:15.912Z,1754924535.912 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:15.920Z,1754924535.920 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:15.920Z,1754924535.920 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:15.925Z,1754924535.925 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.016286
2025-08-11T15:02:16.148Z,1754924536.148 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.239252
2025-08-11T15:02:16.400Z,1754924536.400 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.491440
2025-08-11T15:02:16.653Z,1754924536.653 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.744511
2025-08-11T15:02:16.904Z,1754924536.904 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=0.995381
2025-08-11T15:02:17.157Z,1754924537.157 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.247821
2025-08-11T15:02:17.408Z,1754924537.408 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.499556
2025-08-11T15:02:17.660Z,1754924537.660 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=1.751358
2025-08-11T15:02:17.913Z,1754924537.913 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.004150
2025-08-11T15:02:18.164Z,1754924538.164 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.255384
2025-08-11T15:02:18.416Z,1754924538.416 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.507368
2025-08-11T15:02:18.669Z,1754924538.669 [DAT](INFO): DAT read: Rx Time:15:02:19.5258

2025-08-11T15:02:18.670Z,1754924538.670 [DAT](INFO): Rx dataTimestamp_ set to:1754924538.669358
2025-08-11T15:02:18.671Z,1754924538.671 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=2.761770
2025-08-11T15:02:18.921Z,1754924538.921 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=3.011709
2025-08-11T15:02:19.178Z,1754924539.178 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=3.268334
2025-08-11T15:02:19.430Z,1754924539.430 [DAT](INFO): DAT read: 15:02:19.5258 LVL= 23872, 26049, 21394, 30131, AGC= 36, IDX= 434,-0.10, 1.766, 0.308, 2.258, 1.408, PHS= 0.460,-1.055, 0.806, RAW= 160.1,  -2.5, CAL= 159.5,  -4.2, ROT= 350.5,   4.2

2025-08-11T15:02:19.439Z,1754924539.439 [DAT](INFO): got valid direction response:
 15:02:19.5258 LVL= 23872, 26049, 21394, 30131, AGC= 36, IDX= 434,-0.10, 1.766, 0.308, 2.258, 1.408, PHS= 0.460,-1.055, 0.806, RAW= 160.1,  -2.5, CAL= 159.5,  -4.2, ROT= 350.5,   4.2

2025-08-11T15:02:19.440Z,1754924539.440 [DAT](INFO): DAT read: Bearing 281.8, -16.7 (Local)

2025-08-11T15:02:19.440Z,1754924539.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.8, -16.7 (Local)

2025-08-11T15:02:19.442Z,1754924539.442 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m  (Round-trip  5.2 ms) speed -0.1 m/s

2025-08-11T15:02:19.443Z,1754924539.443 [DAT](INFO): DAT read: user:339>

2025-08-11T15:02:19.443Z,1754924539.443 [DAT](INFO): DAT read: Tx time:15:02:20.6165

2025-08-11T15:02:19.444Z,1754924539.444 [DAT](INFO): Ping request sent.
2025-08-11T15:02:19.444Z,1754924539.444 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:19.444Z,1754924539.444 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-11T15:02:19.445Z,1754924539.445 [DAT](INFO): direction in FSK: [0.983637,-0.164604,-0.073238]
2025-08-11T15:02:19.445Z,1754924539.445 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:19.446Z,1754924539.446 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:19.474Z,1754924539.474 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:19.474Z,1754924539.474 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:19.484Z,1754924539.484 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.040631
2025-08-11T15:02:19.676Z,1754924539.676 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.232293
2025-08-11T15:02:19.928Z,1754924539.928 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.484632
2025-08-11T15:02:20.180Z,1754924540.180 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.736361
2025-08-11T15:02:20.432Z,1754924540.432 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=0.988242
2025-08-11T15:02:20.684Z,1754924540.684 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.240401
2025-08-11T15:02:20.937Z,1754924540.937 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.492912
2025-08-11T15:02:21.188Z,1754924541.188 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.744289
2025-08-11T15:02:21.440Z,1754924541.440 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=1.996389
2025-08-11T15:02:21.692Z,1754924541.692 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.248310
2025-08-11T15:02:21.944Z,1754924541.944 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.500651
2025-08-11T15:02:22.196Z,1754924542.196 [DAT](INFO): DAT read: Rx Time:15:02:23.0264

2025-08-11T15:02:22.197Z,1754924542.197 [DAT](INFO): Rx dataTimestamp_ set to:1754924542.196391
2025-08-11T15:02:22.197Z,1754924542.197 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=2.753437
2025-08-11T15:02:22.448Z,1754924542.448 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=3.004395
2025-08-11T15:02:22.713Z,1754924542.713 [DAT](INFO): DAT read: 15:02:23.0264 LVL= 24736, 29729, 21810, 32755, AGC= 38, IDX= 424, 0.45,-1.815, 3.105,-1.185,-2.086, PHS= 0.374,-1.047, 0.857, RAW= 164.1,  -2.2, CAL= 163.6,  -4.1, ROT= 346.4,   4.1

2025-08-11T15:02:22.714Z,1754924542.714 [DAT](INFO): got valid direction response:
 15:02:23.0264 LVL= 24736, 29729, 21810, 32755, AGC= 38, IDX= 424, 0.45,-1.815, 3.105,-1.185,-2.086, PHS= 0.374,-1.047, 0.857, RAW= 164.1,  -2.2, CAL= 163.6,  -4.1, ROT= 346.4,   4.1

2025-08-11T15:02:22.715Z,1754924542.715 [DAT](INFO): DAT read: Bearing 283.5, -19.8 (Local)

2025-08-11T15:02:22.716Z,1754924542.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.5, -19.8 (Local)

2025-08-11T15:02:22.717Z,1754924542.717 [DAT](INFO): DAT read: Range 11 to 50 : 4.3 m  (Round-trip  5.8 ms) speed -0.2 m/s

2025-08-11T15:02:22.718Z,1754924542.718 [DAT](INFO): DAT read: user:340>

2025-08-11T15:02:22.718Z,1754924542.718 [DAT](INFO): DAT read: Tx time:15:02:24.1165

2025-08-11T15:02:22.719Z,1754924542.719 [DAT](INFO): Ping request sent.
2025-08-11T15:02:22.719Z,1754924542.719 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:22.719Z,1754924542.719 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-11T15:02:22.720Z,1754924542.720 [DAT](INFO): direction in FSK: [0.969473,-0.234541,-0.071497]
2025-08-11T15:02:22.721Z,1754924542.721 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:22.721Z,1754924542.721 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:22.724Z,1754924542.724 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:22.724Z,1754924542.724 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:22.740Z,1754924542.740 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.020712
2025-08-11T15:02:22.954Z,1754924542.954 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.234954
2025-08-11T15:02:23.205Z,1754924543.205 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.485774
2025-08-11T15:02:23.457Z,1754924543.457 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.738410
2025-08-11T15:02:23.708Z,1754924543.708 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=0.989260
2025-08-11T15:02:23.962Z,1754924543.962 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.242704
2025-08-11T15:02:24.212Z,1754924544.212 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.493243
2025-08-11T15:02:24.464Z,1754924544.464 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.745550
2025-08-11T15:02:24.717Z,1754924544.717 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=1.997893
2025-08-11T15:02:24.817Z,1754924544.817 [CTD_Seabird](ERROR): Failed to parse device response: 9,3.71786,2261.28
2025-08-11T15:02:24.969Z,1754924544.969 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.250083
2025-08-11T15:02:25.220Z,1754924545.220 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.501518
2025-08-11T15:02:25.473Z,1754924545.473 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=2.753958
2025-08-11T15:02:25.724Z,1754924545.724 [DAT](INFO): DAT read: Rx Time:15:02:26.5272

2025-08-11T15:02:25.725Z,1754924545.725 [DAT](INFO): Rx dataTimestamp_ set to:1754924545.724302
2025-08-11T15:02:25.725Z,1754924545.725 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=3.006290
2025-08-11T15:02:25.977Z,1754924545.977 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=3.258128
2025-08-11T15:02:26.234Z,1754924546.234 [DAT](INFO): DAT read: 15:02:26.5272 LVL= 32736, 32753, 22002, 32755, AGC= 38, IDX= 432,-0.28,-1.353,-2.509,-0.624,-1.546, PHS= 0.294,-0.919, 0.878, RAW= 168.6,  -3.2, CAL= 168.4,  -5.2, ROT= 341.6,   5.2

2025-08-11T15:02:26.235Z,1754924546.235 [DAT](INFO): got valid direction response:
 15:02:26.5272 LVL= 32736, 32753, 22002, 32755, AGC= 38, IDX= 432,-0.28,-1.353,-2.509,-0.624,-1.546, PHS= 0.294,-0.919, 0.878, RAW= 168.6,  -3.2, CAL= 168.4,  -5.2, ROT= 341.6,   5.2

2025-08-11T15:02:26.236Z,1754924546.236 [DAT](INFO): DAT read: Bearing 284.1, -21.0 (Local)

2025-08-11T15:02:26.237Z,1754924546.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.1, -21.0 (Local)

2025-08-11T15:02:26.238Z,1754924546.238 [DAT](INFO): DAT read: Range 11 to 50 : 4.9 m  (Round-trip  6.6 ms) speed -0.2 m/s

2025-08-11T15:02:26.239Z,1754924546.239 [DAT](INFO): DAT read: user:341>

2025-08-11T15:02:26.240Z,1754924546.240 [DAT](INFO): DAT read: Tx time:15:02:27.6165

2025-08-11T15:02:26.240Z,1754924546.240 [DAT](INFO): Ping request sent.
2025-08-11T15:02:26.240Z,1754924546.240 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:26.240Z,1754924546.240 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-11T15:02:26.241Z,1754924546.241 [DAT](INFO): direction in FSK: [0.944971,-0.314350,-0.090633]
2025-08-11T15:02:26.242Z,1754924546.242 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:26.242Z,1754924546.242 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:26.245Z,1754924546.245 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:26.245Z,1754924546.245 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:26.249Z,1754924546.249 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.008555
2025-08-11T15:02:26.480Z,1754924546.480 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.239960
2025-08-11T15:02:26.733Z,1754924546.733 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.492481
2025-08-11T15:02:26.984Z,1754924546.984 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.744293
2025-08-11T15:02:27.236Z,1754924547.236 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=0.996272
2025-08-11T15:02:27.488Z,1754924547.488 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.248296
2025-08-11T15:02:27.740Z,1754924547.740 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.500133
2025-08-11T15:02:27.993Z,1754924547.993 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=1.752885
2025-08-11T15:02:28.244Z,1754924548.244 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.004108
2025-08-11T15:02:28.496Z,1754924548.496 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.256098
2025-08-11T15:02:28.748Z,1754924548.748 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.508084
2025-08-11T15:02:29.002Z,1754924549.002 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=2.761715
2025-08-11T15:02:29.254Z,1754924549.254 [DAT](INFO): DAT read: Rx Time:15:02:30.0278

2025-08-11T15:02:29.255Z,1754924549.255 [DAT](INFO): Rx dataTimestamp_ set to:1754924549.254488
2025-08-11T15:02:29.255Z,1754924549.255 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=3.015429
2025-08-11T15:02:29.504Z,1754924549.504 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=3.264183
2025-08-11T15:02:29.762Z,1754924549.762 [DAT](INFO): DAT read: 15:02:30.0278 LVL= 32752, 32753, 23202, 32755, AGC= 40, IDX= 439, 0.39,-1.393,-2.450,-0.679,-1.721, PHS= 0.429,-0.685, 0.998, RAW= 169.4, -10.0, CAL= 170.4, -11.5, ROT= 339.6,  11.5

2025-08-11T15:02:29.763Z,1754924549.763 [DAT](INFO): got valid direction response:
 15:02:30.0278 LVL= 32752, 32753, 23202, 32755, AGC= 40, IDX= 439, 0.39,-1.393,-2.450,-0.679,-1.721, PHS= 0.429,-0.685, 0.998, RAW= 169.4, -10.0, CAL= 170.4, -11.5, ROT= 339.6,  11.5

2025-08-11T15:02:29.764Z,1754924549.764 [DAT](INFO): DAT read: Bearing 279.7, -18.8 (Local)

2025-08-11T15:02:29.764Z,1754924549.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.7, -18.8 (Local)

2025-08-11T15:02:29.766Z,1754924549.766 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m  (Round-trip  7.3 ms) speed -0.1 m/s

2025-08-11T15:02:29.766Z,1754924549.766 [DAT](INFO): DAT read: user:342>

2025-08-11T15:02:29.767Z,1754924549.767 [DAT](INFO): DAT read: Tx time:15:02:31.1164

