2025-08-19T18:14:52.259Z,1755627292.259 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-19T18:14:52.259Z,1755627292.259 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-08-19T18:14:52.259Z,1755627292.259 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-19T18:14:52.259Z,1755627292.259 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-08-19T18:14:52.260Z,1755627292.260 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-08-19T18:14:52.260Z,1755627292.260 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-08-19T18:14:52.307Z,1755627292.307 [CommandExec](IMPORTANT): got command restart logs
2025-08-19T18:14:52.652Z,1755627292.652 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-19T18:14:52.653Z,1755627292.653 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-19T18:15:09.546Z,1755627309.546 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:15:19.153Z,1755627319.153 [NAL9602](INFO): SBD MO Status=2, MOMSN=865, MT Status=2, MTMSN=0
2025-08-19T18:15:19.153Z,1755627319.153 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-19T18:15:27.509Z,1755627327.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:15:27.720Z,1755627327.720 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:15:27.721Z,1755627327.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:15:27.974Z,1755627327.974 [DAT](INFO): DAT read: user:864>

2025-08-19T18:15:27.975Z,1755627327.975 [DAT](INFO): DAT read: Tx time:18:15:26.3701

2025-08-19T18:15:27.976Z,1755627327.976 [DAT](INFO): Ping request sent.
2025-08-19T18:15:27.976Z,1755627327.976 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:15:27.976Z,1755627327.976 [DAT](INFO): publishing transmit ping time
2025-08-19T18:15:27.976Z,1755627327.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-19T18:15:28.227Z,1755627328.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251117
2025-08-19T18:15:28.479Z,1755627328.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502857
2025-08-19T18:15:28.731Z,1755627328.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754860
2025-08-19T18:15:28.988Z,1755627328.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012077
2025-08-19T18:15:29.240Z,1755627329.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263857
2025-08-19T18:15:29.491Z,1755627329.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514874
2025-08-19T18:15:29.744Z,1755627329.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768031
2025-08-19T18:15:29.972Z,1755627329.972 [NAL9602](INFO): SBD MO Status=0, MOMSN=865, MT Status=0, MTMSN=0
2025-08-19T18:15:29.972Z,1755627329.972 [NAL9602](INFO): No messages in MT queue
2025-08-19T18:15:29.995Z,1755627329.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018956
2025-08-19T18:15:30.247Z,1755627330.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270971
2025-08-19T18:15:30.418Z,1755627330.418 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:15:30.499Z,1755627330.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523690
2025-08-19T18:15:30.751Z,1755627330.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774847
2025-08-19T18:15:31.003Z,1755627331.003 [DAT](INFO): DAT read: Rx Time:18:15:28.9924

2025-08-19T18:15:31.003Z,1755627331.003 [DAT](INFO): Rx dataTimestamp_ set to:1755627331.002755
2025-08-19T18:15:31.004Z,1755627331.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027927
2025-08-19T18:15:31.255Z,1755627331.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278908
2025-08-19T18:15:31.521Z,1755627331.521 [DAT](INFO): DAT read: 18:15:28.9924 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 439,-0.17, 2.549, 1.614,-3.113, 2.528, PHS= 0.124,-0.868, 0.599, RAW= 168.5,   2.3, CAL= 167.4,  -0.1, ROT= 342.6,   0.1

2025-08-19T18:15:31.529Z,1755627331.529 [DAT](INFO): got valid direction response:
 18:15:28.9924 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 439,-0.17, 2.549, 1.614,-3.113, 2.528, PHS= 0.124,-0.868, 0.599, RAW= 168.5,   2.3, CAL= 167.4,  -0.1, ROT= 342.6,   0.1

2025-08-19T18:15:31.538Z,1755627331.538 [DAT](INFO): DAT read: Bearing  48.3, -13.3 (Local)

2025-08-19T18:15:31.539Z,1755627331.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.3, -13.3 (Local)

2025-08-19T18:15:31.540Z,1755627331.540 [DAT](INFO): DAT read: Range 11 to 50 : 163.6 m  (Round-trip  218.2 ms) speed  0.2 m/s

2025-08-19T18:15:31.541Z,1755627331.541 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:15:31.553Z,1755627331.553 [DAT](INFO): direction in FSK: [0.954239,-0.299040,-0.001745]
2025-08-19T18:15:31.553Z,1755627331.553 [DAT](INFO): publishing direction and range info
2025-08-19T18:16:00.804Z,1755627360.804 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-19T18:16:02.066Z,1755627362.066 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:16:19.828Z,1755627379.828 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 923.19,   0.00, 533.64
2025-08-19T18:16:27.880Z,1755627387.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:16:27.994Z,1755627387.994 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:16:27.994Z,1755627387.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:16:28.246Z,1755627388.246 [DAT](INFO): DAT read: user:865>

2025-08-19T18:16:28.247Z,1755627388.247 [DAT](INFO): DAT read: Tx time:18:16:26.6200

2025-08-19T18:16:28.247Z,1755627388.247 [DAT](INFO): Ping request sent.
2025-08-19T18:16:28.247Z,1755627388.247 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:16:28.248Z,1755627388.248 [DAT](INFO): publishing transmit ping time
2025-08-19T18:16:28.248Z,1755627388.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-08-19T18:16:28.498Z,1755627388.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250992
2025-08-19T18:16:28.750Z,1755627388.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502939
2025-08-19T18:16:29.002Z,1755627389.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754949
2025-08-19T18:16:29.254Z,1755627389.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006992
2025-08-19T18:16:29.507Z,1755627389.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259246
2025-08-19T18:16:29.761Z,1755627389.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513088
2025-08-19T18:16:30.011Z,1755627390.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763035
2025-08-19T18:16:30.186Z,1755627390.186 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.771515
2025-08-19T18:16:30.262Z,1755627390.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014910
2025-08-19T18:16:30.289Z,1755627390.289 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-19T18:16:30.289Z,1755627390.289 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-19T18:16:30.290Z,1755627390.290 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-19T18:16:30.290Z,1755627390.290 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-19T18:16:30.290Z,1755627390.290 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-19T18:16:30.515Z,1755627390.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267370
2025-08-19T18:16:30.766Z,1755627390.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518996
2025-08-19T18:16:31.018Z,1755627391.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770965
2025-08-19T18:16:31.191Z,1755627391.191 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:16:31.270Z,1755627391.270 [DAT](INFO): DAT read: Rx Time:18:16:29.2113

2025-08-19T18:16:31.271Z,1755627391.271 [DAT](INFO): Rx dataTimestamp_ set to:1755627391.270643
2025-08-19T18:16:31.271Z,1755627391.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024018
2025-08-19T18:16:31.523Z,1755627391.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275096
2025-08-19T18:16:31.802Z,1755627391.802 [DAT](INFO): DAT read: 18:16:29.2113 LVL= 32752, 32753, 30050, 32755, AGC= 64, IDX= 121,-0.06,-2.241,-2.889,-1.170,-2.001, PHS=-0.138,-0.843, 0.787, RAW= 184.4,   2.8, CAL= 184.3,  -0.1, ROT= 325.7,   0.1

2025-08-19T18:16:31.810Z,1755627391.810 [DAT](INFO): got valid direction response:
 18:16:29.2113 LVL= 32752, 32753, 30050, 32755, AGC= 64, IDX= 121,-0.06,-2.241,-2.889,-1.170,-2.001, PHS=-0.138,-0.843, 0.787, RAW= 184.4,   2.8, CAL= 184.3,  -0.1, ROT= 325.7,   0.1

2025-08-19T18:16:31.813Z,1755627391.813 [DAT](INFO): DAT read: Bearing  59.0,   7.5 (Local)

2025-08-19T18:16:31.846Z,1755627391.846 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.0,   7.5 (Local)

2025-08-19T18:16:31.847Z,1755627391.847 [DAT](INFO): DAT read: Range 11 to 50 : 140.4 m  (Round-trip  187.2 ms) speed  0.4 m/s

2025-08-19T18:16:31.848Z,1755627391.848 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:16:31.849Z,1755627391.849 [DAT](INFO): direction in FSK: [0.826097,-0.563525,-0.001745]
2025-08-19T18:16:31.849Z,1755627391.849 [DAT](INFO): publishing direction and range info
2025-08-19T18:16:51.106Z,1755627411.106 [Radio_Surface](INFO): Powering down
2025-08-19T18:17:01.310Z,1755627421.310 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:17:01.824Z,1755627421.824 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-19T18:17:02.314Z,1755627422.314 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-19T18:17:02.314Z,1755627422.314 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:17:28.096Z,1755627448.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:17:28.251Z,1755627448.251 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:17:28.251Z,1755627448.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:17:28.503Z,1755627448.503 [DAT](INFO): DAT read: user:866>

2025-08-19T18:17:28.504Z,1755627448.504 [DAT](INFO): DAT read: Tx time:18:17:26.8699

2025-08-19T18:17:28.504Z,1755627448.504 [DAT](INFO): Ping request sent.
2025-08-19T18:17:28.504Z,1755627448.504 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:17:28.505Z,1755627448.505 [DAT](INFO): publishing transmit ping time
2025-08-19T18:17:28.506Z,1755627448.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001011
2025-08-19T18:17:28.757Z,1755627448.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252211
2025-08-19T18:17:29.006Z,1755627449.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502314
2025-08-19T18:17:29.258Z,1755627449.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754142
2025-08-19T18:17:29.510Z,1755627449.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006253
2025-08-19T18:17:29.765Z,1755627449.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260367
2025-08-19T18:17:30.014Z,1755627450.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510195
2025-08-19T18:17:30.266Z,1755627450.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762284
2025-08-19T18:17:30.518Z,1755627450.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014230
2025-08-19T18:17:30.773Z,1755627450.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268524
2025-08-19T18:17:31.022Z,1755627451.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518265
2025-08-19T18:17:31.274Z,1755627451.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770307
2025-08-19T18:17:31.527Z,1755627451.527 [DAT](INFO): DAT read: Rx Time:18:17:29.4435

2025-08-19T18:17:31.528Z,1755627451.528 [DAT](INFO): Rx dataTimestamp_ set to:1755627451.527938
2025-08-19T18:17:31.530Z,1755627451.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025174
2025-08-19T18:17:31.781Z,1755627451.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276346
2025-08-19T18:17:32.039Z,1755627452.039 [DAT](INFO): DAT read: 18:17:29.4435 LVL= 24752, 24097, 16226, 28627, AGC= 64, IDX= 260, 0.09,-0.403, 0.754, 2.226, 1.292, PHS=-1.593,-0.493, 0.889, RAW= 236.2,  11.1, CAL= 237.3,  12.8, ROT= 272.7, -12.8

2025-08-19T18:17:32.041Z,1755627452.041 [DAT](INFO): got valid direction response:
 18:17:29.4435 LVL= 24752, 24097, 16226, 28627, AGC= 64, IDX= 260, 0.09,-0.403, 0.754, 2.226, 1.292, PHS=-1.593,-0.493, 0.889, RAW= 236.2,  11.1, CAL= 237.3,  12.8, ROT= 272.7, -12.8

2025-08-19T18:17:32.042Z,1755627452.042 [DAT](INFO): DAT read: Bearing 120.7, -49.0 (Local)

2025-08-19T18:17:32.043Z,1755627452.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 120.7, -49.0 (Local)

2025-08-19T18:17:32.045Z,1755627452.045 [DAT](INFO): DAT read: Range 11 to 50 : 127.1 m  (Round-trip  169.5 ms) speed -0.1 m/s