2025-08-11T15:02:29.767Z,1754924549.767 [DAT](INFO): Ping request sent.
2025-08-11T15:02:29.767Z,1754924549.767 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:29.768Z,1754924549.768 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-11T15:02:29.769Z,1754924549.769 [DAT](INFO): direction in FSK: [0.918466,-0.341574,-0.199368]
2025-08-11T15:02:29.769Z,1754924549.769 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:29.769Z,1754924549.769 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:29.773Z,1754924549.773 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:29.773Z,1754924549.773 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:29.776Z,1754924549.776 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.008468
2025-08-11T15:02:30.008Z,1754924550.008 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.240738
2025-08-11T15:02:30.260Z,1754924550.260 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.492576
2025-08-11T15:02:30.319Z,1754924550.319 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  44.12,  41.75,  42.42
2025-08-11T15:02:30.512Z,1754924550.512 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.744720
2025-08-11T15:02:30.765Z,1754924550.765 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=0.997370
2025-08-11T15:02:31.016Z,1754924551.016 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.248577
2025-08-11T15:02:31.271Z,1754924551.271 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.502883
2025-08-11T15:02:31.521Z,1754924551.521 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=1.753042
2025-08-11T15:02:31.772Z,1754924551.772 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.004563
2025-08-11T15:02:32.024Z,1754924552.024 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.256798
2025-08-11T15:02:32.279Z,1754924552.279 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.510825
2025-08-11T15:02:32.528Z,1754924552.528 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=2.760707
2025-08-11T15:02:32.780Z,1754924552.780 [DAT](INFO): DAT read: Rx Time:15:02:33.5284

2025-08-11T15:02:32.781Z,1754924552.781 [DAT](INFO): Rx dataTimestamp_ set to:1754924552.780436
2025-08-11T15:02:32.781Z,1754924552.781 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=3.013750
2025-08-11T15:02:33.032Z,1754924553.032 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=3.264663
2025-08-11T15:02:33.305Z,1754924553.305 [DAT](INFO): DAT read: 15:02:33.5284 LVL= 32752, 32753, 27218, 32755, AGC= 43, IDX= 430,-0.28,-0.217,-1.151, 0.444,-0.619, PHS= 0.503,-0.488, 1.019, RAW= 169.7, -15.4, CAL= 171.4, -16.5, ROT= 338.6,  16.5

2025-08-11T15:02:33.309Z,1754924553.309 [DAT](INFO): got valid direction response:
 15:02:33.5284 LVL= 32752, 32753, 27218, 32755, AGC= 43, IDX= 430,-0.28,-0.217,-1.151, 0.444,-0.619, PHS= 0.503,-0.488, 1.019, RAW= 169.7, -15.4, CAL= 171.4, -16.5, ROT= 338.6,  16.5

2025-08-11T15:02:33.317Z,1754924553.317 [DAT](INFO): DAT read: Bearing 277.0, -17.2 (Local)

2025-08-11T15:02:33.318Z,1754924553.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.0, -17.2 (Local)

2025-08-11T15:02:33.320Z,1754924553.320 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m  (Round-trip  7.9 ms) speed -0.1 m/s

2025-08-11T15:02:33.321Z,1754924553.321 [DAT](INFO): DAT read: user:343>

2025-08-11T15:02:33.321Z,1754924553.321 [DAT](INFO): DAT read: Tx time:15:02:34.6164

2025-08-11T15:02:33.322Z,1754924553.322 [DAT](INFO): Ping request sent.
2025-08-11T15:02:33.322Z,1754924553.322 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:33.322Z,1754924553.322 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-11T15:02:33.331Z,1754924553.331 [DAT](INFO): direction in FSK: [0.892715,-0.349851,-0.284015]
2025-08-11T15:02:33.332Z,1754924553.332 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:33.332Z,1754924553.332 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:33.337Z,1754924553.337 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:33.337Z,1754924553.337 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:33.353Z,1754924553.353 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.031575
2025-08-11T15:02:33.536Z,1754924553.536 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.214363
2025-08-11T15:02:33.788Z,1754924553.788 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.466519
2025-08-11T15:02:34.041Z,1754924554.041 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.719716
2025-08-11T15:02:34.295Z,1754924554.295 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=0.972629
2025-08-11T15:02:34.544Z,1754924554.544 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.222641
2025-08-11T15:02:34.796Z,1754924554.796 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.474511
2025-08-11T15:02:35.048Z,1754924555.048 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.726771
2025-08-11T15:02:35.303Z,1754924555.303 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=1.980547
2025-08-11T15:02:35.552Z,1754924555.552 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.230379
2025-08-11T15:02:35.614Z,1754924555.614 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.950000m. At depth:66.334373m.
2025-08-11T15:02:35.807Z,1754924555.807 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.485752
2025-08-11T15:02:36.056Z,1754924556.056 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.734714
2025-08-11T15:02:36.310Z,1754924556.310 [DAT](INFO): DAT read: Rx Time:15:02:37.0291

2025-08-11T15:02:36.314Z,1754924556.314 [DAT](INFO): Rx dataTimestamp_ set to:1754924556.312686
2025-08-11T15:02:36.316Z,1754924556.316 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=2.994347
2025-08-11T15:02:36.560Z,1754924556.560 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=3.238464
2025-08-11T15:02:36.818Z,1754924556.818 [DAT](INFO): DAT read: 15:02:37.0291 LVL= 32752, 32753, 30962, 32755, AGC= 45, IDX= 436, 0.38,-2.420, 3.033,-1.661,-2.767, PHS= 0.448,-0.439, 1.062, RAW= 174.0, -16.2, CAL= 175.6, -17.2, ROT= 334.4,  17.2

2025-08-11T15:02:36.819Z,1754924556.819 [DAT](INFO): got valid direction response:
 15:02:37.0291 LVL= 32752, 32753, 30962, 32755, AGC= 45, IDX= 436, 0.38,-2.420, 3.033,-1.661,-2.767, PHS= 0.448,-0.439, 1.062, RAW= 174.0, -16.2, CAL= 175.6, -17.2, ROT= 334.4,  17.2

2025-08-11T15:02:36.820Z,1754924556.820 [DAT](INFO): DAT read: Bearing 277.8, -21.3 (Local)

2025-08-11T15:02:36.820Z,1754924556.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.8, -21.3 (Local)

2025-08-11T15:02:36.822Z,1754924556.822 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m  (Round-trip  8.5 ms) speed -0.1 m/s

2025-08-11T15:02:36.823Z,1754924556.823 [DAT](INFO): DAT read: user:344>

2025-08-11T15:02:36.823Z,1754924556.823 [DAT](INFO): DAT read: Tx time:15:02:38.1164

2025-08-11T15:02:36.824Z,1754924556.824 [DAT](INFO): Ping request sent.
2025-08-11T15:02:36.824Z,1754924556.824 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:36.824Z,1754924556.824 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-11T15:02:36.825Z,1754924556.825 [DAT](INFO): direction in FSK: [0.861501,-0.412762,-0.295708]
2025-08-11T15:02:36.825Z,1754924556.825 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:36.826Z,1754924556.826 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:36.833Z,1754924556.833 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:36.833Z,1754924556.833 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:36.844Z,1754924556.844 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.020618
2025-08-11T15:02:37.064Z,1754924557.064 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.240314
2025-08-11T15:02:37.321Z,1754924557.321 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.496551
2025-08-11T15:02:37.568Z,1754924557.568 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.744362
2025-08-11T15:02:37.586Z,1754924557.586 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for BIT error. Device response is::TS,00021618494742,351, 
2025-08-11T15:02:37.820Z,1754924557.820 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=0.996370
2025-08-11T15:02:38.072Z,1754924558.072 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.248377
2025-08-11T15:02:38.331Z,1754924558.331 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.506606
2025-08-11T15:02:38.581Z,1754924558.581 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=1.756597
2025-08-11T15:02:38.832Z,1754924558.832 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.008446
2025-08-11T15:02:39.084Z,1754924559.084 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.260429
2025-08-11T15:02:39.338Z,1754924559.338 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.513390
2025-08-11T15:02:39.588Z,1754924559.588 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=2.764437
2025-08-11T15:02:39.841Z,1754924559.841 [DAT](INFO): DAT read: Rx Time:15:02:40.5297

2025-08-11T15:02:39.842Z,1754924559.842 [DAT](INFO): Rx dataTimestamp_ set to:1754924559.841336
2025-08-11T15:02:39.843Z,1754924559.843 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=3.018760
2025-08-11T15:02:40.093Z,1754924560.093 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=3.268728
2025-08-11T15:02:40.364Z,1754924560.364 [DAT](INFO): DAT read: 15:02:40.5297 LVL= 32752, 32753, 27826, 32755, AGC= 45, IDX= 427, 0.15, 0.716,-0.171, 1.493, 0.506, PHS= 0.311,-0.632, 0.943, RAW= 173.5,  -9.1, CAL= 174.3, -10.7, ROT= 335.7,  10.7

2025-08-11T15:02:40.368Z,1754924560.368 [DAT](INFO): got valid direction response:
 15:02:40.5297 LVL= 32752, 32753, 27826, 32755, AGC= 45, IDX= 427, 0.15, 0.716,-0.171, 1.493, 0.506, PHS= 0.311,-0.632, 0.943, RAW= 173.5,  -9.1, CAL= 174.3, -10.7, ROT= 335.7,  10.7

2025-08-11T15:02:40.371Z,1754924560.371 [DAT](INFO): DAT read: Bearing 286.3, -23.7 (Local)

2025-08-11T15:02:40.372Z,1754924560.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.3, -23.7 (Local)

2025-08-11T15:02:40.377Z,1754924560.377 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m  (Round-trip  9.2 ms) speed -0.1 m/s

2025-08-11T15:02:40.381Z,1754924560.381 [DAT](INFO): DAT read: user:345>

2025-08-11T15:02:40.384Z,1754924560.384 [DAT](INFO): DAT read: Tx time:15:02:41.6164

2025-08-11T15:02:40.385Z,1754924560.385 [DAT](INFO): Ping request sent.
2025-08-11T15:02:40.386Z,1754924560.386 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:40.387Z,1754924560.387 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-11T15:02:40.390Z,1754924560.390 [DAT](INFO): direction in FSK: [0.895557,-0.404359,-0.185667]
2025-08-11T15:02:40.391Z,1754924560.391 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:40.408Z,1754924560.408 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:40.411Z,1754924560.411 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:40.455Z,1754924560.455 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:40.458Z,1754924560.458 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.073211
2025-08-11T15:02:40.596Z,1754924560.596 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.211129
2025-08-11T15:02:40.848Z,1754924560.848 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.462840
2025-08-11T15:02:41.100Z,1754924561.100 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.715272
2025-08-11T15:02:41.356Z,1754924561.356 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=0.969752
2025-08-11T15:02:41.604Z,1754924561.604 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.218874
2025-08-11T15:02:41.856Z,1754924561.856 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.470951
2025-08-11T15:02:42.108Z,1754924562.108 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.723098
2025-08-11T15:02:42.360Z,1754924562.360 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=1.975022
2025-08-11T15:02:42.614Z,1754924562.614 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.229226
2025-08-11T15:02:42.865Z,1754924562.865 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.479668
2025-08-11T15:02:43.116Z,1754924563.116 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.731006
2025-08-11T15:02:43.369Z,1754924563.369 [DAT](INFO): DAT read: Rx Time:15:02:44.0302

2025-08-11T15:02:43.370Z,1754924563.370 [DAT](INFO): Rx dataTimestamp_ set to:1754924563.369255
2025-08-11T15:02:43.370Z,1754924563.370 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=2.985249
2025-08-11T15:02:43.620Z,1754924563.620 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=3.234990
2025-08-11T15:02:43.878Z,1754924563.878 [DAT](INFO): DAT read: 15:02:44.0302 LVL= 32752, 32753, 23842, 32755, AGC= 44, IDX= 434,-0.10,-1.159,-2.096,-0.294,-1.172, PHS= 0.115,-0.878, 0.834, RAW= 174.7,  -1.0, CAL= 174.4,  -3.3, ROT= 335.6,   3.3

2025-08-11T15:02:43.879Z,1754924563.879 [DAT](INFO): got valid direction response:
 15:02:44.0302 LVL= 32752, 32753, 23842, 32755, AGC= 44, IDX= 434,-0.10,-1.159,-2.096,-0.294,-1.172, PHS= 0.115,-0.878, 0.834, RAW= 174.7,  -1.0, CAL= 174.4,  -3.3, ROT= 335.6,   3.3

2025-08-11T15:02:43.880Z,1754924563.880 [DAT](INFO): DAT read: Bearing 294.6, -28.4 (Local)

2025-08-11T15:02:43.881Z,1754924563.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.6, -28.4 (Local)

2025-08-11T15:02:43.882Z,1754924563.882 [DAT](INFO): DAT read: Range 11 to 50 : 7.3 m  (Round-trip  9.8 ms) speed -0.1 m/s

2025-08-11T15:02:43.883Z,1754924563.883 [DAT](INFO): DAT read: user:346>

2025-08-11T15:02:43.883Z,1754924563.883 [DAT](INFO): DAT read: Tx time:15:02:45.1163

2025-08-11T15:02:43.884Z,1754924563.884 [DAT](INFO): Ping request sent.
2025-08-11T15:02:43.884Z,1754924563.884 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:43.884Z,1754924563.884 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-11T15:02:43.885Z,1754924563.885 [DAT](INFO): direction in FSK: [0.909174,-0.412419,-0.057564]
2025-08-11T15:02:43.885Z,1754924563.885 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:43.886Z,1754924563.886 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:43.889Z,1754924563.889 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:43.889Z,1754924563.889 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:43.902Z,1754924563.902 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.018352
2025-08-11T15:02:44.124Z,1754924564.124 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.240423
2025-08-11T15:02:44.376Z,1754924564.376 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.492342
2025-08-11T15:02:44.628Z,1754924564.628 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.744365
2025-08-11T15:02:44.880Z,1754924564.880 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=0.996549
2025-08-11T15:02:45.132Z,1754924565.132 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.248310
2025-08-11T15:02:45.384Z,1754924565.384 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.500303
2025-08-11T15:02:45.636Z,1754924565.636 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=1.752293
2025-08-11T15:02:45.888Z,1754924565.888 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.004341
2025-08-11T15:02:46.142Z,1754924566.142 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.258272
2025-08-11T15:02:46.392Z,1754924566.392 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.508335
2025-08-11T15:02:46.644Z,1754924566.644 [DAT](INFO): DAT read: Rx Time:15:02:47.5309

2025-08-11T15:02:46.645Z,1754924566.645 [DAT](INFO): Rx dataTimestamp_ set to:1754924566.644387
2025-08-11T15:02:46.645Z,1754924566.645 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=2.761422
2025-08-11T15:02:46.896Z,1754924566.896 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=3.012421
2025-08-11T15:02:47.160Z,1754924567.160 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=3.275734
2025-08-11T15:02:47.411Z,1754924567.411 [DAT](INFO): DAT read: 15:02:47.5309 LVL= 32752, 32753, 22130, 32755, AGC= 44, IDX= 440, 0.45, 2.229, 1.264, 3.130, 2.269, PHS= 0.062,-0.959, 0.817, RAW= 175.1,   1.1, CAL= 174.5,  -1.5, ROT= 335.5,   1.5

2025-08-11T15:02:47.413Z,1754924567.413 [DAT](INFO): got valid direction response:
 15:02:47.5309 LVL= 32752, 32753, 22130, 32755, AGC= 44, IDX= 440, 0.45, 2.229, 1.264, 3.130, 2.269, PHS= 0.062,-0.959, 0.817, RAW= 175.1,   1.1, CAL= 174.5,  -1.5, ROT= 335.5,   1.5

2025-08-11T15:02:47.417Z,1754924567.417 [DAT](INFO): DAT read: Bearing 296.1, -30.9 (Local)

2025-08-11T15:02:47.418Z,1754924567.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.1, -30.9 (Local)

2025-08-11T15:02:47.421Z,1754924567.421 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m  (Round-trip  10.5 ms) speed -0.1 m/s

2025-08-11T15:02:47.422Z,1754924567.422 [DAT](INFO): DAT read: user:347>

2025-08-11T15:02:47.425Z,1754924567.425 [DAT](INFO): DAT read: Tx time:15:02:48.6163

2025-08-11T15:02:47.425Z,1754924567.425 [DAT](INFO): Ping request sent.
2025-08-11T15:02:47.426Z,1754924567.426 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:47.426Z,1754924567.426 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-11T15:02:47.428Z,1754924567.428 [DAT](INFO): direction in FSK: [0.909650,-0.414551,-0.026177]
2025-08-11T15:02:47.429Z,1754924567.429 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:47.429Z,1754924567.429 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:47.521Z,1754924567.521 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:47.522Z,1754924567.522 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:47.530Z,1754924567.530 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.104750
2025-08-11T15:02:47.652Z,1754924567.652 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.226897
2025-08-11T15:02:47.906Z,1754924567.906 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.479940
2025-08-11T15:02:48.156Z,1754924568.156 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.730866
2025-08-11T15:02:48.409Z,1754924568.409 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=0.983175
2025-08-11T15:02:48.660Z,1754924568.660 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.234684
2025-08-11T15:02:48.914Z,1754924568.914 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.488389
2025-08-11T15:02:49.165Z,1754924569.165 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.739073
2025-08-11T15:02:49.421Z,1754924569.421 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=1.995221
2025-08-11T15:02:49.668Z,1754924569.668 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.242789
2025-08-11T15:02:49.921Z,1754924569.921 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.495527
2025-08-11T15:02:50.181Z,1754924570.181 [DAT](INFO): DAT read: Rx Time:15:02:51.0317

2025-08-11T15:02:50.181Z,1754924570.181 [DAT](INFO): Rx dataTimestamp_ set to:1754924570.181181
2025-08-11T15:02:50.182Z,1754924570.182 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=2.756643
2025-08-11T15:02:50.432Z,1754924570.432 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=3.006841
2025-08-11T15:02:50.708Z,1754924570.708 [DAT](INFO): DAT read: 15:02:51.0317 LVL= 32752, 32753, 23522, 32755, AGC= 45, IDX= 432, 0.33,-0.124,-1.090, 0.750,-0.109, PHS= 0.087,-0.935, 0.816, RAW= 174.5,   0.4, CAL= 174.0,  -2.0, ROT= 336.0,   2.0

2025-08-11T15:02:50.710Z,1754924570.710 [DAT](INFO): got valid direction response:
 15:02:51.0317 LVL= 32752, 32753, 23522, 32755, AGC= 45, IDX= 432, 0.33,-0.124,-1.090, 0.750,-0.109, PHS= 0.087,-0.935, 0.816, RAW= 174.5,   0.4, CAL= 174.0,  -2.0, ROT= 336.0,   2.0

2025-08-11T15:02:50.711Z,1754924570.711 [DAT](INFO): DAT read: Bearing 293.6, -29.1 (Local)

2025-08-11T15:02:50.711Z,1754924570.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.6, -29.1 (Local)

2025-08-11T15:02:50.713Z,1754924570.713 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m  (Round-trip  11.3 ms) speed -0.2 m/s

2025-08-11T15:02:50.713Z,1754924570.713 [DAT](INFO): DAT read: user:348>

2025-08-11T15:02:50.714Z,1754924570.714 [DAT](INFO): DAT read: Tx time:15:02:52.1163

2025-08-11T15:02:50.714Z,1754924570.714 [DAT](INFO): Ping request sent.
2025-08-11T15:02:50.714Z,1754924570.714 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:50.715Z,1754924570.715 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-11T15:02:50.716Z,1754924570.716 [DAT](INFO): direction in FSK: [0.912989,-0.406489,-0.034899]
2025-08-11T15:02:50.716Z,1754924570.716 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:50.716Z,1754924570.716 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:50.721Z,1754924570.721 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:50.722Z,1754924570.722 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:50.725Z,1754924570.725 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.010518
2025-08-11T15:02:50.940Z,1754924570.940 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.225393
2025-08-11T15:02:50.958Z,1754924570.958 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Off dock, range to dock 8.400000 exceeded threshold.
2025-08-11T15:02:50.958Z,1754924570.958 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-11T15:02:51.192Z,1754924571.192 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.477812
2025-08-11T15:02:51.444Z,1754924571.444 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.729709
2025-08-11T15:02:51.696Z,1754924571.696 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=0.982046
2025-08-11T15:02:51.950Z,1754924571.950 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.235375
2025-08-11T15:02:52.200Z,1754924572.200 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.485855
2025-08-11T15:02:52.452Z,1754924572.452 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.738020
2025-08-11T15:02:52.704Z,1754924572.704 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=1.989824
2025-08-11T15:02:52.956Z,1754924572.956 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.241834
2025-08-11T15:02:53.208Z,1754924573.208 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.494034
2025-08-11T15:02:53.460Z,1754924573.460 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.745913
2025-08-11T15:02:53.712Z,1754924573.712 [DAT](INFO): DAT read: Rx Time:15:02:54.5324

2025-08-11T15:02:53.713Z,1754924573.713 [DAT](INFO): Rx dataTimestamp_ set to:1754924573.712478
2025-08-11T15:02:53.713Z,1754924573.713 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=2.998977
2025-08-11T15:02:53.804Z,1754924573.804 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-11T15:02:53.804Z,1754924573.804 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-11T15:02:53.964Z,1754924573.964 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=3.249823
2025-08-11T15:02:53.980Z,1754924573.980 [DockingStepper](INFO): Changing to mode: 1
2025-08-11T15:02:54.226Z,1754924574.226 [DAT](INFO): DAT read: 15:02:54.5324 LVL= 32752, 32753, 24274, 32755, AGC= 46, IDX= 441,-0.33, 2.799, 1.818,-2.709, 2.633, PHS= 0.268,-0.770, 0.897, RAW= 171.9,  -5.5, CAL= 172.2,  -7.4, ROT= 337.8,   7.4

2025-08-11T15:02:54.227Z,1754924574.227 [DAT](INFO): got valid direction response:
 15:02:54.5324 LVL= 32752, 32753, 24274, 32755, AGC= 46, IDX= 441,-0.33, 2.799, 1.818,-2.709, 2.633, PHS= 0.268,-0.770, 0.897, RAW= 171.9,  -5.5, CAL= 172.2,  -7.4, ROT= 337.8,   7.4

2025-08-11T15:02:54.229Z,1754924574.229 [DAT](INFO): DAT read: Bearing 286.1, -22.9 (Local)

2025-08-11T15:02:54.230Z,1754924574.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.1, -22.9 (Local)

2025-08-11T15:02:54.236Z,1754924574.236 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m  (Round-trip  12.1 ms) speed -0.2 m/s

2025-08-11T15:02:54.237Z,1754924574.237 [DAT](INFO): DAT read: user:349>

2025-08-11T15:02:54.238Z,1754924574.238 [DAT](INFO): DAT read: Tx time:15:02:55.6662

2025-08-11T15:02:54.238Z,1754924574.238 [DAT](INFO): Ping request sent.
2025-08-11T15:02:54.238Z,1754924574.238 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:54.238Z,1754924574.238 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-11T15:02:54.248Z,1754924574.248 [DAT](INFO): direction in FSK: [0.918159,-0.374694,-0.128796]
2025-08-11T15:02:54.248Z,1754924574.248 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:54.248Z,1754924574.248 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:54.263Z,1754924574.263 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:54.263Z,1754924574.263 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:54.267Z,1754924574.267 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.028627
2025-08-11T15:02:54.271Z,1754924574.271 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-11T15:02:54.468Z,1754924574.468 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.230146
2025-08-11T15:02:54.468Z,1754924574.468 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-11T15:02:54.720Z,1754924574.720 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.482154
2025-08-11T15:02:54.720Z,1754924574.720 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-11T15:02:54.972Z,1754924574.972 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.734283
2025-08-11T15:02:55.225Z,1754924575.225 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=0.986729
2025-08-11T15:02:55.476Z,1754924575.476 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.238399
2025-08-11T15:02:55.728Z,1754924575.728 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.490199
2025-08-11T15:02:55.982Z,1754924575.982 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.743764
2025-08-11T15:02:56.233Z,1754924576.233 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=1.995212
2025-08-11T15:02:56.484Z,1754924576.484 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.246221
2025-08-11T15:02:56.737Z,1754924576.737 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.499015
2025-08-11T15:02:56.988Z,1754924576.988 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=2.750447
2025-08-11T15:02:57.240Z,1754924577.240 [DAT](INFO): DAT read: Rx Time:15:02:58.0833

2025-08-11T15:02:57.241Z,1754924577.241 [DAT](INFO): Rx dataTimestamp_ set to:1754924577.240376
2025-08-11T15:02:57.241Z,1754924577.241 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=3.003271
2025-08-11T15:02:57.493Z,1754924577.493 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=3.254615
2025-08-11T15:02:57.758Z,1754924577.758 [DAT](INFO): DAT read: 15:02:58.0833 LVL= 32752, 32753, 27010, 32755, AGC= 47, IDX= 433,-0.22, 0.531,-0.420, 1.173, 0.122, PHS= 0.511,-0.497, 1.007, RAW= 168.9, -15.2, CAL= 170.7, -16.3, ROT= 339.3,  16.3

2025-08-11T15:02:57.759Z,1754924577.759 [DAT](INFO): got valid direction response:
 15:02:58.0833 LVL= 32752, 32753, 27010, 32755, AGC= 47, IDX= 433,-0.22, 0.531,-0.420, 1.173, 0.122, PHS= 0.511,-0.497, 1.007, RAW= 168.9, -15.2, CAL= 170.7, -16.3, ROT= 339.3,  16.3

2025-08-11T15:02:57.760Z,1754924577.760 [DAT](INFO): DAT read: Bearing 275.0, -16.0 (Local)