2025-08-19T18:17:32.046Z,1755627452.046 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:17:32.048Z,1755627452.048 [DAT](INFO): direction in FSK: [0.045936,-0.974067,0.221548]
2025-08-19T18:17:32.048Z,1755627452.048 [DAT](INFO): publishing direction and range info
2025-08-19T18:17:32.434Z,1755627452.434 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:17:33.439Z,1755627453.439 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:17:48.349Z,1755627468.349 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022422050534,35.0, +13.4,   0.0,10
2025-08-19T18:17:55.244Z,1755627475.244 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-19T18:17:55.245Z,1755627475.245 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-19T18:17:55.245Z,1755627475.245 [lineCaptureHoming:InitialDive] Stopped
2025-08-19T18:17:55.245Z,1755627475.245 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-19T18:17:55.246Z,1755627475.246 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-19T18:17:55.246Z,1755627475.246 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-19T18:17:55.246Z,1755627475.246 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-19T18:17:55.246Z,1755627475.246 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-19T18:17:55.246Z,1755627475.246 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-19T18:17:55.246Z,1755627475.246 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-19T18:17:55.246Z,1755627475.246 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-19T18:17:55.612Z,1755627475.612 [lineCaptureHoming:RepeatHack] Stopped
2025-08-19T18:17:55.612Z,1755627475.612 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-19T18:17:55.612Z,1755627475.612 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-19T18:17:55.612Z,1755627475.612 [lineCaptureHoming:Lap] Running Loop=1
2025-08-19T18:17:55.612Z,1755627475.612 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-19T18:17:55.612Z,1755627475.612 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-19T18:17:56.020Z,1755627476.020 [lineCaptureHoming:Lap:A] Stopped
2025-08-19T18:17:56.020Z,1755627476.020 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-19T18:17:56.020Z,1755627476.020 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-19T18:17:56.445Z,1755627476.445 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-19T18:17:56.445Z,1755627476.445 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-19T18:17:56.446Z,1755627476.446 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-19T18:17:56.447Z,1755627476.447 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-19T18:17:56.448Z,1755627476.448 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-19T18:17:56.448Z,1755627476.448 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-19T18:17:56.448Z,1755627476.448 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-19T18:17:56.448Z,1755627476.448 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-19T18:17:56.448Z,1755627476.448 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-19T18:17:56.449Z,1755627476.449 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-19T18:17:56.449Z,1755627476.449 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-19T18:17:56.449Z,1755627476.449 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-19T18:17:56.449Z,1755627476.449 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-19T18:17:56.450Z,1755627476.450 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-19T18:17:56.450Z,1755627476.450 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-19T18:17:56.451Z,1755627476.451 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-19T18:17:56.451Z,1755627476.451 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-19T18:17:56.823Z,1755627476.823 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-19T18:17:56.823Z,1755627476.823 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-19T18:17:56.824Z,1755627476.824 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-19T18:17:56.825Z,1755627476.825 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 127.099998 m (mode  0.000000 count ).
2025-08-19T18:17:56.825Z,1755627476.825 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-19T18:17:56.825Z,1755627476.825 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-19T18:17:56.828Z,1755627476.828 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-19T18:17:56.828Z,1755627476.828 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-19T18:17:57.273Z,1755627477.273 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-19T18:17:57.273Z,1755627477.273 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-19T18:17:57.273Z,1755627477.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:17:57.275Z,1755627477.275 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-19T18:17:57.276Z,1755627477.276 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-19T18:17:57.494Z,1755627477.494 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:17:57.494Z,1755627477.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:17:57.639Z,1755627477.639 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-19T18:17:57.640Z,1755627477.640 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-19T18:17:57.642Z,1755627477.642 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-19T18:17:57.642Z,1755627477.642 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-19T18:17:57.747Z,1755627477.747 [DAT](INFO): DAT read: user:867>

2025-08-19T18:17:57.747Z,1755627477.747 [DAT](INFO): DAT read: Tx time:18:17:56.1198

2025-08-19T18:17:57.748Z,1755627477.748 [DAT](INFO): Ping request sent.
2025-08-19T18:17:57.748Z,1755627477.748 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:17:57.748Z,1755627477.748 [DAT](INFO): publishing transmit ping time
2025-08-19T18:17:57.748Z,1755627477.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-08-19T18:17:57.999Z,1755627477.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251145
2025-08-19T18:17:58.062Z,1755627478.062 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-19T18:17:58.063Z,1755627478.063 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-19T18:17:58.063Z,1755627478.063 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-19T18:17:58.063Z,1755627478.063 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-19T18:17:58.065Z,1755627478.065 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-19T18:17:58.065Z,1755627478.065 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-19T18:17:58.065Z,1755627478.065 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-19T18:17:58.065Z,1755627478.065 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-19T18:17:58.065Z,1755627478.065 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-19T18:17:58.066Z,1755627478.066 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-19T18:17:58.066Z,1755627478.066 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-19T18:17:58.066Z,1755627478.066 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-19T18:17:58.066Z,1755627478.066 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-19T18:17:58.066Z,1755627478.066 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-19T18:17:58.066Z,1755627478.066 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-19T18:17:58.067Z,1755627478.066 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-19T18:17:58.067Z,1755627478.067 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-19T18:17:58.067Z,1755627478.067 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-19T18:17:58.067Z,1755627478.067 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-19T18:17:58.067Z,1755627478.067 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-19T18:17:58.067Z,1755627478.067 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-19T18:17:58.067Z,1755627478.067 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-19T18:17:58.067Z,1755627478.067 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-19T18:17:58.067Z,1755627478.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-19T18:17:58.068Z,1755627478.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-19T18:17:58.068Z,1755627478.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-19T18:17:58.068Z,1755627478.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-19T18:17:58.068Z,1755627478.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-19T18:17:58.068Z,1755627478.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-19T18:17:58.068Z,1755627478.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-19T18:17:58.069Z,1755627478.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-19T18:17:58.069Z,1755627478.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-19T18:17:58.069Z,1755627478.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-19T18:17:58.069Z,1755627478.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-19T18:17:58.069Z,1755627478.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-19T18:17:58.069Z,1755627478.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-19T18:17:58.069Z,1755627478.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-19T18:17:58.070Z,1755627478.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-19T18:17:58.250Z,1755627478.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502688
2025-08-19T18:17:58.489Z,1755627478.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-19T18:17:58.490Z,1755627478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-19T18:17:58.491Z,1755627478.491 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-19T18:17:58.492Z,1755627478.492 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-19T18:17:58.492Z,1755627478.492 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.489109 m.
2025-08-19T18:17:58.503Z,1755627478.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876
2025-08-19T18:17:58.754Z,1755627478.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006681
2025-08-19T18:17:59.006Z,1755627479.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258690
2025-08-19T18:17:59.259Z,1755627479.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510811
2025-08-19T18:17:59.289Z,1755627479.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:17:59.343Z,1755627479.343 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:17:59.463Z,1755627479.463 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:17:59.510Z,1755627479.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762736
2025-08-19T18:17:59.762Z,1755627479.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014666
2025-08-19T18:18:00.014Z,1755627480.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266755
2025-08-19T18:18:00.270Z,1755627480.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522012
2025-08-19T18:18:00.518Z,1755627480.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770605
2025-08-19T18:18:00.770Z,1755627480.770 [DAT](INFO): DAT read: Rx Time:18:17:58.7008

2025-08-19T18:18:00.771Z,1755627480.771 [DAT](INFO): Rx dataTimestamp_ set to:1755627480.770620
2025-08-19T18:18:00.771Z,1755627480.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023764
2025-08-19T18:18:01.022Z,1755627481.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274711
2025-08-19T18:18:01.281Z,1755627481.281 [DAT](INFO): DAT read: 18:17:58.7008 LVL= 32752, 27841, 28386, 32755, AGC= 61, IDX= 497,-0.28, 1.428,-2.923,-2.864,-3.064, PHS=-1.689, 0.185, 0.155, RAW= 270.8,  14.4, CAL= 271.1,  20.8, ROT= 238.9, -20.8

2025-08-19T18:18:01.282Z,1755627481.282 [DAT](INFO): got valid direction response:
 18:17:58.7008 LVL= 32752, 27841, 28386, 32755, AGC= 61, IDX= 497,-0.28, 1.428,-2.923,-2.864,-3.064, PHS=-1.689, 0.185, 0.155, RAW= 270.8,  14.4, CAL= 271.1,  20.8, ROT= 238.9, -20.8

2025-08-19T18:18:01.283Z,1755627481.283 [DAT](INFO): DAT read: Bearing 242.9, -51.7 (Local)

2025-08-19T18:18:01.283Z,1755627481.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.9, -51.7 (Local)

2025-08-19T18:18:01.284Z,1755627481.284 [DAT](INFO): DAT read: Range 11 to 50 : 132.6 m  (Round-trip  176.9 ms) speed -0.3 m/s

2025-08-19T18:18:01.285Z,1755627481.285 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:01.286Z,1755627481.286 [DAT](INFO): direction in FSK: [-0.482869,-0.800460,0.355107]
2025-08-19T18:18:01.286Z,1755627481.286 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:01.294Z,1755627481.294 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:01.294Z,1755627481.294 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:01.294Z,1755627481.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:01.527Z,1755627481.527 [DAT](INFO): DAT read: user:868>

2025-08-19T18:18:01.528Z,1755627481.528 [DAT](INFO): DAT read: Tx time:18:17:59.9198

2025-08-19T18:18:01.528Z,1755627481.528 [DAT](INFO): Ping request sent.
2025-08-19T18:18:01.529Z,1755627481.529 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:01.529Z,1755627481.529 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:01.531Z,1755627481.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002181
2025-08-19T18:18:01.686Z,1755627481.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:01.778Z,1755627481.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249827
2025-08-19T18:18:02.030Z,1755627482.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501830
2025-08-19T18:18:02.282Z,1755627482.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753893
2025-08-19T18:18:02.535Z,1755627482.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005953
2025-08-19T18:18:02.787Z,1755627482.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258015
2025-08-19T18:18:02.948Z,1755627482.948 [DockingStepper](INFO): Changing to mode: 3
2025-08-19T18:18:03.039Z,1755627483.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509967
2025-08-19T18:18:03.293Z,1755627483.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764019
2025-08-19T18:18:03.542Z,1755627483.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013845
2025-08-19T18:18:03.558Z,1755627483.558 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:18:03.708Z,1755627483.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:03.794Z,1755627483.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265839
2025-08-19T18:18:04.046Z,1755627484.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517813
2025-08-19T18:18:04.301Z,1755627484.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771523
2025-08-19T18:18:04.550Z,1755627484.550 [DAT](INFO): DAT read: Rx Time:18:18:02.5024

2025-08-19T18:18:04.551Z,1755627484.551 [DAT](INFO): Rx dataTimestamp_ set to:1755627484.550625
2025-08-19T18:18:04.552Z,1755627484.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023226
2025-08-19T18:18:04.562Z,1755627484.562 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:18:04.802Z,1755627484.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273820
2025-08-19T18:18:05.060Z,1755627485.060 [DAT](INFO): DAT read: 18:18:02.5024 LVL= 31344, 24465, 27010, 32755, AGC= 63, IDX= 449,-0.47, 2.743,-1.706,-1.667,-1.842, PHS=-1.596, 0.180, 0.130, RAW= 271.4,  14.5, CAL= 271.6,  21.1, ROT= 238.4, -21.1

2025-08-19T18:18:05.061Z,1755627485.061 [DAT](INFO): got valid direction response:
 18:18:02.5024 LVL= 31344, 24465, 27010, 32755, AGC= 63, IDX= 449,-0.47, 2.743,-1.706,-1.667,-1.842, PHS=-1.596, 0.180, 0.130, RAW= 271.4,  14.5, CAL= 271.6,  21.1, ROT= 238.4, -21.1

2025-08-19T18:18:05.062Z,1755627485.062 [DAT](INFO): DAT read: Bearing 248.3, -48.7 (Local)

2025-08-19T18:18:05.062Z,1755627485.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.3, -48.7 (Local)

2025-08-19T18:18:05.064Z,1755627485.064 [DAT](INFO): DAT read: Range 11 to 50 : 133.8 m  (Round-trip  178.5 ms) speed  0.0 m/s

2025-08-19T18:18:05.064Z,1755627485.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:05.070Z,1755627485.070 [DAT](INFO): direction in FSK: [-0.488855,-0.794622,0.359997]
2025-08-19T18:18:05.070Z,1755627485.070 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:05.081Z,1755627485.081 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:05.081Z,1755627485.081 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:05.081Z,1755627485.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:05.309Z,1755627485.309 [DAT](INFO): DAT read: user:869>

2025-08-19T18:18:05.311Z,1755627485.311 [DAT](INFO): DAT read: Tx time:18:18:03.7198