2025-08-11T15:02:57.760Z,1754924577.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.0, -16.0 (Local)

2025-08-11T15:02:57.761Z,1754924577.761 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m  (Round-trip  12.9 ms) speed -0.2 m/s

2025-08-11T15:02:57.762Z,1754924577.762 [DAT](INFO): DAT read: user:350>

2025-08-11T15:02:57.763Z,1754924577.763 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-11T15:02:57.772Z,1754924577.772 [DAT](INFO): direction in FSK: [0.897844,-0.339267,-0.280667]
2025-08-11T15:02:57.773Z,1754924577.773 [DAT](INFO): publishing direction and range info
2025-08-11T15:02:57.783Z,1754924577.783 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=3.544302
2025-08-11T15:02:57.996Z,1754924577.996 [DAT](INFO): DAT read: Tx time:15:02:59.2162

2025-08-11T15:02:57.997Z,1754924577.997 [DAT](INFO): Ping request sent.
2025-08-11T15:02:57.997Z,1754924577.997 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:02:57.997Z,1754924577.997 [DAT](INFO): publishing transmit ping time
2025-08-11T15:02:57.998Z,1754924577.998 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.000786
2025-08-11T15:02:58.248Z,1754924578.248 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.251634
2025-08-11T15:02:58.500Z,1754924578.500 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.503382
2025-08-11T15:02:58.752Z,1754924578.752 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=0.755632
2025-08-11T15:02:59.004Z,1754924579.004 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.007487
2025-08-11T15:02:59.257Z,1754924579.257 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.260062
2025-08-11T15:02:59.509Z,1754924579.509 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.511892
2025-08-11T15:02:59.760Z,1754924579.760 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=1.763523
2025-08-11T15:03:00.012Z,1754924580.012 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.015439
2025-08-11T15:03:00.264Z,1754924580.264 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.267516
2025-08-11T15:03:00.516Z,1754924580.516 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.519363
2025-08-11T15:03:00.769Z,1754924580.769 [DAT](INFO): DAT read: Rx Time:15:03:01.6338

2025-08-11T15:03:00.770Z,1754924580.770 [DAT](INFO): Rx dataTimestamp_ set to:1754924580.769362
2025-08-11T15:03:00.770Z,1754924580.770 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=2.773773
2025-08-11T15:03:01.024Z,1754924581.024 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=3.027334
2025-08-11T15:03:01.282Z,1754924581.282 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=3.284473
2025-08-11T15:03:01.538Z,1754924581.538 [DAT](INFO): DAT read: 15:03:01.6338 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 439, 0.39,-1.626,-2.567,-1.033,-2.094, PHS= 0.570,-0.428, 1.017, RAW= 167.6, -17.7, CAL= 169.8, -18.6, ROT= 340.2,  18.6

2025-08-11T15:03:01.539Z,1754924581.539 [DAT](INFO): got valid direction response:
 15:03:01.6338 LVL= 32752, 32753, 32754, 32755, AGC= 49, IDX= 439, 0.39,-1.626,-2.567,-1.033,-2.094, PHS= 0.570,-0.428, 1.017, RAW= 167.6, -17.7, CAL= 169.8, -18.6, ROT= 340.2,  18.6

2025-08-11T15:03:01.543Z,1754924581.543 [DAT](INFO): DAT read: Bearing 270.7, -12.5 (Local)

2025-08-11T15:03:01.553Z,1754924581.553 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.7, -12.5 (Local)

2025-08-11T15:03:01.555Z,1754924581.555 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m  (Round-trip  13.5 ms) speed -0.2 m/s

2025-08-11T15:03:01.556Z,1754924581.556 [DAT](INFO): DAT read: user:351>

2025-08-11T15:03:01.557Z,1754924581.557 [DAT](INFO): DAT read: Tx time:15:03:02.7662

2025-08-11T15:03:01.557Z,1754924581.557 [DAT](INFO): Ping request sent.
2025-08-11T15:03:01.557Z,1754924581.557 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:01.557Z,1754924581.557 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-11T15:03:01.558Z,1754924581.558 [DAT](INFO): direction in FSK: [0.891737,-0.321045,-0.318959]
2025-08-11T15:03:01.559Z,1754924581.559 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:01.559Z,1754924581.559 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:01.562Z,1754924581.562 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:01.562Z,1754924581.562 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:01.566Z,1754924581.566 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.008450
2025-08-11T15:03:01.784Z,1754924581.784 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.227214
2025-08-11T15:03:02.040Z,1754924582.040 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.483322
2025-08-11T15:03:02.288Z,1754924582.288 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.731044
2025-08-11T15:03:02.540Z,1754924582.540 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=0.983012
2025-08-11T15:03:02.792Z,1754924582.792 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.234914
2025-08-11T15:03:03.044Z,1754924583.044 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.487330
2025-08-11T15:03:03.297Z,1754924583.297 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.739714
2025-08-11T15:03:03.549Z,1754924583.549 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=1.991924
2025-08-11T15:03:03.800Z,1754924583.800 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.243004
2025-08-11T15:03:04.053Z,1754924584.053 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.495704
2025-08-11T15:03:04.304Z,1754924584.304 [DAT](INFO): DAT read: Rx Time:15:03:05.1843

2025-08-11T15:03:04.305Z,1754924584.305 [DAT](INFO): Rx dataTimestamp_ set to:1754924584.304394
2025-08-11T15:03:04.305Z,1754924584.305 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.748107
2025-08-11T15:03:04.556Z,1754924584.556 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=2.998970
2025-08-11T15:03:04.811Z,1754924584.811 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=3.253168
2025-08-11T15:03:05.066Z,1754924585.066 [DAT](INFO): DAT read: 15:03:05.1843 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 429, 0.39,-2.843, 2.351,-2.295, 2.898, PHS= 0.645,-0.501, 1.047, RAW= 164.5, -16.8, CAL= 166.7, -18.0, ROT= 343.3,  18.0

2025-08-11T15:03:05.067Z,1754924585.067 [DAT](INFO): got valid direction response:
 15:03:05.1843 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 429, 0.39,-2.843, 2.351,-2.295, 2.898, PHS= 0.645,-0.501, 1.047, RAW= 164.5, -16.8, CAL= 166.7, -18.0, ROT= 343.3,  18.0

2025-08-11T15:03:05.068Z,1754924585.068 [DAT](INFO): DAT read: Bearing 269.2, -10.2 (Local)

2025-08-11T15:03:05.068Z,1754924585.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.2, -10.2 (Local)

2025-08-11T15:03:05.070Z,1754924585.070 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m  (Round-trip  14.1 ms) speed -0.1 m/s

2025-08-11T15:03:05.070Z,1754924585.070 [DAT](INFO): DAT read: user:352>

2025-08-11T15:03:05.071Z,1754924585.071 [DAT](INFO): DAT read: Tx time:15:03:06.3161

2025-08-11T15:03:05.072Z,1754924585.072 [DAT](INFO): Ping request sent.
2025-08-11T15:03:05.072Z,1754924585.072 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:05.072Z,1754924585.072 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-11T15:03:05.073Z,1754924585.073 [DAT](INFO): direction in FSK: [0.910943,-0.273296,-0.309017]
2025-08-11T15:03:05.073Z,1754924585.073 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:05.073Z,1754924585.073 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:05.081Z,1754924585.081 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:05.081Z,1754924585.081 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:05.085Z,1754924585.085 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.013035
2025-08-11T15:03:05.313Z,1754924585.313 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.240901
2025-08-11T15:03:05.565Z,1754924585.565 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.492880
2025-08-11T15:03:05.816Z,1754924585.816 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.744448
2025-08-11T15:03:06.069Z,1754924586.069 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=0.996992
2025-08-11T15:03:06.321Z,1754924586.321 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.249174
2025-08-11T15:03:06.572Z,1754924586.572 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.500429
2025-08-11T15:03:06.824Z,1754924586.824 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=1.752438
2025-08-11T15:03:07.076Z,1754924587.076 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.004617
2025-08-11T15:03:07.328Z,1754924587.328 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.256689
2025-08-11T15:03:07.581Z,1754924587.581 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.508977
2025-08-11T15:03:07.837Z,1754924587.837 [DAT](INFO): DAT read: Rx Time:15:03:08.7350

2025-08-11T15:03:07.838Z,1754924587.838 [DAT](INFO): Rx dataTimestamp_ set to:1754924587.837551
2025-08-11T15:03:07.839Z,1754924587.839 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=2.767184
2025-08-11T15:03:08.084Z,1754924588.084 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=3.012510
2025-08-11T15:03:08.337Z,1754924588.337 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=3.265531
2025-08-11T15:03:08.594Z,1754924588.594 [DAT](INFO): DAT read: 15:03:08.7350 LVL= 28880, 32753, 21186, 32755, AGC= 44, IDX= 436, 0.05,-2.828, 2.294,-2.235, 2.974, PHS= 0.583,-0.635, 1.030, RAW= 165.0, -13.0, CAL= 166.5, -14.4, ROT= 343.5,  14.4

2025-08-11T15:03:08.595Z,1754924588.595 [DAT](INFO): got valid direction response:
 15:03:08.7350 LVL= 28880, 32753, 21186, 32755, AGC= 44, IDX= 436, 0.05,-2.828, 2.294,-2.235, 2.974, PHS= 0.583,-0.635, 1.030, RAW= 165.0, -13.0, CAL= 166.5, -14.4, ROT= 343.5,  14.4

2025-08-11T15:03:08.596Z,1754924588.596 [DAT](INFO): DAT read: Bearing 270.6, -13.7 (Local)

2025-08-11T15:03:08.596Z,1754924588.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.6, -13.7 (Local)

2025-08-11T15:03:08.598Z,1754924588.598 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m  (Round-trip  14.8 ms) speed -0.2 m/s

2025-08-11T15:03:08.599Z,1754924588.599 [DAT](INFO): DAT read: user:353>

2025-08-11T15:03:08.600Z,1754924588.600 [DAT](INFO): DAT read: Tx time:15:03:09.8661

2025-08-11T15:03:08.600Z,1754924588.600 [DAT](INFO): Ping request sent.
2025-08-11T15:03:08.600Z,1754924588.600 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:08.600Z,1754924588.600 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-11T15:03:08.601Z,1754924588.601 [DAT](INFO): direction in FSK: [0.928697,-0.275093,-0.248690]
2025-08-11T15:03:08.602Z,1754924588.602 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:08.602Z,1754924588.602 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:08.605Z,1754924588.605 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:08.605Z,1754924588.605 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:08.645Z,1754924588.645 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.044574
2025-08-11T15:03:08.840Z,1754924588.840 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.240094
2025-08-11T15:03:09.092Z,1754924589.092 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.492127
2025-08-11T15:03:09.344Z,1754924589.344 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.744030
2025-08-11T15:03:09.596Z,1754924589.596 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=0.996093
2025-08-11T15:03:09.851Z,1754924589.851 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=1.250238
2025-08-11T15:03:10.101Z,1754924590.101 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=1.500886
2025-08-11T15:03:10.352Z,1754924590.352 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=1.752105
2025-08-11T15:03:10.604Z,1754924590.604 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.004058
2025-08-11T15:03:10.858Z,1754924590.858 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.257850
2025-08-11T15:03:11.108Z,1754924591.108 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.507919
2025-08-11T15:03:11.361Z,1754924591.361 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=2.761125
2025-08-11T15:03:11.612Z,1754924591.612 [DAT](INFO): DAT read: Rx Time:15:03:12.2858

2025-08-11T15:03:11.613Z,1754924591.613 [DAT](INFO): Rx dataTimestamp_ set to:1754924591.612627
2025-08-11T15:03:11.613Z,1754924591.613 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=3.013408
2025-08-11T15:03:11.868Z,1754924591.868 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=3.266938
2025-08-11T15:03:12.123Z,1754924592.123 [DAT](INFO): DAT read: 15:03:12.2858 LVL= 29344, 32721, 21874, 32755, AGC= 45, IDX= 428, 0.10,-0.930,-2.183,-0.271,-1.201, PHS= 0.373,-0.937, 0.886, RAW= 165.8,  -4.0, CAL= 165.7,  -5.9, ROT= 344.3,   5.9

2025-08-11T15:03:12.124Z,1754924592.124 [DAT](INFO): got valid direction response:
 15:03:12.2858 LVL= 29344, 32721, 21874, 32755, AGC= 45, IDX= 428, 0.10,-0.930,-2.183,-0.271,-1.201, PHS= 0.373,-0.937, 0.886, RAW= 165.8,  -4.0, CAL= 165.7,  -5.9, ROT= 344.3,   5.9

2025-08-11T15:03:12.125Z,1754924592.125 [DAT](INFO): DAT read: Bearing 278.7, -18.2 (Local)

2025-08-11T15:03:12.125Z,1754924592.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.7, -18.2 (Local)

2025-08-11T15:03:12.127Z,1754924592.127 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m  (Round-trip  15.6 ms) speed -0.1 m/s