2025-08-19T18:18:05.312Z,1755627485.312 [DAT](INFO): Ping request sent.
2025-08-19T18:18:05.313Z,1755627485.313 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:05.314Z,1755627485.314 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:05.316Z,1755627485.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003222
2025-08-19T18:18:05.558Z,1755627485.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246078
2025-08-19T18:18:05.713Z,1755627485.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:05.810Z,1755627485.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498171
2025-08-19T18:18:06.062Z,1755627486.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750160
2025-08-19T18:18:06.317Z,1755627486.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004656
2025-08-19T18:18:06.567Z,1755627486.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254468
2025-08-19T18:18:06.818Z,1755627486.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506133
2025-08-19T18:18:07.070Z,1755627487.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758093
2025-08-19T18:18:07.325Z,1755627487.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012252
2025-08-19T18:18:07.574Z,1755627487.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262075
2025-08-19T18:18:07.732Z,1755627487.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:07.827Z,1755627487.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514672
2025-08-19T18:18:08.078Z,1755627488.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766106
2025-08-19T18:18:08.333Z,1755627488.333 [DAT](INFO): DAT read: Rx Time:18:18:06.3039

2025-08-19T18:18:08.335Z,1755627488.335 [DAT](INFO): Rx dataTimestamp_ set to:1755627488.333719
2025-08-19T18:18:08.337Z,1755627488.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023877
2025-08-19T18:18:08.582Z,1755627488.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270157
2025-08-19T18:18:08.841Z,1755627488.841 [DAT](INFO): DAT read: 18:18:06.3039 LVL= 32752, 28529, 25586, 32755, AGC= 60, IDX= 463,-0.06,-2.581,-0.651,-0.904,-0.962, PHS=-1.518, 0.355, 0.014, RAW= 279.9,  13.2, CAL= 278.5,  20.3, ROT= 231.5, -20.3

2025-08-19T18:18:08.842Z,1755627488.842 [DAT](INFO): got valid direction response:
 18:18:06.3039 LVL= 32752, 28529, 25586, 32755, AGC= 60, IDX= 463,-0.06,-2.581,-0.651,-0.904,-0.962, PHS=-1.518, 0.355, 0.014, RAW= 279.9,  13.2, CAL= 278.5,  20.3, ROT= 231.5, -20.3

2025-08-19T18:18:08.843Z,1755627488.843 [DAT](INFO): DAT read: Bearing 258.1, -40.8 (Local)

2025-08-19T18:18:08.843Z,1755627488.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.1, -40.8 (Local)

2025-08-19T18:18:08.844Z,1755627488.844 [DAT](INFO): DAT read: Range 11 to 50 : 134.9 m  (Round-trip  179.9 ms) speed -0.2 m/s

2025-08-19T18:18:08.845Z,1755627488.845 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:08.846Z,1755627488.846 [DAT](INFO): direction in FSK: [-0.583850,-0.734000,0.346936]
2025-08-19T18:18:08.846Z,1755627488.846 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:08.850Z,1755627488.850 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:08.850Z,1755627488.850 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:08.850Z,1755627488.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:08.990Z,1755627488.990 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-19T18:18:09.087Z,1755627489.087 [DAT](INFO): DAT read: user:870>

2025-08-19T18:18:09.088Z,1755627489.088 [DAT](INFO): DAT read: Tx time:18:18:07.5198

2025-08-19T18:18:09.088Z,1755627489.088 [DAT](INFO): Ping request sent.
2025-08-19T18:18:09.088Z,1755627489.088 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:09.089Z,1755627489.089 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:09.090Z,1755627489.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001161
2025-08-19T18:18:09.341Z,1755627489.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252354
2025-08-19T18:18:09.590Z,1755627489.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501997
2025-08-19T18:18:09.778Z,1755627489.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:09.843Z,1755627489.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754608
2025-08-19T18:18:10.094Z,1755627490.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005956
2025-08-19T18:18:10.350Z,1755627490.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261115
2025-08-19T18:18:10.599Z,1755627490.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510144
2025-08-19T18:18:10.850Z,1755627490.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761940
2025-08-19T18:18:11.102Z,1755627491.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013964
2025-08-19T18:18:11.354Z,1755627491.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266010
2025-08-19T18:18:11.606Z,1755627491.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517954
2025-08-19T18:18:11.797Z,1755627491.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:11.859Z,1755627491.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770463
2025-08-19T18:18:12.110Z,1755627492.110 [DAT](INFO): DAT read: Rx Time:18:18:10.1052

2025-08-19T18:18:12.111Z,1755627492.111 [DAT](INFO): Rx dataTimestamp_ set to:1755627492.110677
2025-08-19T18:18:12.112Z,1755627492.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023089
2025-08-19T18:18:12.365Z,1755627492.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275932
2025-08-19T18:18:12.628Z,1755627492.628 [DAT](INFO): DAT read: 18:18:10.1052 LVL= 32752, 22609, 25634, 32755, AGC= 64, IDX= 445,-0.15,-0.989, 1.108, 0.615, 0.589, PHS=-1.475, 0.564,-0.018, RAW= 286.1,  10.2, CAL= 284.0,  13.2, ROT= 226.0, -13.2

2025-08-19T18:18:12.638Z,1755627492.638 [DAT](INFO): got valid direction response:
 18:18:10.1052 LVL= 32752, 22609, 25634, 32755, AGC= 64, IDX= 445,-0.15,-0.989, 1.108, 0.615, 0.589, PHS=-1.475, 0.564,-0.018, RAW= 286.1,  10.2, CAL= 284.0,  13.2, ROT= 226.0, -13.2

2025-08-19T18:18:12.639Z,1755627492.639 [DAT](INFO): DAT read: Bearing 273.5, -36.3 (Local)

2025-08-19T18:18:12.639Z,1755627492.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.5, -36.3 (Local)

2025-08-19T18:18:12.641Z,1755627492.641 [DAT](INFO): DAT read: Range 11 to 50 : 135.9 m  (Round-trip  181.3 ms) speed -0.4 m/s

2025-08-19T18:18:12.641Z,1755627492.641 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:12.642Z,1755627492.642 [DAT](INFO): direction in FSK: [-0.676305,-0.700334,0.228351]
2025-08-19T18:18:12.643Z,1755627492.643 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:12.654Z,1755627492.654 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:12.654Z,1755627492.654 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:12.654Z,1755627492.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:12.866Z,1755627492.866 [DAT](INFO): DAT read: user:871>

2025-08-19T18:18:12.867Z,1755627492.867 [DAT](INFO): DAT read: Tx time:18:18:11.3198

2025-08-19T18:18:12.867Z,1755627492.867 [DAT](INFO): Ping request sent.
2025-08-19T18:18:12.867Z,1755627492.867 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:12.868Z,1755627492.868 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:12.868Z,1755627492.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768
2025-08-19T18:18:13.118Z,1755627493.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250908
2025-08-19T18:18:13.370Z,1755627493.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502897
2025-08-19T18:18:13.622Z,1755627493.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754891
2025-08-19T18:18:13.820Z,1755627493.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:13.874Z,1755627493.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006971
2025-08-19T18:18:14.126Z,1755627494.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258908
2025-08-19T18:18:14.379Z,1755627494.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511019
2025-08-19T18:18:14.631Z,1755627494.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763012
2025-08-19T18:18:14.882Z,1755627494.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905
2025-08-19T18:18:15.135Z,1755627495.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267054
2025-08-19T18:18:15.386Z,1755627495.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518895
2025-08-19T18:18:15.638Z,1755627495.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770904
2025-08-19T18:18:15.854Z,1755627495.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:15.891Z,1755627495.891 [DAT](INFO): DAT read: Rx Time:18:18:13.9066

2025-08-19T18:18:15.891Z,1755627495.891 [DAT](INFO): Rx dataTimestamp_ set to:1755627495.890800
2025-08-19T18:18:15.892Z,1755627495.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024155
2025-08-19T18:18:16.142Z,1755627496.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274839
2025-08-19T18:18:16.398Z,1755627496.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529535
2025-08-19T18:18:16.652Z,1755627496.652 [DAT](INFO): DAT read: 18:18:13.9066 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 459, 0.13, 0.795, 2.849, 2.163, 2.216, PHS=-1.319, 0.678,-0.097, RAW= 292.6,   8.5, CAL= 290.2,   9.2, ROT= 219.8,  -9.2

2025-08-19T18:18:16.653Z,1755627496.653 [DAT](INFO): got valid direction response:
 18:18:13.9066 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 459, 0.13, 0.795, 2.849, 2.163, 2.216, PHS=-1.319, 0.678,-0.097, RAW= 292.6,   8.5, CAL= 290.2,   9.2, ROT= 219.8,  -9.2

2025-08-19T18:18:16.655Z,1755627496.655 [DAT](INFO): DAT read: Bearing 283.0, -29.9 (Local)

2025-08-19T18:18:16.655Z,1755627496.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.0, -29.9 (Local)

2025-08-19T18:18:16.656Z,1755627496.656 [DAT](INFO): DAT read: Range 11 to 50 : 137.0 m  (Round-trip  182.7 ms) speed -0.3 m/s

2025-08-19T18:18:16.657Z,1755627496.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:16.658Z,1755627496.658 [DAT](INFO): direction in FSK: [-0.758400,-0.631876,0.159881]
2025-08-19T18:18:16.658Z,1755627496.658 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:16.682Z,1755627496.682 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:16.682Z,1755627496.682 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:16.682Z,1755627496.682 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:16.899Z,1755627496.899 [DAT](INFO): DAT read: user:872>

2025-08-19T18:18:16.900Z,1755627496.900 [DAT](INFO): DAT read: Tx time:18:18:15.3213

2025-08-19T18:18:16.900Z,1755627496.900 [DAT](INFO): Ping request sent.
2025-08-19T18:18:16.900Z,1755627496.900 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:16.900Z,1755627496.900 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:16.901Z,1755627496.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766
2025-08-19T18:18:17.151Z,1755627497.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250886
2025-08-19T18:18:17.403Z,1755627497.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502560
2025-08-19T18:18:17.654Z,1755627497.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754440
2025-08-19T18:18:17.908Z,1755627497.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007708
2025-08-19T18:18:18.158Z,1755627498.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258506
2025-08-19T18:18:18.247Z,1755627498.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:18.412Z,1755627498.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511762
2025-08-19T18:18:18.663Z,1755627498.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762579
2025-08-19T18:18:18.915Z,1755627498.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015231
2025-08-19T18:18:19.173Z,1755627499.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273076
2025-08-19T18:18:19.427Z,1755627499.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526922
2025-08-19T18:18:19.678Z,1755627499.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778463
2025-08-19T18:18:19.859Z,1755627499.859 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 227.86, 257.68, 269.61
2025-08-19T18:18:19.932Z,1755627499.932 [DAT](INFO): DAT read: Rx Time:18:18:17.9097

2025-08-19T18:18:19.932Z,1755627499.932 [DAT](INFO): Rx dataTimestamp_ set to:1755627499.931961
2025-08-19T18:18:19.933Z,1755627499.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032868
2025-08-19T18:18:20.183Z,1755627500.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282791
2025-08-19T18:18:20.256Z,1755627500.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:20.447Z,1755627500.447 [DAT](INFO): DAT read: 18:18:17.9097 LVL= 32752, 26033, 31186, 32755, AGC= 66, IDX= 443,-0.10, 2.007,-2.181,-3.017,-2.903, PHS=-1.271, 0.767,-0.159, RAW= 297.0,   7.5, CAL= 294.6,   7.2, ROT= 215.4,  -7.2

2025-08-19T18:18:20.449Z,1755627500.449 [DAT](INFO): got valid direction response:
 18:18:17.9097 LVL= 32752, 26033, 31186, 32755, AGC= 66, IDX= 443,-0.10, 2.007,-2.181,-3.017,-2.903, PHS=-1.271, 0.767,-0.159, RAW= 297.0,   7.5, CAL= 294.6,   7.2, ROT= 215.4,  -7.2

2025-08-19T18:18:20.450Z,1755627500.450 [DAT](INFO): DAT read: Bearing 288.3, -25.4 (Local)

2025-08-19T18:18:20.450Z,1755627500.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.3, -25.4 (Local)

2025-08-19T18:18:20.451Z,1755627500.451 [DAT](INFO): DAT read: Range 11 to 50 : 138.1 m  (Round-trip  184.2 ms) speed -0.3 m/s

2025-08-19T18:18:20.452Z,1755627500.452 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:20.453Z,1755627500.453 [DAT](INFO): direction in FSK: [-0.808700,-0.574713,0.125333]
2025-08-19T18:18:20.453Z,1755627500.453 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:20.456Z,1755627500.456 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:20.457Z,1755627500.457 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:20.457Z,1755627500.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:20.686Z,1755627500.686 [DAT](INFO): DAT read: user:873>

2025-08-19T18:18:20.689Z,1755627500.689 [DAT](INFO): DAT read: Tx time:18:18:19.1198

2025-08-19T18:18:20.690Z,1755627500.690 [DAT](INFO): Ping request sent.
2025-08-19T18:18:20.691Z,1755627500.691 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:20.692Z,1755627500.692 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:20.693Z,1755627500.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002903
2025-08-19T18:18:20.939Z,1755627500.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248522
2025-08-19T18:18:21.191Z,1755627501.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500842
2025-08-19T18:18:21.442Z,1755627501.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752384
2025-08-19T18:18:21.694Z,1755627501.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004336
2025-08-19T18:18:21.947Z,1755627501.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256467
2025-08-19T18:18:22.199Z,1755627502.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508817
2025-08-19T18:18:22.280Z,1755627502.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:22.451Z,1755627502.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760597
2025-08-19T18:18:22.703Z,1755627502.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012523
2025-08-19T18:18:22.954Z,1755627502.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264311
2025-08-19T18:18:23.208Z,1755627503.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517445
2025-08-19T18:18:23.458Z,1755627503.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768379
2025-08-19T18:18:23.710Z,1755627503.710 [DAT](INFO): DAT read: Rx Time:18:18:21.7093

2025-08-19T18:18:23.711Z,1755627503.711 [DAT](INFO): Rx dataTimestamp_ set to:1755627503.710568
2025-08-19T18:18:23.711Z,1755627503.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021340
2025-08-19T18:18:23.963Z,1755627503.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272460
2025-08-19T18:18:24.217Z,1755627504.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526517
2025-08-19T18:18:24.315Z,1755627504.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:24.472Z,1755627504.472 [DAT](INFO): DAT read: 18:18:21.7093 LVL= 30480, 26065, 24482, 30851, AGC= 59, IDX= 440, 0.25,-1.922, 0.235,-0.705,-0.600, PHS=-1.220, 0.881,-0.149, RAW= 299.4,   5.4, CAL= 297.0,   2.9, ROT= 213.0,  -2.9

2025-08-19T18:18:24.473Z,1755627504.473 [DAT](INFO): got valid direction response:
 18:18:21.7093 LVL= 30480, 26065, 24482, 30851, AGC= 59, IDX= 440, 0.25,-1.922, 0.235,-0.705,-0.600, PHS=-1.220, 0.881,-0.149, RAW= 299.4,   5.4, CAL= 297.0,   2.9, ROT= 213.0,  -2.9

2025-08-19T18:18:24.474Z,1755627504.474 [DAT](INFO): DAT read: Bearing 295.1, -23.2 (Local)

2025-08-19T18:18:24.474Z,1755627504.474 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.1, -23.2 (Local)

2025-08-19T18:18:24.476Z,1755627504.476 [DAT](INFO): DAT read: Range 11 to 50 : 139.1 m  (Round-trip  185.5 ms) speed -0.2 m/s

2025-08-19T18:18:24.476Z,1755627504.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:24.477Z,1755627504.477 [DAT](INFO): direction in FSK: [-0.837597,-0.543941,0.050593]
2025-08-19T18:18:24.477Z,1755627504.477 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:24.481Z,1755627504.481 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:24.481Z,1755627504.481 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:24.481Z,1755627504.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:24.718Z,1755627504.718 [DAT](INFO): DAT read: user:874>

2025-08-19T18:18:24.719Z,1755627504.719 [DAT](INFO): DAT read: Tx time:18:18:23.1197

2025-08-19T18:18:24.719Z,1755627504.719 [DAT](INFO): Ping request sent.
2025-08-19T18:18:24.720Z,1755627504.720 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:24.720Z,1755627504.720 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:24.720Z,1755627504.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-08-19T18:18:24.970Z,1755627504.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250832
2025-08-19T18:18:25.223Z,1755627505.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502867
2025-08-19T18:18:25.474Z,1755627505.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754788
2025-08-19T18:18:25.726Z,1755627505.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006829
2025-08-19T18:18:25.979Z,1755627505.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259171
2025-08-19T18:18:26.231Z,1755627506.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510986
2025-08-19T18:18:26.321Z,1755627506.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:26.482Z,1755627506.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762825
2025-08-19T18:18:26.735Z,1755627506.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014887
2025-08-19T18:18:26.986Z,1755627506.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266821
2025-08-19T18:18:27.239Z,1755627507.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518886
2025-08-19T18:18:27.490Z,1755627507.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770776
2025-08-19T18:18:27.743Z,1755627507.743 [DAT](INFO): DAT read: Rx Time:18:18:25.7104

2025-08-19T18:18:27.744Z,1755627507.744 [DAT](INFO): Rx dataTimestamp_ set to:1755627507.743479
2025-08-19T18:18:27.744Z,1755627507.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024709
2025-08-19T18:18:27.996Z,1755627507.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276068
2025-08-19T18:18:28.253Z,1755627508.253 [DAT](INFO): DAT read: 18:18:25.7104 LVL= 32176, 24433, 24850, 31475, AGC= 64, IDX= 435, 0.09,-2.998,-0.751,-1.695,-1.632, PHS=-1.265, 0.926,-0.107, RAW= 298.1,   4.8, CAL= 295.9,   1.2, ROT= 214.1,  -1.2

2025-08-19T18:18:28.254Z,1755627508.254 [DAT](INFO): got valid direction response:
 18:18:25.7104 LVL= 32176, 24433, 24850, 31475, AGC= 64, IDX= 435, 0.09,-2.998,-0.751,-1.695,-1.632, PHS=-1.265, 0.926,-0.107, RAW= 298.1,   4.8, CAL= 295.9,   1.2, ROT= 214.1,  -1.2

2025-08-19T18:18:28.255Z,1755627508.255 [DAT](INFO): DAT read: Bearing 298.6, -24.4 (Local)

2025-08-19T18:18:28.255Z,1755627508.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.6, -24.4 (Local)

2025-08-19T18:18:28.257Z,1755627508.257 [DAT](INFO): DAT read: Range 11 to 50 : 139.9 m  (Round-trip  186.6 ms) speed -0.1 m/s

2025-08-19T18:18:28.257Z,1755627508.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:28.258Z,1755627508.258 [DAT](INFO): direction in FSK: [-0.827879,-0.560516,0.020942]
2025-08-19T18:18:28.258Z,1755627508.258 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:28.262Z,1755627508.262 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:28.262Z,1755627508.262 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:28.262Z,1755627508.262 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:28.498Z,1755627508.498 [DAT](INFO): DAT read: user:875>

2025-08-19T18:18:28.499Z,1755627508.499 [DAT](INFO): DAT read: Tx time:18:18:26.9197

2025-08-19T18:18:28.499Z,1755627508.499 [DAT](INFO): Ping request sent.
2025-08-19T18:18:28.500Z,1755627508.500 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:28.500Z,1755627508.500 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:28.500Z,1755627508.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-08-19T18:18:28.751Z,1755627508.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250993
2025-08-19T18:18:28.770Z,1755627508.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:29.002Z,1755627509.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502746
2025-08-19T18:18:29.148Z,1755627509.148 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 139.90 m. Transitioning docking module to standby.
2025-08-19T18:18:29.255Z,1755627509.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755875
2025-08-19T18:18:29.506Z,1755627509.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006876
2025-08-19T18:18:29.606Z,1755627509.606 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:18:29.758Z,1755627509.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258802
2025-08-19T18:18:30.023Z,1755627510.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523648
2025-08-19T18:18:30.274Z,1755627510.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774878
2025-08-19T18:18:30.527Z,1755627510.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027070
2025-08-19T18:18:30.779Z,1755627510.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278941
2025-08-19T18:18:30.788Z,1755627510.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:31.030Z,1755627511.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530866
2025-08-19T18:18:31.282Z,1755627511.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782904
2025-08-19T18:18:31.535Z,1755627511.535 [DAT](INFO): DAT read: Rx Time:18:18:29.5116

2025-08-19T18:18:31.535Z,1755627511.535 [DAT](INFO): Rx dataTimestamp_ set to:1755627511.534825
2025-08-19T18:18:31.536Z,1755627511.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036092
2025-08-19T18:18:31.786Z,1755627511.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286880
2025-08-19T18:18:32.050Z,1755627512.050 [DAT](INFO): DAT read: 18:18:29.5116 LVL= 32752, 27585, 28658, 28323, AGC= 62, IDX= 431,-0.29, 1.205,-2.707, 2.543, 2.610, PHS=-1.303, 1.011,-0.111, RAW= 299.0,   4.1, CAL= 296.7,  -0.0, ROT= 213.3,   0.0

2025-08-19T18:18:32.051Z,1755627512.051 [DAT](INFO): got valid direction response:
 18:18:29.5116 LVL= 32752, 27585, 28658, 28323, AGC= 62, IDX= 431,-0.29, 1.205,-2.707, 2.543, 2.610, PHS=-1.303, 1.011,-0.111, RAW= 299.0,   4.1, CAL= 296.7,  -0.0, ROT= 213.3,   0.0

2025-08-19T18:18:32.052Z,1755627512.052 [DAT](INFO): DAT read: Bearing 303.6, -23.9 (Local)

2025-08-19T18:18:32.052Z,1755627512.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.6, -23.9 (Local)

2025-08-19T18:18:32.058Z,1755627512.058 [DAT](INFO): DAT read: Range 11 to 50 : 140.7 m  (Round-trip  187.7 ms) speed -0.2 m/s

2025-08-19T18:18:32.059Z,1755627512.059 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:32.060Z,1755627512.060 [DAT](INFO): direction in FSK: [-0.835807,-0.549023,-0.000000]
2025-08-19T18:18:32.060Z,1755627512.060 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:32.063Z,1755627512.063 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:32.063Z,1755627512.063 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:32.064Z,1755627512.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:32.291Z,1755627512.291 [DAT](INFO): DAT read: user:876>

2025-08-19T18:18:32.292Z,1755627512.292 [DAT](INFO): DAT read: Tx time:18:18:30.7197

2025-08-19T18:18:32.292Z,1755627512.292 [DAT](INFO): Ping request sent.
2025-08-19T18:18:32.292Z,1755627512.292 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:32.293Z,1755627512.293 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:32.295Z,1755627512.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002229
2025-08-19T18:18:32.543Z,1755627512.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250180
2025-08-19T18:18:32.794Z,1755627512.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502078
2025-08-19T18:18:32.831Z,1755627512.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:33.048Z,1755627513.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755758
2025-08-19T18:18:33.299Z,1755627513.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006634
2025-08-19T18:18:33.550Z,1755627513.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257999
2025-08-19T18:18:33.802Z,1755627513.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510004
2025-08-19T18:18:34.055Z,1755627514.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762251
2025-08-19T18:18:34.308Z,1755627514.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015510
2025-08-19T18:18:34.559Z,1755627514.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266194
2025-08-19T18:18:34.682Z,1755627514.682 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:18:34.811Z,1755627514.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518159
2025-08-19T18:18:34.844Z,1755627514.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:35.062Z,1755627515.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769973
2025-08-19T18:18:35.314Z,1755627515.314 [DAT](INFO): DAT read: Rx Time:18:18:33.3126