2025-08-11T15:03:12.128Z,1754924592.128 [DAT](INFO): DAT read: user:354>

2025-08-11T15:03:12.128Z,1754924592.128 [DAT](INFO): DAT read: Tx time:15:03:13.4161

2025-08-11T15:03:12.129Z,1754924592.129 [DAT](INFO): Ping request sent.
2025-08-11T15:03:12.129Z,1754924592.129 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:12.129Z,1754924592.129 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-11T15:03:12.130Z,1754924592.130 [DAT](INFO): direction in FSK: [0.957592,-0.269167,-0.102793]
2025-08-11T15:03:12.130Z,1754924592.130 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:12.131Z,1754924592.131 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:12.134Z,1754924592.134 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:12.134Z,1754924592.134 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:12.163Z,1754924592.163 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.033893
2025-08-11T15:03:12.369Z,1754924592.369 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.239911
2025-08-11T15:03:12.621Z,1754924592.621 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.491572
2025-08-11T15:03:12.877Z,1754924592.877 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.747293
2025-08-11T15:03:13.124Z,1754924593.124 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=0.995337
2025-08-11T15:03:13.378Z,1754924593.378 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.249008
2025-08-11T15:03:13.629Z,1754924593.629 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.499771
2025-08-11T15:03:13.883Z,1754924593.883 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=1.753395
2025-08-11T15:03:14.132Z,1754924594.132 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.003340
2025-08-11T15:03:14.384Z,1754924594.384 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.255416
2025-08-11T15:03:14.636Z,1754924594.636 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.507373
2025-08-11T15:03:14.894Z,1754924594.894 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=2.761792
2025-08-11T15:03:15.140Z,1754924595.140 [DAT](INFO): DAT read: Rx Time:15:03:15.8365

2025-08-11T15:03:15.141Z,1754924595.141 [DAT](INFO): Rx dataTimestamp_ set to:1754924595.140583
2025-08-11T15:03:15.141Z,1754924595.141 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=3.012609
2025-08-11T15:03:15.392Z,1754924595.392 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=3.263380
2025-08-11T15:03:15.650Z,1754924595.650 [DAT](INFO): DAT read: 15:03:15.8365 LVL= 24912, 30017, 21442, 32755, AGC= 45, IDX= 435, 0.02, 0.836,-0.417, 1.582, 0.640, PHS= 0.299,-1.012, 0.899, RAW= 167.9,  -2.2, CAL= 167.5,  -4.3, ROT= 342.5,   4.3

2025-08-11T15:03:15.651Z,1754924595.651 [DAT](INFO): got valid direction response:
 15:03:15.8365 LVL= 24912, 30017, 21442, 32755, AGC= 45, IDX= 435, 0.02, 0.836,-0.417, 1.582, 0.640, PHS= 0.299,-1.012, 0.899, RAW= 167.9,  -2.2, CAL= 167.5,  -4.3, ROT= 342.5,   4.3

2025-08-11T15:03:15.652Z,1754924595.652 [DAT](INFO): DAT read: Bearing 281.5, -23.5 (Local)

2025-08-11T15:03:15.652Z,1754924595.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.5, -23.5 (Local)

2025-08-11T15:03:15.654Z,1754924595.654 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m  (Round-trip  16.3 ms) speed -0.2 m/s

2025-08-11T15:03:15.655Z,1754924595.655 [DAT](INFO): DAT read: user:355>

2025-08-11T15:03:15.655Z,1754924595.655 [DAT](INFO): DAT read: Tx time:15:03:16.9661

2025-08-11T15:03:15.656Z,1754924595.656 [DAT](INFO): Ping request sent.
2025-08-11T15:03:15.656Z,1754924595.656 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:15.656Z,1754924595.656 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-11T15:03:15.657Z,1754924595.657 [DAT](INFO): direction in FSK: [0.951032,-0.299859,-0.074979]
2025-08-11T15:03:15.657Z,1754924595.657 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:15.658Z,1754924595.658 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:15.665Z,1754924595.665 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:15.665Z,1754924595.665 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:15.685Z,1754924595.685 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=0.029175
2025-08-11T15:03:15.899Z,1754924595.899 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=0.242139
2025-08-11T15:03:16.148Z,1754924596.148 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=0.492501
2025-08-11T15:03:16.404Z,1754924596.404 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=0.748385
2025-08-11T15:03:16.657Z,1754924596.657 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=1.000624
2025-08-11T15:03:16.912Z,1754924596.912 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=1.255095
2025-08-11T15:03:17.160Z,1754924597.160 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=1.504269
2025-08-11T15:03:17.412Z,1754924597.412 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=1.756603
2025-08-11T15:03:17.664Z,1754924597.664 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=2.008487
2025-08-11T15:03:17.919Z,1754924597.919 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=2.263085
2025-08-11T15:03:18.168Z,1754924598.168 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=2.512284
2025-08-11T15:03:18.420Z,1754924598.420 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=2.764492
2025-08-11T15:03:18.672Z,1754924598.672 [DAT](INFO): DAT read: Rx Time:15:03:19.3872

2025-08-11T15:03:18.673Z,1754924598.673 [DAT](INFO): Rx dataTimestamp_ set to:1754924598.672408
2025-08-11T15:03:18.674Z,1754924598.674 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=3.017846
2025-08-11T15:03:18.932Z,1754924598.932 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=3.274554
2025-08-11T15:03:19.182Z,1754924599.182 [DAT](INFO): DAT read: 15:03:19.3872 LVL= 32752, 32753, 22578, 32755, AGC= 49, IDX= 427,-0.16,-1.650,-2.891,-0.849,-1.765, PHS= 0.217,-1.081, 0.872, RAW= 169.2,  -0.1, CAL= 168.5,  -2.3, ROT= 341.5,   2.3

2025-08-11T15:03:19.183Z,1754924599.183 [DAT](INFO): got valid direction response:
 15:03:19.3872 LVL= 32752, 32753, 22578, 32755, AGC= 49, IDX= 427,-0.16,-1.650,-2.891,-0.849,-1.765, PHS= 0.217,-1.081, 0.872, RAW= 169.2,  -0.1, CAL= 168.5,  -2.3, ROT= 341.5,   2.3

2025-08-11T15:03:19.184Z,1754924599.184 [DAT](INFO): DAT read: Bearing 286.0, -24.3 (Local)

2025-08-11T15:03:19.184Z,1754924599.184 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.0, -24.3 (Local)

2025-08-11T15:03:19.186Z,1754924599.186 [DAT](INFO): DAT read: Range 11 to 50 : 12.7 m  (Round-trip  17.0 ms) speed -0.1 m/s

2025-08-11T15:03:19.186Z,1754924599.186 [DAT](INFO): DAT read: user:356>

2025-08-11T15:03:19.187Z,1754924599.187 [DAT](INFO): DAT read: Tx time:15:03:20.5160

2025-08-11T15:03:19.187Z,1754924599.187 [DAT](INFO): Ping request sent.
2025-08-11T15:03:19.188Z,1754924599.188 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:19.188Z,1754924599.188 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-11T15:03:19.189Z,1754924599.189 [DAT](INFO): direction in FSK: [0.947560,-0.317049,-0.040132]
2025-08-11T15:03:19.189Z,1754924599.189 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:19.189Z,1754924599.189 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:19.193Z,1754924599.193 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:19.193Z,1754924599.193 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:19.197Z,1754924599.197 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.009019
2025-08-11T15:03:19.429Z,1754924599.429 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.241401
2025-08-11T15:03:19.680Z,1754924599.680 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.492587
2025-08-11T15:03:19.933Z,1754924599.933 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.744970
2025-08-11T15:03:20.184Z,1754924600.184 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=0.996503
2025-08-11T15:03:20.436Z,1754924600.436 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=1.248634
2025-08-11T15:03:20.688Z,1754924600.688 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=1.500549
2025-08-11T15:03:20.944Z,1754924600.944 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=1.755371
2025-08-11T15:03:21.192Z,1754924601.192 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=2.004778
2025-08-11T15:03:21.288Z,1754924601.288 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-11T15:03:21.289Z,1754924601.289 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-11T15:03:21.289Z,1754924601.289 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-11T15:03:21.289Z,1754924601.289 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-11T15:03:21.290Z,1754924601.290 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-11T15:03:21.329Z,1754924601.329 [DockingStepper](INFO): Changing to mode: 2
2025-08-11T15:03:21.445Z,1754924601.445 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=2.257159
2025-08-11T15:03:21.446Z,1754924601.446 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-11T15:03:21.659Z,1754924601.659 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-11T15:03:21.659Z,1754924601.659 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-11T15:03:21.659Z,1754924601.659 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-11T15:03:21.660Z,1754924601.660 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-11T15:03:21.660Z,1754924601.660 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-11T15:03:21.660Z,1754924601.660 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-11T15:03:21.696Z,1754924601.696 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=2.508561
2025-08-11T15:03:21.696Z,1754924601.696 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-11T15:03:21.948Z,1754924601.948 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=2.760657
2025-08-11T15:03:21.949Z,1754924601.949 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-11T15:03:22.105Z,1754924602.105 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-11T15:03:22.105Z,1754924602.105 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-11T15:03:22.105Z,1754924602.105 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-11T15:03:22.105Z,1754924602.105 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-11T15:03:22.105Z,1754924602.105 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-11T15:03:22.105Z,1754924602.105 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-11T15:03:22.105Z,1754924602.105 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-11T15:03:22.105Z,1754924602.105 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-11T15:03:22.106Z,1754924602.106 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-11T15:03:22.106Z,1754924602.106 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-11T15:03:22.205Z,1754924602.205 [DAT](INFO): DAT read: Rx Time:15:03:22.9377

2025-08-11T15:03:22.205Z,1754924602.205 [DAT](INFO): Rx dataTimestamp_ set to:1754924602.204741
2025-08-11T15:03:22.206Z,1754924602.206 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=3.017993
2025-08-11T15:03:22.456Z,1754924602.456 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=3.268643
2025-08-11T15:03:22.464Z,1754924602.464 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-11T15:03:22.464Z,1754924602.464 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-11T15:03:22.465Z,1754924602.465 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-11T15:03:22.466Z,1754924602.466 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-11T15:03:22.466Z,1754924602.466 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-11T15:03:22.466Z,1754924602.466 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-11T15:03:22.466Z,1754924602.466 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-11T15:03:22.714Z,1754924602.714 [DAT](INFO): DAT read: 15:03:22.9377 LVL= 32752, 32753, 28802, 32755, AGC= 51, IDX= 433, 0.15,-1.944,-3.063,-1.176,-2.103, PHS= 0.261,-0.915, 0.883, RAW= 169.9,  -2.9, CAL= 169.7,  -5.0, ROT= 340.3,   5.0

2025-08-11T15:03:22.715Z,1754924602.715 [DAT](INFO): got valid direction response:
 15:03:22.9377 LVL= 32752, 32753, 28802, 32755, AGC= 51, IDX= 433, 0.15,-1.944,-3.063,-1.176,-2.103, PHS= 0.261,-0.915, 0.883, RAW= 169.9,  -2.9, CAL= 169.7,  -5.0, ROT= 340.3,   5.0

2025-08-11T15:03:22.716Z,1754924602.716 [DAT](INFO): DAT read: Bearing 285.9, -21.0 (Local)

2025-08-11T15:03:22.716Z,1754924602.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.9, -21.0 (Local)

2025-08-11T15:03:22.718Z,1754924602.718 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m  (Round-trip  17.6 ms) speed -0.1 m/s

2025-08-11T15:03:22.718Z,1754924602.718 [DAT](INFO): DAT read: user:357>

2025-08-11T15:03:22.719Z,1754924602.719 [DAT](INFO): DAT read: Tx time:15:03:24.0660

2025-08-11T15:03:22.719Z,1754924602.719 [DAT](INFO): Ping request sent.
2025-08-11T15:03:22.719Z,1754924602.719 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:22.720Z,1754924602.720 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-11T15:03:22.721Z,1754924602.721 [DAT](INFO): direction in FSK: [0.937888,-0.335813,-0.087156]
2025-08-11T15:03:22.721Z,1754924602.721 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:22.721Z,1754924602.721 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:22.725Z,1754924602.725 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:22.725Z,1754924602.725 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:22.739Z,1754924602.739 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.019523
2025-08-11T15:03:22.893Z,1754924602.893 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-11T15:03:22.893Z,1754924602.893 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-11T15:03:22.893Z,1754924602.893 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-11T15:03:22.893Z,1754924602.893 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-11T15:03:22.894Z,1754924602.894 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-11T15:03:22.894Z,1754924602.894 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-11T15:03:22.894Z,1754924602.894 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-11T15:03:22.894Z,1754924602.894 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-11T15:03:22.894Z,1754924602.894 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-11T15:03:22.894Z,1754924602.894 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-11T15:03:22.894Z,1754924602.894 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-11T15:03:22.894Z,1754924602.894 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-11T15:03:22.894Z,1754924602.894 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-11T15:03:22.895Z,1754924602.895 [lineCaptureHoming:Lap] Stopped
2025-08-11T15:03:22.895Z,1754924602.895 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-11T15:03:22.918Z,1754924602.918 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-11T15:03:22.918Z,1754924602.918 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-11T15:03:22.919Z,1754924602.919 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-11T15:03:22.919Z,1754924602.919 [lineCaptureHoming] Stopped
2025-08-11T15:03:22.919Z,1754924602.919 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-11T15:03:22.923Z,1754924602.923 [lineCaptureHoming:Science] Stopped
2025-08-11T15:03:22.923Z,1754924602.923 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-11T15:03:22.924Z,1754924602.924 [lineCaptureHoming:Science:B] Stopped
2025-08-11T15:03:22.924Z,1754924602.924 [lineCaptureHoming:Science:C] Stopped
2025-08-11T15:03:22.924Z,1754924602.924 [lineCaptureHoming:Science:E] Stopped
2025-08-11T15:03:22.924Z,1754924602.924 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-11T15:03:22.924Z,1754924602.924 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-11T15:03:22.924Z,1754924602.924 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-11T15:03:22.925Z,1754924602.925 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-11T15:03:22.925Z,1754924602.925 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-11T15:03:22.925Z,1754924602.925 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-11T15:03:22.925Z,1754924602.925 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-11T15:03:22.925Z,1754924602.925 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-11T15:03:22.925Z,1754924602.925 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-11T15:03:22.925Z,1754924602.925 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-11T15:03:22.925Z,1754924602.925 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-11T15:03:22.925Z,1754924602.925 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-11T15:03:22.926Z,1754924602.926 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-11T15:03:22.926Z,1754924602.926 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-11T15:03:22.926Z,1754924602.926 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-11T15:03:22.926Z,1754924602.926 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-11T15:03:22.926Z,1754924602.926 [lineCaptureHoming:TrackAC.] Stopped
2025-08-11T15:03:22.926Z,1754924602.926 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-11T15:03:22.960Z,1754924602.960 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.240889
2025-08-11T15:03:23.094Z,1754924603.094 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/OnDock.tl
2025-08-11T15:03:23.163Z,1754924603.163 [WetLabsBB2FL](INFO): Powering down
2025-08-11T15:03:23.212Z,1754924603.212 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.492830
2025-08-11T15:03:23.325Z,1754924603.325 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-11T15:03:23.325Z,1754924603.325 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-11T15:03:23.331Z,1754924603.331 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-11T15:03:23.465Z,1754924603.465 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.745086
2025-08-11T15:03:23.716Z,1754924603.716 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=0.996914
2025-08-11T15:03:23.968Z,1754924603.968 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=1.248783
2025-08-11T15:03:24.220Z,1754924604.220 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=1.500765
2025-08-11T15:03:24.472Z,1754924604.472 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=1.752883
2025-08-11T15:03:24.724Z,1754924604.724 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=2.004789
2025-08-11T15:03:24.976Z,1754924604.976 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=2.257056
2025-08-11T15:03:25.228Z,1754924605.228 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=2.508788
2025-08-11T15:03:25.480Z,1754924605.480 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=2.760755
2025-08-11T15:03:25.732Z,1754924605.732 [DAT](INFO): DAT read: Rx Time:15:03:26.4885

2025-08-11T15:03:25.733Z,1754924605.733 [DAT](INFO): Rx dataTimestamp_ set to:1754924605.732460
2025-08-11T15:03:25.733Z,1754924605.733 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=3.013891
2025-08-11T15:03:25.984Z,1754924605.984 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=3.264831
2025-08-11T15:03:26.242Z,1754924606.242 [DAT](INFO): DAT read: 15:03:26.4885 LVL= 31872, 32753, 22690, 32755, AGC= 48, IDX= 441,-0.06, 2.555, 1.508,-3.075, 2.135, PHS= 0.523,-0.582, 1.030, RAW= 167.9, -13.5, CAL= 169.5, -14.7, ROT= 340.5,  14.7

2025-08-11T15:03:26.246Z,1754924606.246 [DAT](INFO): got valid direction response:
 15:03:26.4885 LVL= 31872, 32753, 22690, 32755, AGC= 48, IDX= 441,-0.06, 2.555, 1.508,-3.075, 2.135, PHS= 0.523,-0.582, 1.030, RAW= 167.9, -13.5, CAL= 169.5, -14.7, ROT= 340.5,  14.7

2025-08-11T15:03:26.249Z,1754924606.249 [DAT](INFO): DAT read: Bearing 277.9, -13.7 (Local)

2025-08-11T15:03:26.249Z,1754924606.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.9, -13.7 (Local)

2025-08-11T15:03:26.260Z,1754924606.260 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m  (Round-trip  18.4 ms) speed -0.2 m/s

2025-08-11T15:03:26.261Z,1754924606.261 [DAT](INFO): DAT read: user:358>

2025-08-11T15:03:26.262Z,1754924606.262 [DAT](INFO): DAT read: Tx time:15:03:27.6160

2025-08-11T15:03:26.263Z,1754924606.263 [DAT](INFO): Ping request sent.
2025-08-11T15:03:26.263Z,1754924606.263 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:26.268Z,1754924606.268 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-11T15:03:26.269Z,1754924606.269 [DAT](INFO): direction in FSK: [0.911787,-0.322880,-0.253758]
2025-08-11T15:03:26.269Z,1754924606.269 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:26.270Z,1754924606.270 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:26.302Z,1754924606.302 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:26.302Z,1754924606.302 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:26.310Z,1754924606.310 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=0.047073
2025-08-11T15:03:26.488Z,1754924606.488 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=0.225316
2025-08-11T15:03:26.740Z,1754924606.740 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=0.477433
2025-08-11T15:03:26.992Z,1754924606.992 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=0.729350
2025-08-11T15:03:27.244Z,1754924607.244 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=0.981470
2025-08-11T15:03:27.496Z,1754924607.496 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=1.233453
2025-08-11T15:03:27.748Z,1754924607.748 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=1.485404
2025-08-11T15:03:28.000Z,1754924608.000 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=1.737348
2025-08-11T15:03:28.254Z,1754924608.254 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=1.990872
2025-08-11T15:03:28.504Z,1754924608.504 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=2.241391
2025-08-11T15:03:28.745Z,1754924608.745 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-08-11T15:03:28.757Z,1754924608.757 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=2.493739
2025-08-11T15:03:28.757Z,1754924608.757 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-11T15:03:28.760Z,1754924608.760 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-11T15:03:28.763Z,1754924608.763 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-11T15:03:28.765Z,1754924608.765 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-11T15:03:28.768Z,1754924608.768 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-11T15:03:28.770Z,1754924608.770 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-11T15:03:28.773Z,1754924608.773 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-11T15:03:28.775Z,1754924608.775 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-11T15:03:28.777Z,1754924608.777 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-11T15:03:28.780Z,1754924608.780 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-11T15:03:28.782Z,1754924608.782 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-11T15:03:28.784Z,1754924608.784 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-11T15:03:28.786Z,1754924608.786 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-11T15:03:28.787Z,1754924608.787 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-11T15:03:28.787Z,1754924608.787 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-11T15:03:28.792Z,1754924608.792 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-11T15:03:29.008Z,1754924609.008 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=2.745432
2025-08-11T15:03:29.022Z,1754924609.022 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-08-11T15:03:29.034Z,1754924609.034 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-11T15:03:29.038Z,1754924609.038 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-11T15:03:29.049Z,1754924609.049 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-11T15:03:29.052Z,1754924609.052 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-11T15:03:29.064Z,1754924609.064 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-11T15:03:29.122Z,1754924609.122 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-11T15:03:29.142Z,1754924609.142 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-11T15:03:29.155Z,1754924609.155 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-11T15:03:29.155Z,1754924609.155 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-11T15:03:29.156Z,1754924609.156 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-11T15:03:29.176Z,1754924609.176 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-08-11T15:03:29.179Z,1754924609.179 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-11T15:03:29.182Z,1754924609.182 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-11T15:03:29.184Z,1754924609.184 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-11T15:03:29.184Z,1754924609.184 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-11T15:03:29.186Z,1754924609.186 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-11T15:03:29.260Z,1754924609.260 [DAT](INFO): DAT read: Rx Time:15:03:30.0394

2025-08-11T15:03:29.261Z,1754924609.261 [DAT](INFO): Rx dataTimestamp_ set to:1754924609.260438
2025-08-11T15:03:29.261Z,1754924609.261 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=2.998473
2025-08-11T15:03:29.460Z,1754924609.460 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-08-11T15:03:29.464Z,1754924609.464 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-11T15:03:29.466Z,1754924609.466 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-11T15:03:29.468Z,1754924609.468 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-11T15:03:29.470Z,1754924609.470 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-11T15:03:29.473Z,1754924609.473 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-11T15:03:29.504Z,1754924609.504 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-11T15:03:29.512Z,1754924609.512 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=3.249421
2025-08-11T15:03:29.513Z,1754924609.513 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-11T15:03:29.523Z,1754924609.523 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-11T15:03:29.523Z,1754924609.523 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-11T15:03:29.528Z,1754924609.528 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-11T15:03:29.772Z,1754924609.772 [DAT](INFO): DAT read: 15:03:30.0394 LVL= 32752, 32753, 28386, 32755, AGC= 50, IDX= 434,-0.05, 1.944, 1.103, 2.581, 1.499, PHS= 0.547,-0.351, 1.038, RAW= 170.4, -19.7, CAL= 172.6, -20.4, ROT= 337.4,  20.4

2025-08-11T15:03:29.773Z,1754924609.773 [DAT](INFO): got valid direction response:
 15:03:30.0394 LVL= 32752, 32753, 28386, 32755, AGC= 50, IDX= 434,-0.05, 1.944, 1.103, 2.581, 1.499, PHS= 0.547,-0.351, 1.038, RAW= 170.4, -19.7, CAL= 172.6, -20.4, ROT= 337.4,  20.4

2025-08-11T15:03:29.774Z,1754924609.774 [DAT](INFO): DAT read: Bearing 273.1, -10.9 (Local)

2025-08-11T15:03:29.774Z,1754924609.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.1, -10.9 (Local)

2025-08-11T15:03:29.776Z,1754924609.776 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m  (Round-trip  19.3 ms) speed -0.1 m/s

2025-08-11T15:03:29.777Z,1754924609.777 [DAT](INFO): DAT read: user:359>

2025-08-11T15:03:29.777Z,1754924609.777 [DAT](INFO): DAT read: Tx time:15:03:31.1660

2025-08-11T15:03:29.778Z,1754924609.778 [DAT](INFO): Ping request sent.
2025-08-11T15:03:29.778Z,1754924609.778 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:29.778Z,1754924609.778 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-11T15:03:29.786Z,1754924609.786 [DAT](INFO): direction in FSK: [0.865308,-0.360193,-0.348572]
2025-08-11T15:03:29.787Z,1754924609.787 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:29.800Z,1754924609.800 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:29.824Z,1754924609.824 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:29.824Z,1754924609.824 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:29.836Z,1754924609.836 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.057988
2025-08-11T15:03:30.016Z,1754924610.016 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.238515
2025-08-11T15:03:30.268Z,1754924610.268 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.490549
2025-08-11T15:03:30.520Z,1754924610.520 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.742566
2025-08-11T15:03:30.772Z,1754924610.772 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=0.994527
2025-08-11T15:03:31.024Z,1754924611.024 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=1.246786
2025-08-11T15:03:31.276Z,1754924611.276 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=1.498419
2025-08-11T15:03:31.528Z,1754924611.528 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=1.750495
2025-08-11T15:03:31.780Z,1754924611.780 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=2.002493
2025-08-11T15:03:32.032Z,1754924612.032 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=2.254521
2025-08-11T15:03:32.284Z,1754924612.284 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=2.506508
2025-08-11T15:03:32.536Z,1754924612.536 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=2.758802
2025-08-11T15:03:32.788Z,1754924612.788 [DAT](INFO): DAT read: Rx Time:15:03:33.5899

2025-08-11T15:03:32.789Z,1754924612.789 [DAT](INFO): Rx dataTimestamp_ set to:1754924612.788452
2025-08-11T15:03:32.789Z,1754924612.789 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=3.011628
2025-08-11T15:03:33.040Z,1754924613.040 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=3.262473
2025-08-11T15:03:33.298Z,1754924613.298 [DAT](INFO): DAT read: 15:03:33.5899 LVL= 28352, 32753, 23890, 31939, AGC= 49, IDX= 424, 0.23, 0.351,-0.430, 1.074,-0.088, PHS= 0.540,-0.297, 1.118, RAW= 174.0, -21.3, CAL= 175.6, -22.2, ROT= 334.4,  22.2