2025-08-19T18:18:35.315Z,1755627515.315 [DAT](INFO): Rx dataTimestamp_ set to:1755627515.314612
2025-08-19T18:18:35.315Z,1755627515.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023062
2025-08-19T18:18:35.566Z,1755627515.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274056
2025-08-19T18:18:35.621Z,1755627515.621 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-19T18:18:35.686Z,1755627515.686 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:18:35.821Z,1755627515.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527968
2025-08-19T18:18:36.045Z,1755627516.045 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-19T18:18:36.045Z,1755627516.045 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-19T18:18:36.046Z,1755627516.046 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-19T18:18:36.081Z,1755627516.081 [DAT](INFO): DAT read: 18:18:33.3126 LVL= 29120, 23105, 25202, 27987, AGC= 61, IDX= 442,-0.38, 0.050, 2.296, 1.306, 1.469, PHS=-1.318, 0.871,-0.207, RAW= 299.5,   7.0, CAL= 297.1,   6.1, ROT= 212.9,  -6.1

2025-08-19T18:18:36.082Z,1755627516.082 [DAT](INFO): got valid direction response:
 18:18:33.3126 LVL= 29120, 23105, 25202, 27987, AGC= 61, IDX= 442,-0.38, 0.050, 2.296, 1.306, 1.469, PHS=-1.318, 0.871,-0.207, RAW= 299.5,   7.0, CAL= 297.1,   6.1, ROT= 212.9,  -6.1

2025-08-19T18:18:36.083Z,1755627516.083 [DAT](INFO): DAT read: Bearing 300.0, -23.2 (Local)

2025-08-19T18:18:36.084Z,1755627516.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.0, -23.2 (Local)

2025-08-19T18:18:36.085Z,1755627516.085 [DAT](INFO): DAT read: Range 11 to 50 : 141.6 m  (Round-trip  188.8 ms) speed  0.0 m/s

2025-08-19T18:18:36.090Z,1755627516.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:36.091Z,1755627516.091 [DAT](INFO): direction in FSK: [-0.834866,-0.540099,0.106264]
2025-08-19T18:18:36.091Z,1755627516.091 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:36.095Z,1755627516.095 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:36.095Z,1755627516.095 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:36.095Z,1755627516.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:36.322Z,1755627516.322 [DAT](INFO): DAT read: user:877>

2025-08-19T18:18:36.323Z,1755627516.323 [DAT](INFO): DAT read: Tx time:18:18:34.7197

2025-08-19T18:18:36.323Z,1755627516.323 [DAT](INFO): Ping request sent.
2025-08-19T18:18:36.323Z,1755627516.323 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:36.324Z,1755627516.324 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:36.324Z,1755627516.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-08-19T18:18:36.471Z,1755627516.471 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-19T18:18:36.471Z,1755627516.471 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-19T18:18:36.471Z,1755627516.471 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-19T18:18:36.574Z,1755627516.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250790
2025-08-19T18:18:36.827Z,1755627516.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502979
2025-08-19T18:18:36.860Z,1755627516.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:36.863Z,1755627516.863 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-19T18:18:36.863Z,1755627516.863 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-19T18:18:36.863Z,1755627516.863 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-19T18:18:36.864Z,1755627516.864 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-19T18:18:36.864Z,1755627516.864 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-19T18:18:37.078Z,1755627517.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754911
2025-08-19T18:18:37.236Z,1755627517.236 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-19T18:18:37.236Z,1755627517.236 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-19T18:18:37.236Z,1755627517.236 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-19T18:18:37.236Z,1755627517.236 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-19T18:18:37.236Z,1755627517.236 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-19T18:18:37.236Z,1755627517.236 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-19T18:18:37.236Z,1755627517.236 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-19T18:18:37.237Z,1755627517.237 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-19T18:18:37.237Z,1755627517.237 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-19T18:18:37.237Z,1755627517.237 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-19T18:18:37.237Z,1755627517.237 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-19T18:18:37.238Z,1755627517.238 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-19T18:18:37.238Z,1755627517.238 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-19T18:18:37.238Z,1755627517.238 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-19T18:18:37.238Z,1755627517.238 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-19T18:18:37.239Z,1755627517.239 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 141.600006 m 
2025-08-19T18:18:37.239Z,1755627517.239 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-19T18:18:37.239Z,1755627517.239 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-19T18:18:37.240Z,1755627517.240 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -122.859630 arcdeg )
2025-08-19T18:18:37.240Z,1755627517.240 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-19T18:18:37.240Z,1755627517.240 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-19T18:18:37.240Z,1755627517.240 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-19T18:18:37.241Z,1755627517.241 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-122.859630
2025-08-19T18:18:37.331Z,1755627517.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007017
2025-08-19T18:18:37.582Z,1755627517.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258753
2025-08-19T18:18:37.646Z,1755627517.646 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-122.859630
2025-08-19T18:18:37.647Z,1755627517.647 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-19T18:18:37.647Z,1755627517.647 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-19T18:18:37.647Z,1755627517.647 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-19T18:18:37.647Z,1755627517.647 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-19T18:18:37.658Z,1755627517.658 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-19T18:18:37.659Z,1755627517.659 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-19T18:18:37.834Z,1755627517.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510924
2025-08-19T18:18:38.086Z,1755627518.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762941
2025-08-19T18:18:38.102Z,1755627518.102 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-19T18:18:38.102Z,1755627518.102 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-19T18:18:38.102Z,1755627518.102 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-19T18:18:38.104Z,1755627518.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-19T18:18:38.104Z,1755627518.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-19T18:18:38.104Z,1755627518.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-19T18:18:38.104Z,1755627518.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-19T18:18:38.104Z,1755627518.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-19T18:18:38.104Z,1755627518.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-19T18:18:38.104Z,1755627518.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-19T18:18:38.105Z,1755627518.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-19T18:18:38.105Z,1755627518.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-19T18:18:38.105Z,1755627518.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-19T18:18:38.105Z,1755627518.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-19T18:18:38.105Z,1755627518.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-19T18:18:38.105Z,1755627518.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-19T18:18:38.109Z,1755627518.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-19T18:18:38.110Z,1755627518.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-19T18:18:38.110Z,1755627518.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-19T18:18:38.110Z,1755627518.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-19T18:18:38.110Z,1755627518.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-19T18:18:38.111Z,1755627518.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-19T18:18:38.111Z,1755627518.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-19T18:18:38.111Z,1755627518.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-19T18:18:38.111Z,1755627518.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-19T18:18:38.111Z,1755627518.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-19T18:18:38.112Z,1755627518.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-19T18:18:38.112Z,1755627518.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-19T18:18:38.112Z,1755627518.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-19T18:18:38.112Z,1755627518.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-19T18:18:38.112Z,1755627518.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-19T18:18:38.112Z,1755627518.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-19T18:18:38.113Z,1755627518.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-19T18:18:38.118Z,1755627518.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-08-19T18:18:38.118Z,1755627518.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-19T18:18:38.118Z,1755627518.118 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-19T18:18:38.118Z,1755627518.118 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-19T18:18:38.118Z,1755627518.118 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-19T18:18:38.119Z,1755627518.119 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-19T18:18:38.119Z,1755627518.119 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-19T18:18:38.119Z,1755627518.119 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-19T18:18:38.119Z,1755627518.119 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-19T18:18:38.119Z,1755627518.119 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-19T18:18:38.119Z,1755627518.119 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-19T18:18:38.338Z,1755627518.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014890
2025-08-19T18:18:38.448Z,1755627518.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.600006 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-19T18:18:38.451Z,1755627518.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.600006 m,
      bearing: 201.044110 deg,
      lat: 36.779323 deg,
      lon: -121.859402 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-19T18:18:38.451Z,1755627518.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:18:38.470Z,1755627518.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 141.600006 m,
      nav range: 141.588593 m,
      bearing: 200.964007 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 350.606669 deg,
      new cmd heading: 200.964007 deg.

2025-08-19T18:18:38.499Z,1755627518.499 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-19T18:18:38.499Z,1755627518.499 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-19T18:18:38.591Z,1755627518.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267038
2025-08-19T18:18:38.843Z,1755627518.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518972
2025-08-19T18:18:38.912Z,1755627518.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:38.918Z,1755627518.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:18:38.920Z,1755627518.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 141.600006 m,
      nav range: 141.675674 m,
      bearing: 200.943819 deg,
      approach rate: 0.186743 m/s,
      LOS rate: nan deg/s,
      cmd heading: 200.964000 deg,
      new cmd heading: 200.943819 deg.

2025-08-19T18:18:39.094Z,1755627519.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770854
2025-08-19T18:18:39.263Z,1755627519.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:18:39.266Z,1755627519.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 141.600006 m,
      nav range: 141.743774 m,
      bearing: 200.928055 deg,
      approach rate: 0.194807 m/s,
      LOS rate: nan deg/s,
      cmd heading: 200.943824 deg,
      new cmd heading: 200.928055 deg.

2025-08-19T18:18:39.335Z,1755627519.335 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:18:39.347Z,1755627519.347 [DAT](INFO): DAT read: Rx Time:18:18:37.3137

2025-08-19T18:18:39.347Z,1755627519.347 [DAT](INFO): Rx dataTimestamp_ set to:1755627519.346949
2025-08-19T18:18:39.348Z,1755627519.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024266
2025-08-19T18:18:39.454Z,1755627519.454 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:18:39.598Z,1755627519.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274891
2025-08-19T18:18:39.654Z,1755627519.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:18:39.656Z,1755627519.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 141.600006 m,
      nav range: 141.818115 m,
      bearing: 200.910898 deg,
      approach rate: 0.190443 m/s,
      LOS rate: nan deg/s,
      cmd heading: 200.928060 deg,
      new cmd heading: 200.910898 deg.

2025-08-19T18:18:39.866Z,1755627519.866 [DAT](INFO): DAT read: 18:18:37.3137 LVL= 32752, 26497, 26834, 32755, AGC= 61, IDX= 453, 0.10, 0.226, 2.458, 1.377, 1.562, PHS=-1.234, 0.942,-0.229, RAW= 302.5,   5.6, CAL= 300.1,   3.6, ROT= 209.9,  -3.6

2025-08-19T18:18:39.868Z,1755627519.868 [DAT](INFO): got valid direction response:
 18:18:37.3137 LVL= 32752, 26497, 26834, 32755, AGC= 61, IDX= 453, 0.10, 0.226, 2.458, 1.377, 1.562, PHS=-1.234, 0.942,-0.229, RAW= 302.5,   5.6, CAL= 300.1,   3.6, ROT= 209.9,  -3.6

2025-08-19T18:18:39.870Z,1755627519.870 [DAT](INFO): DAT read: Bearing 305.2, -21.5 (Local)

2025-08-19T18:18:39.871Z,1755627519.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.2, -21.5 (Local)

2025-08-19T18:18:39.873Z,1755627519.873 [DAT](INFO): DAT read: Range 11 to 50 : 142.4 m  (Round-trip  189.9 ms) speed  0.0 m/s

2025-08-19T18:18:39.875Z,1755627519.875 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:39.878Z,1755627519.878 [DAT](INFO): direction in FSK: [-0.865186,-0.497504,0.062791]
2025-08-19T18:18:39.878Z,1755627519.878 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:39.919Z,1755627519.919 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:39.920Z,1755627519.920 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:39.920Z,1755627519.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:40.078Z,1755627520.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 142.399994 m,
      deltaT: 3.780575 s,
      deltaX: 0.799988 m,
      approachRate: 0.211605 m/s,
      rangeRepo size: 2

2025-08-19T18:18:40.080Z,1755627520.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.399994 m,
      bearing: 200.963672 deg,
      lat: 36.779327 deg,
      lon: -121.859402 deg,
      deltaT: 3.780575 s,
      deltaX: 0.799988 m,
      approachRate: 0.211605 m/s,
      posRepo size: 2

2025-08-19T18:18:40.080Z,1755627520.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:40.082Z,1755627520.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 200.963672 deg.
2025-08-19T18:18:40.102Z,1755627520.102 [DAT](INFO): DAT read: user:878>

2025-08-19T18:18:40.103Z,1755627520.103 [DAT](INFO): DAT read: Tx time:18:18:38.5697

2025-08-19T18:18:40.103Z,1755627520.103 [DAT](INFO): Ping request sent.
2025-08-19T18:18:40.103Z,1755627520.103 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:40.104Z,1755627520.104 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:40.104Z,1755627520.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-19T18:18:40.358Z,1755627520.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254226
2025-08-19T18:18:40.476Z,1755627520.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:40.479Z,1755627520.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.399994 m,
      nav range: 141.532181 m,
      bearing: 200.946382 deg,
      approach rate: 0.187726 m/s,
      LOS rate: -0.043308 deg/s,
      cmd heading: 200.963672 deg,
      new cmd heading: 200.911831 deg.