2025-08-11T15:03:33.299Z,1754924613.299 [DAT](INFO): got valid direction response:
 15:03:33.5899 LVL= 28352, 32753, 23890, 31939, AGC= 49, IDX= 424, 0.23, 0.351,-0.430, 1.074,-0.088, PHS= 0.540,-0.297, 1.118, RAW= 174.0, -21.3, CAL= 175.6, -22.2, ROT= 334.4,  22.2

2025-08-11T15:03:33.300Z,1754924613.300 [DAT](INFO): DAT read: Bearing 272.1, -12.5 (Local)

2025-08-11T15:03:33.300Z,1754924613.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.1, -12.5 (Local)

2025-08-11T15:03:33.301Z,1754924613.301 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m  (Round-trip  19.9 ms) speed -0.2 m/s

2025-08-11T15:03:33.302Z,1754924613.302 [DAT](INFO): DAT read: user:360>

2025-08-11T15:03:33.303Z,1754924613.303 [DAT](INFO): DAT read: Tx time:15:03:34.7159

2025-08-11T15:03:33.303Z,1754924613.303 [DAT](INFO): Ping request sent.
2025-08-11T15:03:33.303Z,1754924613.303 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:33.304Z,1754924613.304 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-11T15:03:33.305Z,1754924613.305 [DAT](INFO): direction in FSK: [0.834980,-0.400056,-0.377841]
2025-08-11T15:03:33.305Z,1754924613.305 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:33.305Z,1754924613.305 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:33.308Z,1754924613.308 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:33.308Z,1754924613.308 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:33.316Z,1754924613.316 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.012222
2025-08-11T15:03:33.544Z,1754924613.544 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.240861
2025-08-11T15:03:33.796Z,1754924613.796 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.492735
2025-08-11T15:03:34.048Z,1754924614.048 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.744774
2025-08-11T15:03:34.300Z,1754924614.300 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=0.996767
2025-08-11T15:03:34.342Z,1754924614.342 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-08-11T15:03:34.370Z,1754924614.370 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-11T15:03:34.392Z,1754924614.392 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-11T15:03:34.394Z,1754924614.394 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-11T15:03:34.396Z,1754924614.396 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-11T15:03:34.398Z,1754924614.398 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-11T15:03:34.400Z,1754924614.400 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-11T15:03:34.402Z,1754924614.402 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-11T15:03:34.405Z,1754924614.405 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-11T15:03:34.407Z,1754924614.407 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-11T15:03:34.409Z,1754924614.409 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-11T15:03:34.411Z,1754924614.411 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-11T15:03:34.413Z,1754924614.413 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-11T15:03:34.416Z,1754924614.416 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-11T15:03:34.418Z,1754924614.418 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-11T15:03:34.420Z,1754924614.420 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-11T15:03:34.422Z,1754924614.422 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-11T15:03:34.436Z,1754924614.436 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-11T15:03:34.438Z,1754924614.438 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-11T15:03:34.442Z,1754924614.442 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-11T15:03:34.465Z,1754924614.465 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-11T15:03:34.467Z,1754924614.467 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-11T15:03:34.473Z,1754924614.473 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-11T15:03:34.479Z,1754924614.479 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-11T15:03:34.482Z,1754924614.482 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-11T15:03:34.529Z,1754924614.529 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-11T15:03:34.543Z,1754924614.543 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-11T15:03:34.546Z,1754924614.546 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-11T15:03:34.552Z,1754924614.552 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=1.248717
2025-08-11T15:03:34.557Z,1754924614.557 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-11T15:03:34.568Z,1754924614.568 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-11T15:03:34.570Z,1754924614.570 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-11T15:03:34.590Z,1754924614.590 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-11T15:03:34.608Z,1754924614.608 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-11T15:03:34.610Z,1754924614.610 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-11T15:03:34.636Z,1754924614.636 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-11T15:03:34.648Z,1754924614.648 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-11T15:03:34.650Z,1754924614.650 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-11T15:03:34.656Z,1754924614.656 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-11T15:03:34.665Z,1754924614.665 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-11T15:03:34.667Z,1754924614.667 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-11T15:03:34.673Z,1754924614.673 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-11T15:03:34.679Z,1754924614.679 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-11T15:03:34.682Z,1754924614.682 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-11T15:03:34.685Z,1754924614.685 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-11T15:03:34.700Z,1754924614.700 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-11T15:03:34.705Z,1754924614.705 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-11T15:03:34.713Z,1754924614.713 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-11T15:03:34.717Z,1754924614.717 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-11T15:03:34.723Z,1754924614.723 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-11T15:03:34.728Z,1754924614.728 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-11T15:03:34.731Z,1754924614.731 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-11T15:03:34.753Z,1754924614.753 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-11T15:03:34.800Z,1754924614.800 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-11T15:03:34.805Z,1754924614.805 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=1.501131
2025-08-11T15:03:34.812Z,1754924614.812 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-11T15:03:34.814Z,1754924614.814 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-11T15:03:34.821Z,1754924614.821 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-11T15:03:34.827Z,1754924614.827 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-11T15:03:34.830Z,1754924614.830 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-11T15:03:34.885Z,1754924614.885 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-11T15:03:34.920Z,1754924614.920 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-11T15:03:34.922Z,1754924614.922 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-11T15:03:34.941Z,1754924614.941 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-11T15:03:34.951Z,1754924614.951 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-11T15:03:34.961Z,1754924614.961 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-11T15:03:34.977Z,1754924614.977 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-11T15:03:34.984Z,1754924614.984 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-11T15:03:34.996Z,1754924614.996 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-11T15:03:35.005Z,1754924615.005 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-11T15:03:35.014Z,1754924615.014 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-11T15:03:35.025Z,1754924615.025 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-11T15:03:35.030Z,1754924615.030 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-11T15:03:35.044Z,1754924615.044 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-11T15:03:35.047Z,1754924615.047 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-11T15:03:35.054Z,1754924615.054 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-11T15:03:35.056Z,1754924615.056 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=1.752859
2025-08-11T15:03:35.065Z,1754924615.065 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-11T15:03:35.072Z,1754924615.072 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-11T15:03:35.074Z,1754924615.074 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-11T15:03:35.081Z,1754924615.081 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-11T15:03:35.087Z,1754924615.087 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-11T15:03:35.090Z,1754924615.090 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-11T15:03:35.096Z,1754924615.096 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-11T15:03:35.099Z,1754924615.099 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-11T15:03:35.105Z,1754924615.105 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-11T15:03:35.124Z,1754924615.124 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-11T15:03:35.126Z,1754924615.126 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-11T15:03:35.144Z,1754924615.144 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-11T15:03:35.154Z,1754924615.154 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-11T15:03:35.174Z,1754924615.174 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-11T15:03:35.202Z,1754924615.202 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-11T15:03:35.218Z,1754924615.218 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-11T15:03:35.233Z,1754924615.233 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-11T15:03:35.240Z,1754924615.240 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-11T15:03:35.242Z,1754924615.242 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-11T15:03:35.249Z,1754924615.249 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-11T15:03:35.275Z,1754924615.275 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-11T15:03:35.278Z,1754924615.278 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-11T15:03:35.288Z,1754924615.288 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-11T15:03:35.291Z,1754924615.291 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-11T15:03:35.308Z,1754924615.308 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=2.004714
2025-08-11T15:03:35.321Z,1754924615.321 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-11T15:03:35.336Z,1754924615.336 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-11T15:03:35.338Z,1754924615.338 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-11T15:03:35.357Z,1754924615.357 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-11T15:03:35.371Z,1754924615.371 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-11T15:03:35.374Z,1754924615.374 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-11T15:03:35.384Z,1754924615.384 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-11T15:03:35.387Z,1754924615.387 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-11T15:03:35.409Z,1754924615.409 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-11T15:03:35.420Z,1754924615.420 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-11T15:03:35.423Z,1754924615.423 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-11T15:03:35.449Z,1754924615.449 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-11T15:03:35.465Z,1754924615.465 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-11T15:03:35.476Z,1754924615.476 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-11T15:03:35.478Z,1754924615.478 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-11T15:03:35.485Z,1754924615.485 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-11T15:03:35.492Z,1754924615.492 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-11T15:03:35.497Z,1754924615.497 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-11T15:03:35.509Z,1754924615.509 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-11T15:03:35.521Z,1754924615.521 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-11T15:03:35.529Z,1754924615.529 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-11T15:03:35.540Z,1754924615.540 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-11T15:03:35.542Z,1754924615.542 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-11T15:03:35.549Z,1754924615.549 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-11T15:03:35.560Z,1754924615.560 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=2.256857
2025-08-11T15:03:35.564Z,1754924615.564 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-11T15:03:35.566Z,1754924615.566 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-11T15:03:35.585Z,1754924615.585 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-11T15:03:35.591Z,1754924615.591 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-11T15:03:35.594Z,1754924615.594 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-11T15:03:35.612Z,1754924615.612 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-11T15:03:35.615Z,1754924615.615 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-11T15:03:35.622Z,1754924615.622 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-11T15:03:35.636Z,1754924615.636 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-11T15:03:35.639Z,1754924615.639 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-11T15:03:35.645Z,1754924615.645 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-11T15:03:35.652Z,1754924615.652 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-11T15:03:35.694Z,1754924615.694 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-11T15:03:35.764Z,1754924615.764 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-11T15:03:35.812Z,1754924615.812 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=2.508865
2025-08-11T15:03:35.824Z,1754924615.824 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-11T15:03:35.867Z,1754924615.867 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-11T15:03:35.891Z,1754924615.891 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-11T15:03:35.917Z,1754924615.917 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-11T15:03:35.958Z,1754924615.958 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-11T15:03:35.990Z,1754924615.990 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-11T15:03:36.027Z,1754924616.027 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-11T15:03:36.057Z,1754924616.057 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-11T15:03:36.064Z,1754924616.064 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=2.760773
2025-08-11T15:03:36.087Z,1754924616.087 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-11T15:03:36.174Z,1754924616.174 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-11T15:03:36.276Z,1754924616.276 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-11T15:03:36.316Z,1754924616.316 [DAT](INFO): DAT read: Rx Time:15:03:37.1405

2025-08-11T15:03:36.317Z,1754924616.317 [DAT](INFO): Rx dataTimestamp_ set to:1754924616.316467
2025-08-11T15:03:36.317Z,1754924616.317 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=3.013864
2025-08-11T15:03:36.326Z,1754924616.326 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-11T15:03:36.366Z,1754924616.366 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-11T15:03:36.412Z,1754924616.412 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-11T15:03:36.437Z,1754924616.437 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-11T15:03:36.483Z,1754924616.483 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-11T15:03:36.568Z,1754924616.568 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=3.264790
2025-08-11T15:03:36.585Z,1754924616.585 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-11T15:03:36.597Z,1754924616.597 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-11T15:03:36.598Z,1754924616.598 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-11T15:03:36.608Z,1754924616.608 [OnDock:N.Docked](DEBUG): Construct.
2025-08-11T15:03:36.608Z,1754924616.608 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-11T15:03:36.648Z,1754924616.648 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-11T15:03:36.648Z,1754924616.648 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-11T15:03:36.753Z,1754924616.753 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-08-11T15:03:36.758Z,1754924616.758 [CommandExec](IMPORTANT): Running ./Missions/Engineering/OnDock.tl
2025-08-11T15:03:36.826Z,1754924616.826 [DAT](INFO): DAT read: 15:03:37.1405 LVL= 32752, 32753, 31810, 32755, AGC= 54, IDX= 430, 0.37, 0.221,-0.583, 1.003,-0.172, PHS= 0.495,-0.366, 1.132, RAW= 175.0, -18.9, CAL= 176.9, -19.7, ROT= 333.1,  19.7

2025-08-11T15:03:36.827Z,1754924616.827 [DAT](INFO): got valid direction response:
 15:03:37.1405 LVL= 32752, 32753, 31810, 32755, AGC= 54, IDX= 430, 0.37, 0.221,-0.583, 1.003,-0.172, PHS= 0.495,-0.366, 1.132, RAW= 175.0, -18.9, CAL= 176.9, -19.7, ROT= 333.1,  19.7

2025-08-11T15:03:36.828Z,1754924616.828 [DAT](INFO): DAT read: Bearing 275.7, -17.1 (Local)

2025-08-11T15:03:36.829Z,1754924616.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.7, -17.1 (Local)

2025-08-11T15:03:36.833Z,1754924616.833 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m  (Round-trip  20.5 ms) speed -0.1 m/s

2025-08-11T15:03:36.834Z,1754924616.834 [DAT](INFO): DAT read: user:361>

2025-08-11T15:03:36.835Z,1754924616.835 [DAT](INFO): DAT read: Tx time:15:03:38.2659

2025-08-11T15:03:36.835Z,1754924616.835 [DAT](INFO): Ping request sent.
2025-08-11T15:03:36.835Z,1754924616.835 [DAT](INFO): transmitted an acoustic signal
2025-08-11T15:03:36.836Z,1754924616.836 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-11T15:03:36.837Z,1754924616.837 [DAT](INFO): direction in FSK: [0.839601,-0.425954,-0.337095]
2025-08-11T15:03:36.837Z,1754924616.837 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:36.837Z,1754924616.837 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:36.840Z,1754924616.840 [DAT](INFO): publishing transmit ping time
2025-08-11T15:03:36.841Z,1754924616.841 [DAT](INFO): publishing direction and range info
2025-08-11T15:03:36.844Z,1754924616.844 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.008414
2025-08-11T15:03:36.956Z,1754924616.956 [MissionManager](IMPORTANT): Started mission OnDock
2025-08-11T15:03:36.956Z,1754924616.956 [OnDock] Running Loop=1
2025-08-11T15:03:36.956Z,1754924616.956 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-08-11T15:03:36.956Z,1754924616.956 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-11T15:03:36.956Z,1754924616.956 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-08-11T15:03:36.956Z,1754924616.956 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-11T15:03:36.956Z,1754924616.956 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:BackseatDriver] Running Loop=1
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:PowerOnly] Running Loop=1
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-08-11T15:03:36.957Z,1754924616.957 [OnDock:PowerOnly:A] Running Loop=1
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:PowerOnly:B] Running Loop=1
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:PowerOnly:C] Running Loop=1
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:PowerOnly:D] Running Loop=1
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:dataRead] Running Loop=1
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:dataRead:A] Running Loop=1
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:science] Running Loop=1
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-08-11T15:03:36.958Z,1754924616.958 [OnDock:science:Science] Running Loop=1
2025-08-11T15:03:36.959Z,1754924616.959 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-08-11T15:03:36.959Z,1754924616.959 [OnDock:science:Science:A] Running Loop=1
2025-08-11T15:03:36.959Z,1754924616.959 [OnDock:science:Science:B] Running Loop=1
2025-08-11T15:03:36.959Z,1754924616.959 [OnDock:science:Science:C] Running Loop=1
2025-08-11T15:03:36.959Z,1754924616.959 [OnDock:science:Science:D] Running Loop=1
2025-08-11T15:03:36.963Z,1754924616.963 [OnDock:science:Science:E] Running Loop=1
2025-08-11T15:03:36.963Z,1754924616.963 [OnDock:science:Science:F] Running Loop=1
2025-08-11T15:03:36.963Z,1754924616.963 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-08-11T15:03:36.963Z,1754924616.963 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-08-11T15:03:36.964Z,1754924616.964 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-08-11T15:03:36.964Z,1754924616.964 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-08-11T15:03:36.964Z,1754924616.964 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-08-11T15:03:36.964Z,1754924616.964 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-08-11T15:03:36.964Z,1754924616.964 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-08-11T15:03:36.964Z,1754924616.964 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-08-11T15:03:36.964Z,1754924616.964 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-08-11T15:03:36.964Z,1754924616.964 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-11T15:03:36.964Z,1754924616.964 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-11T15:03:36.965Z,1754924616.965 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-08-11T15:03:36.965Z,1754924616.965 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-08-11T15:03:36.965Z,1754924616.965 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-08-11T15:03:36.965Z,1754924616.965 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-08-11T15:03:36.965Z,1754924616.965 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-08-11T15:03:36.965Z,1754924616.965 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-08-11T15:03:36.965Z,1754924616.965 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-08-11T15:03:36.966Z,1754924616.966 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-08-11T15:03:36.966Z,1754924616.966 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-11T15:03:36.966Z,1754924616.966 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-11T15:03:36.966Z,1754924616.966 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-08-11T15:03:36.966Z,1754924616.966 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-08-11T15:03:36.966Z,1754924616.966 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-11T15:03:36.967Z,1754924616.967 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-08-11T15:03:36.967Z,1754924616.967 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-08-11T15:03:36.967Z,1754924616.967 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-11T15:03:36.967Z,1754924616.967 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-08-11T15:03:36.971Z,1754924616.971 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-08-11T15:03:36.971Z,1754924616.971 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-11T15:03:36.971Z,1754924616.971 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-11T15:03:36.972Z,1754924616.972 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-11T15:03:36.972Z,1754924616.972 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-11T15:03:36.972Z,1754924616.972 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-11T15:03:36.972Z,1754924616.972 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-11T15:03:36.972Z,1754924616.972 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-11T15:03:36.973Z,1754924616.973 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-11T15:03:36.973Z,1754924616.973 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-11T15:03:36.973Z,1754924616.973 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-11T15:03:36.973Z,1754924616.973 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-11T15:03:36.973Z,1754924616.973 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-11T15:03:36.973Z,1754924616.973 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-11T15:03:36.973Z,1754924616.973 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-11T15:03:36.973Z,1754924616.973 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-11T15:03:36.973Z,1754924616.973 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-11T15:03:36.974Z,1754924616.974 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-11T15:03:36.974Z,1754924616.974 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-11T15:03:36.974Z,1754924616.974 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-11T15:03:36.974Z,1754924616.974 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-11T15:03:36.974Z,1754924616.974 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-11T15:03:36.974Z,1754924616.974 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-11T15:03:36.974Z,1754924616.974 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-11T15:03:36.975Z,1754924616.975 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-11T15:03:36.975Z,1754924616.975 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-11T15:03:36.975Z,1754924616.975 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-11T15:03:36.979Z,1754924616.979 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-08-11T15:03:36.979Z,1754924616.979 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-08-11T15:03:36.979Z,1754924616.979 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-11T15:03:36.980Z,1754924616.980 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-11T15:03:36.980Z,1754924616.980 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-08-11T15:03:36.980Z,1754924616.980 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-08-11T15:03:36.980Z,1754924616.980 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-08-11T15:03:36.980Z,1754924616.980 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-11T15:03:36.980Z,1754924616.980 [OnDock:J.] Running Loop=1
2025-08-11T15:03:36.980Z,1754924616.980 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-08-11T15:03:36.980Z,1754924616.980 [OnDock:PeriodicCheck] Running Loop=1
2025-08-11T15:03:36.981Z,1754924616.981 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-08-11T15:03:36.981Z,1754924616.981 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-08-11T15:03:36.981Z,1754924616.981 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-08-11T15:03:36.981Z,1754924616.981 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-08-11T15:03:36.981Z,1754924616.981 [OnDock:B] Running Loop=1
2025-08-11T15:03:36.982Z,1754924616.982 [OnDock:PeriodicCheck] Running Loop=1
2025-08-11T15:03:36.982Z,1754924616.982 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-08-11T15:03:36.982Z,1754924616.982 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-08-11T15:03:36.982Z,1754924616.982 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-08-11T15:03:36.982Z,1754924616.982 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-08-11T15:03:36.982Z,1754924616.982 [OnDock:J.] Running Loop=1
2025-08-11T15:03:36.990Z,1754924616.990 [OnDock:science] Stopped
2025-08-11T15:03:36.990Z,1754924616.990 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-08-11T15:03:36.990Z,1754924616.990 [OnDock:science:Science] Stopped
2025-08-11T15:03:36.990Z,1754924616.990 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-08-11T15:03:36.990Z,1754924616.990 [OnDock:science:Science:A] Stopped
2025-08-11T15:03:36.990Z,1754924616.990 [OnDock:science:Science:B] Stopped
2025-08-11T15:03:36.990Z,1754924616.990 [OnDock:science:Science:C] Stopped
2025-08-11T15:03:36.991Z,1754924616.991 [OnDock:science:Science:D] Stopped
2025-08-11T15:03:36.991Z,1754924616.991 [OnDock:science:Science:E] Stopped
2025-08-11T15:03:36.991Z,1754924616.991 [OnDock:science:Science:F] Stopped
2025-08-11T15:03:36.991Z,1754924616.991 [OnDock:science:Science:Read_Oil] Stopped
2025-08-11T15:03:36.991Z,1754924616.991 [OnDock:science:Science:OceanCurrent] Stopped
2025-08-11T15:03:36.991Z,1754924616.991 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:PeakDetectChl] Stopped
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-11T15:03:36.996Z,1754924616.996 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:PeakDetectOil] Stopped
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-08-11T15:03:36.997Z,1754924616.997 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-11T15:03:36.998Z,1754924616.998 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-11T15:03:36.999Z,1754924616.999 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-11T15:03:36.999Z,1754924616.999 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-11T15:03:36.999Z,1754924616.999 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-11T15:03:36.999Z,1754924616.999 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-11T15:03:37.003Z,1754924617.003 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-11T15:03:37.003Z,1754924617.003 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-11T15:03:37.003Z,1754924617.003 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-11T15:03:37.003Z,1754924617.003 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-11T15:03:37.003Z,1754924617.003 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-11T15:03:37.004Z,1754924617.004 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-11T15:03:37.005Z,1754924617.005 [OnDock:dataRead] Running Loop=1
2025-08-11T15:03:37.005Z,1754924617.005 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-11T15:03:37.005Z,1754924617.005 [OnDock:PowerOnly] Running Loop=1
2025-08-11T15:03:37.006Z,1754924617.006 [OnDock:PowerOnly:D] Stopped
2025-08-11T15:03:37.006Z,1754924617.006 [OnDock:PowerOnly:C] Stopped
2025-08-11T15:03:37.006Z,1754924617.006 [OnDock:PowerOnly:B] Stopped
2025-08-11T15:03:37.006Z,1754924617.006 [OnDock:PowerOnly:A] Stopped
2025-08-11T15:03:37.006Z,1754924617.006 [OnDock:BackseatDriver] Running Loop=1
2025-08-11T15:03:37.006Z,1754924617.006 [OnDock:B] Stopped
2025-08-11T15:03:37.006Z,1754924617.006 [OnDock:C] Running Loop=1
2025-08-11T15:03:37.006Z,1754924617.006 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-11T15:03:37.006Z,1754924617.006 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-11T15:03:37.007Z,1754924617.007 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-11T15:03:37.011Z,1754924617.011 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-11T15:03:37.012Z,1754924617.012 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.500000m. At depth:69.863281m.
2025-08-11T15:03:37.073Z,1754924617.073 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.237068
2025-08-11T15:03:37.074Z,1754924617.074 [CommandExec](IMPORTANT): got command ! ifconfig
2025-08-11T15:03:37.325Z,1754924617.325 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.489183
2025-08-11T15:03:37.326Z,1754924617.326 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:979 errors:0 dropped:0 overruns:0 frame:0
            TX packets:1246 errors:0 dropped:0 overruns:0 carrier:0
            collisions:7 txqueuelen:1000 
            RX bytes:386628 (377.5 Kb)  TX bytes:280765 (274.1 Kb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:358 errors:0 dropped:0 overruns:0 frame:0
            TX packets:358 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:27632 (26.9 Kb)  TX bytes:27632 (26.9 Kb)
  
  
2025-08-11T15:03:37.576Z,1754924617.576 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.740745
2025-08-11T15:03:37.833Z,1754924617.833 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=0.992553
2025-08-11T15:03:37.977Z,1754924617.977 [OnDock:C] Stopped
2025-08-11T15:03:37.977Z,1754924617.977 [OnDock:D] Running Loop=1
2025-08-11T15:03:38.080Z,1754924618.080 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=1.244894
2025-08-11T15:03:38.330Z,1754924618.330 [OnDock:D] Stopped
2025-08-11T15:03:38.330Z,1754924618.330 [OnDock:E] Running Loop=1
2025-08-11T15:03:38.332Z,1754924618.332 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=1.496851
2025-08-11T15:03:38.584Z,1754924618.584 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=1.748629
2025-08-11T15:03:38.707Z,1754924618.707 [OnDock:E] Stopped
2025-08-11T15:03:38.708Z,1754924618.708 [OnDock:K] Running Loop=1
2025-08-11T15:03:38.839Z,1754924618.839 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=2.003066
2025-08-11T15:03:39.092Z,1754924619.092 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=2.256766
2025-08-11T15:03:39.117Z,1754924619.117 [OnDock:K](IMPORTANT): Restarting logs
2025-08-11T15:03:39.117Z,1754924619.117 [OnDock:K] Stopped
2025-08-11T15:03:39.117Z,1754924619.117 [OnDock:L.Execute] Running Loop=1
2025-08-11T15:03:39.344Z,1754924619.344 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=2.508610
2025-08-11T15:03:39.541Z,1754924619.541 [OnDock:L.Execute](INFO): Executing command restart logs
2025-08-11T15:03:39.541Z,1754924619.541 [OnDock:L.Execute] Stopped
2025-08-11T15:03:39.541Z,1754924619.541 [OnDock:N.Docked] Running Loop=1
2025-08-11T15:03:39.541Z,1754924619.541 [OnDock:N.Docked](DEBUG): Initialize.
2025-08-11T15:03:39.541Z,1754924619.541 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-11T15:03:39.597Z,1754924619.597 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=2.761465