2025-08-19T18:18:40.611Z,1755627520.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507284
2025-08-19T18:18:40.863Z,1755627520.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760007
2025-08-19T18:18:40.941Z,1755627520.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:40.943Z,1755627520.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:40.947Z,1755627520.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.399994 m,
      nav range: 141.623230 m,
      bearing: 200.925429 deg,
      approach rate: 0.194956 m/s,
      LOS rate: -0.044836 deg/s,
      cmd heading: 200.911831 deg,
      new cmd heading: 200.849012 deg.

2025-08-19T18:18:41.115Z,1755627521.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011867
2025-08-19T18:18:41.286Z,1755627521.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:41.288Z,1755627521.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.399994 m,
      nav range: 141.688828 m,
      bearing: 200.910365 deg,
      approach rate: 0.191398 m/s,
      LOS rate: -0.043933 deg/s,
      cmd heading: 200.849007 deg,
      new cmd heading: 200.803836 deg.

2025-08-19T18:18:41.368Z,1755627521.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264194
2025-08-19T18:18:41.618Z,1755627521.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515023
2025-08-19T18:18:41.685Z,1755627521.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:41.688Z,1755627521.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.399994 m,
      nav range: 141.765305 m,
      bearing: 200.892869 deg,
      approach rate: 0.191413 m/s,
      LOS rate: -0.043767 deg/s,
      cmd heading: 200.803832 deg,
      new cmd heading: 200.751373 deg.

2025-08-19T18:18:41.873Z,1755627521.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769325
2025-08-19T18:18:42.123Z,1755627522.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019078
2025-08-19T18:18:42.123Z,1755627522.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:42.130Z,1755627522.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.399994 m,
      nav range: 141.839645 m,
      bearing: 200.873356 deg,
      approach rate: 0.171909 m/s,
      LOS rate: -0.045101 deg/s,
      cmd heading: 200.751376 deg,
      new cmd heading: 200.692866 deg.

2025-08-19T18:18:42.379Z,1755627522.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274992
2025-08-19T18:18:42.483Z,1755627522.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:42.486Z,1755627522.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.399994 m,
      nav range: 141.909149 m,
      bearing: 200.855136 deg,
      approach rate: 0.190290 m/s,
      LOS rate: -0.049858 deg/s,
      cmd heading: 200.692869 deg,
      new cmd heading: 200.638237 deg.

2025-08-19T18:18:42.626Z,1755627522.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522951
2025-08-19T18:18:42.879Z,1755627522.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775065
2025-08-19T18:18:42.930Z,1755627522.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:42.933Z,1755627522.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.399994 m,
      nav range: 141.994858 m,
      bearing: 200.833334 deg,
      approach rate: 0.191633 m/s,
      LOS rate: -0.048718 deg/s,
      cmd heading: 200.638241 deg,
      new cmd heading: 200.572874 deg.

2025-08-19T18:18:43.003Z,1755627523.003 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:18:43.131Z,1755627523.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027192
2025-08-19T18:18:43.383Z,1755627523.383 [DAT](INFO): DAT read: Rx Time:18:18:41.1647

2025-08-19T18:18:43.383Z,1755627523.383 [DAT](INFO): Rx dataTimestamp_ set to:1755627523.382834
2025-08-19T18:18:43.384Z,1755627523.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280268
2025-08-19T18:18:43.403Z,1755627523.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:43.426Z,1755627523.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:43.428Z,1755627523.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.399994 m,
      nav range: 142.084122 m,
      bearing: 200.810800 deg,
      approach rate: 0.187790 m/s,
      LOS rate: -0.047377 deg/s,
      cmd heading: 200.572876 deg,
      new cmd heading: 200.505316 deg.

2025-08-19T18:18:43.634Z,1755627523.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530989
2025-08-19T18:18:43.794Z,1755627523.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.40 m.
2025-08-19T18:18:43.797Z,1755627523.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.399994 m,
      nav range: 142.160156 m,
      bearing: 200.791821 deg,
      approach rate: 0.195535 m/s,
      LOS rate: -0.048781 deg/s,
      cmd heading: 200.505312 deg,
      new cmd heading: 200.448406 deg.

2025-08-19T18:18:43.905Z,1755627523.905 [DAT](INFO): DAT read: 18:18:41.1647 LVL= 30048, 22561, 23618, 28483, AGC= 62, IDX= 447,-0.30,-2.182, 0.076,-1.078,-0.872, PHS=-1.208, 0.993,-0.250, RAW= 304.3,   4.9, CAL= 301.9,   2.5, ROT= 208.1,  -2.5

2025-08-19T18:18:43.906Z,1755627523.906 [DAT](INFO): got valid direction response:
 18:18:41.1647 LVL= 30048, 22561, 23618, 28483, AGC= 62, IDX= 447,-0.30,-2.182, 0.076,-1.078,-0.872, PHS=-1.208, 0.993,-0.250, RAW= 304.3,   4.9, CAL= 301.9,   2.5, ROT= 208.1,  -2.5

2025-08-19T18:18:43.907Z,1755627523.907 [DAT](INFO): DAT read: Bearing 309.3, -21.0 (Local)

2025-08-19T18:18:43.907Z,1755627523.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.3, -21.0 (Local)

2025-08-19T18:18:43.909Z,1755627523.909 [DAT](INFO): DAT read: Range 11 to 50 : 143.1 m  (Round-trip  190.9 ms) speed -0.2 m/s

2025-08-19T18:18:43.921Z,1755627523.921 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:43.922Z,1755627523.922 [DAT](INFO): direction in FSK: [-0.881287,-0.470564,0.043619]
2025-08-19T18:18:43.923Z,1755627523.923 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:43.934Z,1755627523.934 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:43.934Z,1755627523.934 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:43.934Z,1755627523.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:44.138Z,1755627524.138 [DAT](INFO): DAT read: user:879>

2025-08-19T18:18:44.139Z,1755627524.139 [DAT](INFO): DAT read: Tx time:18:18:42.5697

2025-08-19T18:18:44.139Z,1755627524.139 [DAT](INFO): Ping request sent.
2025-08-19T18:18:44.140Z,1755627524.140 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:44.140Z,1755627524.140 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:44.140Z,1755627524.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-08-19T18:18:44.309Z,1755627524.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.100006 m,
      deltaT: 4.037043 s,
      deltaX: 0.700012 m,
      approachRate: 0.173397 m/s,
      rangeRepo size: 3

2025-08-19T18:18:44.323Z,1755627524.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.100006 m,
      bearing: 200.764910 deg,
      lat: 36.779327 deg,
      lon: -121.859402 deg,
      deltaT: 4.037043 s,
      deltaX: 0.700012 m,
      approachRate: 0.173397 m/s,
      posRepo size: 3

2025-08-19T18:18:44.323Z,1755627524.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:44.330Z,1755627524.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 142.276550 m,
      bearing: 200.764910 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048781 deg/s,
      cmd heading: 200.448403 deg,
      new cmd heading: 200.373249 deg.

2025-08-19T18:18:44.391Z,1755627524.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251748
2025-08-19T18:18:44.643Z,1755627524.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502967
2025-08-19T18:18:44.687Z,1755627524.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:44.689Z,1755627524.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 142.367630 m,
      bearing: 200.743890 deg,
      approach rate: 0.240529 m/s,
      LOS rate: -0.055474 deg/s,
      cmd heading: 200.373244 deg,
      new cmd heading: 200.310226 deg.

2025-08-19T18:18:44.903Z,1755627524.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.763482
2025-08-19T18:18:45.085Z,1755627525.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:45.088Z,1755627525.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 142.471848 m,
      bearing: 200.720944 deg,
      approach rate: 0.261620 m/s,
      LOS rate: -0.057562 deg/s,
      cmd heading: 200.310228 deg,
      new cmd heading: 200.241438 deg.

2025-08-19T18:18:45.148Z,1755627525.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008068
2025-08-19T18:18:45.399Z,1755627525.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967
2025-08-19T18:18:45.467Z,1755627525.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:45.469Z,1755627525.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:45.472Z,1755627525.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 142.572693 m,
      bearing: 200.699128 deg,
      approach rate: 0.262546 m/s,
      LOS rate: -0.056755 deg/s,
      cmd heading: 200.241435 deg,
      new cmd heading: 200.176035 deg.

2025-08-19T18:18:45.650Z,1755627525.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510827
2025-08-19T18:18:45.906Z,1755627525.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766100
2025-08-19T18:18:45.954Z,1755627525.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:45.957Z,1755627525.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 142.694397 m,
      bearing: 200.672850 deg,
      approach rate: 0.251261 m/s,
      LOS rate: -0.054205 deg/s,
      cmd heading: 200.176029 deg,
      new cmd heading: 200.097262 deg.

2025-08-19T18:18:46.154Z,1755627526.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864
2025-08-19T18:18:46.325Z,1755627526.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:46.328Z,1755627526.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 142.806732 m,
      bearing: 200.649660 deg,
      approach rate: 0.302125 m/s,
      LOS rate: -0.062321 deg/s,
      cmd heading: 200.097263 deg,
      new cmd heading: 200.027747 deg.

2025-08-19T18:18:46.407Z,1755627526.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266946
2025-08-19T18:18:46.658Z,1755627526.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518874
2025-08-19T18:18:46.675Z,1755627526.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:46.694Z,1755627526.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 142.910324 m,
      bearing: 200.629626 deg,
      approach rate: 0.296241 m/s,
      LOS rate: -0.057250 deg/s,
      cmd heading: 200.027745 deg,
      new cmd heading: 199.967687 deg.

2025-08-19T18:18:46.917Z,1755627526.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776569
2025-08-19T18:18:47.100Z,1755627527.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:47.103Z,1755627527.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 143.048981 m,
      bearing: 200.603126 deg,
      approach rate: 0.325870 m/s,
      LOS rate: -0.062220 deg/s,
      cmd heading: 199.967681 deg,
      new cmd heading: 199.888257 deg.

2025-08-19T18:18:47.167Z,1755627527.167 [DAT](INFO): DAT read: Rx Time:18:18:45.1659

2025-08-19T18:18:47.168Z,1755627527.168 [DAT](INFO): Rx dataTimestamp_ set to:1755627527.167602
2025-08-19T18:18:47.169Z,1755627527.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029242
2025-08-19T18:18:47.419Z,1755627527.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279748
2025-08-19T18:18:47.510Z,1755627527.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:47.512Z,1755627527.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:47.515Z,1755627527.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 143.182755 m,
      bearing: 200.577613 deg,
      approach rate: 0.324839 m/s,
      LOS rate: -0.061893 deg/s,
      cmd heading: 199.888259 deg,
      new cmd heading: 199.811794 deg.

2025-08-19T18:18:47.674Z,1755627527.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533954
2025-08-19T18:18:47.962Z,1755627527.962 [DAT](INFO): DAT read: 18:18:45.1659 LVL= 32752, 20497, 29330, 32291, AGC= 64, IDX= 443, 0.29, 2.678,-1.328,-2.493,-2.288, PHS=-1.215, 1.006,-0.248, RAW= 304.3,   4.8, CAL= 301.9,   2.2, ROT= 208.1,  -2.2

2025-08-19T18:18:47.963Z,1755627527.963 [DAT](INFO): got valid direction response:
 18:18:45.1659 LVL= 32752, 20497, 29330, 32291, AGC= 64, IDX= 443, 0.29, 2.678,-1.328,-2.493,-2.288, PHS=-1.215, 1.006,-0.248, RAW= 304.3,   4.8, CAL= 301.9,   2.2, ROT= 208.1,  -2.2

2025-08-19T18:18:47.964Z,1755627527.964 [DAT](INFO): DAT read: Bearing 313.2, -22.6 (Local)

2025-08-19T18:18:47.965Z,1755627527.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.2, -22.6 (Local)

2025-08-19T18:18:47.973Z,1755627527.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.10 m.
2025-08-19T18:18:47.974Z,1755627527.974 [DAT](INFO): DAT read: Range 11 to 50 : 144.0 m  (Round-trip  192.0 ms) speed -0.4 m/s

2025-08-19T18:18:47.975Z,1755627527.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:47.976Z,1755627527.976 [DAT](INFO): direction in FSK: [-0.881477,-0.470665,0.038388]
2025-08-19T18:18:47.976Z,1755627527.976 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:47.984Z,1755627527.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.100006 m,
      nav range: 143.314896 m,
      bearing: 200.553839 deg,
      approach rate: 0.286728 m/s,
      LOS rate: -0.051540 deg/s,
      cmd heading: 199.811788 deg,
      new cmd heading: 199.740530 deg.

2025-08-19T18:18:47.987Z,1755627527.987 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:47.988Z,1755627527.988 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:47.988Z,1755627527.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:48.175Z,1755627528.175 [DAT](INFO): DAT read: user:880>

2025-08-19T18:18:48.176Z,1755627528.176 [DAT](INFO): DAT read: Tx time:18:18:46.6197

2025-08-19T18:18:48.177Z,1755627528.177 [DAT](INFO): Ping request sent.
2025-08-19T18:18:48.177Z,1755627528.177 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:48.177Z,1755627528.177 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:48.178Z,1755627528.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001406
2025-08-19T18:18:48.354Z,1755627528.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 144.000000 m,
      deltaT: 4.035992 s,
      deltaX: 0.899994 m,
      approachRate: 0.222992 m/s,
      rangeRepo size: 4

2025-08-19T18:18:48.359Z,1755627528.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.000000 m,
      bearing: 201.634460 deg,
      lat: 36.779332 deg,
      lon: -121.859434 deg,
      deltaT: 4.035992 s,
      deltaX: 0.899994 m,
      approachRate: 0.222992 m/s,
      posRepo size: 4

2025-08-19T18:18:48.359Z,1755627528.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:48.379Z,1755627528.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 143.992615 m,
      bearing: 201.634460 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051540 deg/s,
      cmd heading: 199.740536 deg,
      new cmd heading: 199.681824 deg.

2025-08-19T18:18:48.427Z,1755627528.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249707
2025-08-19T18:18:48.678Z,1755627528.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501323
2025-08-19T18:18:48.722Z,1755627528.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:48.725Z,1755627528.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 144.123779 m,
      bearing: 201.610246 deg,
      approach rate: 0.358180 m/s,
      LOS rate: -0.066065 deg/s,
      cmd heading: 199.681823 deg,
      new cmd heading: 199.609245 deg.

2025-08-19T18:18:48.934Z,1755627528.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755975
2025-08-19T18:18:49.139Z,1755627529.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:49.142Z,1755627529.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 144.295547 m,
      bearing: 201.579184 deg,
      approach rate: 0.408484 m/s,
      LOS rate: -0.073780 deg/s,
      cmd heading: 199.609246 deg,
      new cmd heading: 199.516172 deg.

2025-08-19T18:18:49.183Z,1755627529.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005655
2025-08-19T18:18:49.434Z,1755627529.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257315
2025-08-19T18:18:49.515Z,1755627529.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:49.517Z,1755627529.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:49.525Z,1755627529.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 144.444473 m,
      bearing: 201.553186 deg,
      approach rate: 0.394247 m/s,
      LOS rate: -0.068754 deg/s,
      cmd heading: 199.516178 deg,
      new cmd heading: 199.438262 deg.

2025-08-19T18:18:49.687Z,1755627529.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509548
2025-08-19T18:18:49.924Z,1755627529.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:49.941Z,1755627529.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763386
2025-08-19T18:18:49.955Z,1755627529.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 144.602371 m,
      bearing: 201.526538 deg,
      approach rate: 0.390364 m/s,
      LOS rate: -0.065809 deg/s,
      cmd heading: 199.438259 deg,
      new cmd heading: 199.358403 deg.

2025-08-19T18:18:50.191Z,1755627530.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013924
2025-08-19T18:18:50.383Z,1755627530.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:50.390Z,1755627530.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 144.793381 m,
      bearing: 201.494320 deg,
      approach rate: 0.413615 m/s,
      LOS rate: -0.069672 deg/s,
      cmd heading: 199.358400 deg,
      new cmd heading: 199.261876 deg.

2025-08-19T18:18:50.442Z,1755627530.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265399
2025-08-19T18:18:50.695Z,1755627530.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517485
2025-08-19T18:18:50.732Z,1755627530.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:50.762Z,1755627530.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 144.938614 m,
      bearing: 201.470546 deg,
      approach rate: 0.417195 m/s,
      LOS rate: -0.068225 deg/s,
      cmd heading: 199.261876 deg,
      new cmd heading: 199.190626 deg.

2025-08-19T18:18:50.950Z,1755627530.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772701
2025-08-19T18:18:51.185Z,1755627531.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:51.190Z,1755627531.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 145.125320 m,
      bearing: 201.440304 deg,
      approach rate: 0.415575 m/s,
      LOS rate: -0.067228 deg/s,
      cmd heading: 199.190624 deg,
      new cmd heading: 199.100013 deg.

2025-08-19T18:18:51.200Z,1755627531.200 [DAT](INFO): DAT read: Rx Time:18:18:49.2179

2025-08-19T18:18:51.200Z,1755627531.200 [DAT](INFO): Rx dataTimestamp_ set to:1755627531.199961
2025-08-19T18:18:51.201Z,1755627531.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024088
2025-08-19T18:18:51.450Z,1755627531.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273398
2025-08-19T18:18:51.537Z,1755627531.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:51.539Z,1755627531.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:51.542Z,1755627531.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 145.293182 m,
      bearing: 201.413618 deg,
      approach rate: 0.468498 m/s,
      LOS rate: -0.074393 deg/s,
      cmd heading: 199.100014 deg,
      new cmd heading: 199.020050 deg.

2025-08-19T18:18:51.705Z,1755627531.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527735
2025-08-19T18:18:51.987Z,1755627531.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.00 m.
2025-08-19T18:18:51.990Z,1755627531.990 [DAT](INFO): DAT read: 18:18:49.2179 LVL= 32752, 31073, 32754, 32755, AGC= 63, IDX= 464,-0.18, 1.829,-2.085, 2.922, 3.007, PHS=-1.076, 1.237,-0.129, RAW= 306.0,  -0.3, CAL= 304.3,  -4.0, ROT= 205.7,   4.0

2025-08-19T18:18:52.003Z,1755627532.003 [DAT](INFO): got valid direction response:
 18:18:49.2179 LVL= 32752, 31073, 32754, 32755, AGC= 63, IDX= 464,-0.18, 1.829,-2.085, 2.922, 3.007, PHS=-1.076, 1.237,-0.129, RAW= 306.0,  -0.3, CAL= 304.3,  -4.0, ROT= 205.7,   4.0

2025-08-19T18:18:52.014Z,1755627532.014 [DAT](INFO): DAT read: Bearing 325.5, -23.0 (Local)

2025-08-19T18:18:52.015Z,1755627532.015 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.5, -23.0 (Local)

2025-08-19T18:18:52.022Z,1755627532.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.000000 m,
      nav range: 145.473953 m,
      bearing: 201.385227 deg,
      approach rate: 0.436085 m/s,
      LOS rate: -0.068404 deg/s,
      cmd heading: 199.020046 deg,
      new cmd heading: 198.934980 deg.

2025-08-19T18:18:52.026Z,1755627532.026 [DAT](INFO): DAT read: Range 11 to 50 : 145.5 m  (Round-trip  194.1 ms) speed -0.6 m/s

2025-08-19T18:18:52.027Z,1755627532.027 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:18:52.028Z,1755627532.028 [DAT](INFO): direction in FSK: [-0.898882,-0.432603,-0.069756]
2025-08-19T18:18:52.028Z,1755627532.028 [DAT](INFO): publishing direction and range info
2025-08-19T18:18:52.040Z,1755627532.040 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:52.040Z,1755627532.040 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:52.041Z,1755627532.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:18:52.206Z,1755627532.206 [DAT](INFO): DAT read: user:881>

2025-08-19T18:18:52.207Z,1755627532.207 [DAT](INFO): DAT read: Tx time:18:18:50.6697

2025-08-19T18:18:52.208Z,1755627532.208 [DAT](INFO): Ping request sent.
2025-08-19T18:18:52.208Z,1755627532.208 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:18:52.208Z,1755627532.208 [DAT](INFO): publishing transmit ping time
2025-08-19T18:18:52.208Z,1755627532.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-19T18:18:52.434Z,1755627532.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.500000 m,
      deltaT: 4.030542 s,
      deltaX: 1.500000 m,
      approachRate: 0.372158 m/s,
      rangeRepo size: 4

2025-08-19T18:18:52.436Z,1755627532.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.500000 m,
      bearing: 203.230314 deg,
      lat: 36.779357 deg,
      lon: -121.859479 deg,
      deltaT: 4.030542 s,
      deltaX: 1.500000 m,
      approachRate: 0.372158 m/s,
      posRepo size: 4

2025-08-19T18:18:52.437Z,1755627532.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:52.455Z,1755627532.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 144.593872 m,
      bearing: 203.230314 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068404 deg/s,
      cmd heading: 198.934983 deg,
      new cmd heading: 198.836670 deg.

2025-08-19T18:18:52.459Z,1755627532.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250873
2025-08-19T18:18:52.711Z,1755627532.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502843
2025-08-19T18:18:52.772Z,1755627532.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:52.775Z,1755627532.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 144.747391 m,
      bearing: 203.203476 deg,
      approach rate: 0.452865 m/s,
      LOS rate: -0.079086 deg/s,
      cmd heading: 198.836670 deg,
      new cmd heading: 198.756240 deg.

2025-08-19T18:18:52.965Z,1755627532.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756989
2025-08-19T18:18:53.208Z,1755627533.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:53.214Z,1755627533.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006839
2025-08-19T18:18:53.217Z,1755627533.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 144.942505 m,
      bearing: 203.168812 deg,
      approach rate: 0.446872 m/s,
      LOS rate: -0.079283 deg/s,
      cmd heading: 198.756237 deg,
      new cmd heading: 198.652387 deg.

2025-08-19T18:18:53.468Z,1755627533.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259900
2025-08-19T18:18:53.574Z,1755627533.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:53.576Z,1755627533.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:53.579Z,1755627533.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 145.125717 m,
      bearing: 203.135409 deg,
      approach rate: 0.498705 m/s,
      LOS rate: -0.090809 deg/s,
      cmd heading: 198.652391 deg,
      new cmd heading: 198.552308 deg.

2025-08-19T18:18:53.718Z,1755627533.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510801
2025-08-19T18:18:53.974Z,1755627533.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765602
2025-08-19T18:18:53.982Z,1755627533.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:53.984Z,1755627533.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 145.312698 m,
      bearing: 203.100374 deg,
      approach rate: 0.461060 m/s,
      LOS rate: -0.086278 deg/s,
      cmd heading: 198.552301 deg,
      new cmd heading: 198.447332 deg.

2025-08-19T18:18:54.222Z,1755627534.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014726
2025-08-19T18:18:54.416Z,1755627534.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:54.418Z,1755627534.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 145.522125 m,
      bearing: 203.060651 deg,
      approach rate: 0.482298 m/s,
      LOS rate: -0.091349 deg/s,
      cmd heading: 198.447335 deg,
      new cmd heading: 198.328336 deg.

2025-08-19T18:18:54.475Z,1755627534.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267114
2025-08-19T18:18:54.729Z,1755627534.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521387
2025-08-19T18:18:54.788Z,1755627534.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:54.791Z,1755627534.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 145.698105 m,
      bearing: 203.026325 deg,
      approach rate: 0.472835 m/s,
      LOS rate: -0.092117 deg/s,
      cmd heading: 198.328340 deg,
      new cmd heading: 198.225487 deg.

2025-08-19T18:18:54.978Z,1755627534.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770813
2025-08-19T18:18:55.227Z,1755627535.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:55.231Z,1755627535.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022942
2025-08-19T18:18:55.232Z,1755627535.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 145.906693 m,
      bearing: 202.984700 deg,
      approach rate: 0.474545 m/s,
      LOS rate: -0.094562 deg/s,
      cmd heading: 198.225491 deg,
      new cmd heading: 198.100796 deg.

2025-08-19T18:18:55.482Z,1755627535.482 [DAT](INFO): DAT read: Rx Time:18:18:53.3248

2025-08-19T18:18:55.483Z,1755627535.483 [DAT](INFO): Rx dataTimestamp_ set to:1755627535.482679
2025-08-19T18:18:55.483Z,1755627535.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275875
2025-08-19T18:18:55.592Z,1755627535.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:55.594Z,1755627535.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:55.597Z,1755627535.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 146.079163 m,
      bearing: 202.949266 deg,
      approach rate: 0.469946 m/s,
      LOS rate: -0.096437 deg/s,
      cmd heading: 198.100799 deg,
      new cmd heading: 197.994622 deg.

2025-08-19T18:18:55.735Z,1755627535.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527709
2025-08-19T18:18:55.992Z,1755627535.992 [DAT](INFO): DAT read: 18:18:53.3248 LVL= 32752, 26273, 32754, 32755, AGC= 64, IDX= 502,-0.36, 2.379,-2.578,-3.045, 2.501, PHS=-0.020, 1.249, 0.693, RAW= 295.9, -31.7, CAL= 293.6, -35.6, ROT= 216.4,  35.6

2025-08-19T18:18:55.993Z,1755627535.993 [DAT](INFO): got valid direction response:
 18:18:53.3248 LVL= 32752, 26273, 32754, 32755, AGC= 64, IDX= 502,-0.36, 2.379,-2.578,-3.045, 2.501, PHS=-0.020, 1.249, 0.693, RAW= 295.9, -31.7, CAL= 293.6, -35.6, ROT= 216.4,  35.6

2025-08-19T18:18:55.994Z,1755627535.994 [DAT](INFO): DAT read: $Error in header

2025-08-19T18:18:55.994Z,1755627535.994 [DAT](INFO): Received a bad header
2025-08-19T18:18:56.006Z,1755627536.006 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-19T18:18:56.007Z,1755627536.007 [DAT](INFO): direction in FSK: [-0.654460,-0.482509,-0.582123]
2025-08-19T18:18:56.010Z,1755627536.010 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:56.010Z,1755627536.010 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:56.010Z,1755627536.010 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:56.210Z,1755627536.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:56.213Z,1755627536.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 146.371048 m,
      bearing: 202.887647 deg,
      approach rate: 0.474042 m/s,
      LOS rate: -0.099875 deg/s,
      cmd heading: 197.994616 deg,
      new cmd heading: 197.810128 deg.

2025-08-19T18:18:56.238Z,1755627536.238 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:56.238Z,1755627536.238 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:56.239Z,1755627536.239 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:56.490Z,1755627536.490 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:56.491Z,1755627536.491 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:56.491Z,1755627536.491 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:56.595Z,1755627536.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:56.602Z,1755627536.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 146.561844 m,
      bearing: 202.846166 deg,
      approach rate: 0.494977 m/s,
      LOS rate: -0.107473 deg/s,
      cmd heading: 197.810133 deg,
      new cmd heading: 197.685852 deg.

2025-08-19T18:18:56.743Z,1755627536.743 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:56.743Z,1755627536.743 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:56.743Z,1755627536.743 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:56.988Z,1755627536.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:56.991Z,1755627536.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 146.756561 m,
      bearing: 202.802546 deg,
      approach rate: 0.496084 m/s,
      LOS rate: -0.110983 deg/s,
      cmd heading: 197.685851 deg,
      new cmd heading: 197.555166 deg.

2025-08-19T18:18:56.994Z,1755627536.994 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:56.994Z,1755627536.994 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:56.994Z,1755627536.994 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:57.246Z,1755627537.246 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:57.246Z,1755627537.246 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:57.246Z,1755627537.246 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:57.427Z,1755627537.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:57.429Z,1755627537.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 146.963272 m,
      bearing: 202.752244 deg,
      approach rate: 0.471344 m/s,
      LOS rate: -0.114540 deg/s,
      cmd heading: 197.555162 deg,
      new cmd heading: 197.404467 deg.

2025-08-19T18:18:57.499Z,1755627537.499 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:57.499Z,1755627537.499 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:57.499Z,1755627537.499 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:57.750Z,1755627537.750 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:57.750Z,1755627537.750 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:57.750Z,1755627537.750 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:57.823Z,1755627537.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:57.830Z,1755627537.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:57.840Z,1755627537.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 147.134674 m,
      bearing: 202.709332 deg,
      approach rate: 0.424902 m/s,
      LOS rate: -0.106252 deg/s,
      cmd heading: 197.404461 deg,
      new cmd heading: 197.275877 deg.

2025-08-19T18:18:58.002Z,1755627538.002 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:58.002Z,1755627538.002 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:58.002Z,1755627538.002 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:58.198Z,1755627538.198 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022422061539,2.,1498.3,  0
2025-08-19T18:18:58.217Z,1755627538.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:58.219Z,1755627538.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 147.330048 m,
      bearing: 202.658993 deg,
      approach rate: 0.505390 m/s,
      LOS rate: -0.130046 deg/s,
      cmd heading: 197.275876 deg,
      new cmd heading: 197.125057 deg.

2025-08-19T18:18:58.254Z,1755627538.254 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:58.254Z,1755627538.254 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:58.255Z,1755627538.255 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:58.506Z,1755627538.506 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:58.506Z,1755627538.506 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:58.506Z,1755627538.506 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:58.624Z,1755627538.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:58.627Z,1755627538.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 147.519272 m,
      bearing: 202.610393 deg,
      approach rate: 0.464057 m/s,
      LOS rate: -0.119034 deg/s,
      cmd heading: 197.125051 deg,
      new cmd heading: 196.979440 deg.

2025-08-19T18:18:58.758Z,1755627538.758 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:58.758Z,1755627538.758 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:58.758Z,1755627538.758 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:59.009Z,1755627539.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:59.010Z,1755627539.010 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:59.010Z,1755627539.010 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:59.011Z,1755627539.011 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:59.013Z,1755627539.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 147.694107 m,
      bearing: 202.562851 deg,
      approach rate: 0.454785 m/s,
      LOS rate: -0.123522 deg/s,
      cmd heading: 196.979445 deg,
      new cmd heading: 196.836987 deg.

2025-08-19T18:18:59.262Z,1755627539.262 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:59.263Z,1755627539.263 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:59.263Z,1755627539.263 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:59.450Z,1755627539.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:59.453Z,1755627539.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 147.898560 m,
      bearing: 202.501487 deg,
      approach rate: 0.462929 m/s,
      LOS rate: -0.138748 deg/s,
      cmd heading: 196.836981 deg,
      new cmd heading: 196.653147 deg.

2025-08-19T18:18:59.514Z,1755627539.514 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:59.514Z,1755627539.514 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:59.514Z,1755627539.514 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:59.766Z,1755627539.766 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:18:59.766Z,1755627539.766 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:18:59.767Z,1755627539.767 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:18:59.849Z,1755627539.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:18:59.855Z,1755627539.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:18:59.862Z,1755627539.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 148.080139 m,
      bearing: 202.445491 deg,
      approach rate: 0.448769 m/s,
      LOS rate: -0.138225 deg/s,
      cmd heading: 196.653154 deg,
      new cmd heading: 196.485370 deg.

2025-08-19T18:19:00.018Z,1755627540.018 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:00.018Z,1755627540.018 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:00.018Z,1755627540.018 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:19:00.251Z,1755627540.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:00.270Z,1755627540.270 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:00.271Z,1755627540.271 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:00.271Z,1755627540.271 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:19:00.272Z,1755627540.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 148.264755 m,
      bearing: 202.387498 deg,
      approach rate: 0.465816 m/s,
      LOS rate: -0.146143 deg/s,
      cmd heading: 196.485377 deg,
      new cmd heading: 196.311616 deg.

2025-08-19T18:19:00.523Z,1755627540.523 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:00.523Z,1755627540.523 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:00.523Z,1755627540.523 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:19:00.661Z,1755627540.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:00.664Z,1755627540.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 148.438477 m,
      bearing: 202.331406 deg,
      approach rate: 0.423749 m/s,
      LOS rate: -0.136663 deg/s,
      cmd heading: 196.311617 deg,
      new cmd heading: 196.143537 deg.

2025-08-19T18:19:00.774Z,1755627540.774 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:00.774Z,1755627540.774 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:00.774Z,1755627540.774 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:19:01.026Z,1755627541.026 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:01.026Z,1755627541.026 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:01.026Z,1755627541.026 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:19:01.065Z,1755627541.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:01.072Z,1755627541.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 148.624176 m,
      bearing: 202.271635 deg,
      approach rate: 0.459974 m/s,
      LOS rate: -0.147867 deg/s,
      cmd heading: 196.143540 deg,
      new cmd heading: 195.964451 deg.

2025-08-19T18:19:01.278Z,1755627541.278 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:01.278Z,1755627541.278 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:01.278Z,1755627541.278 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:19:01.526Z,1755627541.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:01.529Z,1755627541.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 148.841415 m,
      bearing: 202.203606 deg,
      approach rate: 0.471528 m/s,
      LOS rate: -0.147444 deg/s,
      cmd heading: 195.964452 deg,
      new cmd heading: 195.760664 deg.

2025-08-19T18:19:01.531Z,1755627541.531 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:01.532Z,1755627541.532 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:01.532Z,1755627541.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:19:01.783Z,1755627541.783 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:01.783Z,1755627541.783 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:01.783Z,1755627541.783 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:19:01.890Z,1755627541.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:01.892Z,1755627541.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:01.899Z,1755627541.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 148.995285 m,
      bearing: 202.150571 deg,
      approach rate: 0.419953 m/s,
      LOS rate: -0.144596 deg/s,
      cmd heading: 195.760667 deg,
      new cmd heading: 195.601728 deg.

2025-08-19T18:19:02.035Z,1755627542.035 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:02.035Z,1755627542.035 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:02.035Z,1755627542.035 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-19T18:19:02.286Z,1755627542.286 [DAT](INFO): Reached modem response timeout
2025-08-19T18:19:02.286Z,1755627542.286 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:19:02.287Z,1755627542.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:02.370Z,1755627542.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:02.372Z,1755627542.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 149.202179 m,
      bearing: 202.079592 deg,
      approach rate: 0.436873 m/s,
      LOS rate: -0.149670 deg/s,
      cmd heading: 195.601728 deg,
      new cmd heading: 195.389088 deg.

2025-08-19T18:19:02.538Z,1755627542.538 [DAT](INFO): DAT read: 

2025-08-19T18:19:02.539Z,1755627542.539 [DAT](INFO): Reached modem response timeout
2025-08-19T18:19:02.539Z,1755627542.539 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:19:02.539Z,1755627542.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:02.745Z,1755627542.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:02.752Z,1755627542.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 149.372482 m,
      bearing: 202.019406 deg,
      approach rate: 0.448974 m/s,
      LOS rate: -0.158488 deg/s,
      cmd heading: 195.389091 deg,
      new cmd heading: 195.208739 deg.

2025-08-19T18:19:02.790Z,1755627542.790 [DAT](INFO): Reached modem response timeout
2025-08-19T18:19:02.791Z,1755627542.791 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:19:02.791Z,1755627542.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:03.044Z,1755627543.044 [DAT](INFO): Reached modem response timeout
2025-08-19T18:19:03.044Z,1755627543.044 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:19:03.044Z,1755627543.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:03.237Z,1755627543.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:03.240Z,1755627543.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 149.602097 m,
      bearing: 201.944395 deg,
      approach rate: 0.466921 m/s,
      LOS rate: -0.152302 deg/s,
      cmd heading: 195.208733 deg,
      new cmd heading: 194.984045 deg.

2025-08-19T18:19:03.300Z,1755627543.300 [DAT](INFO): Reached modem response timeout
2025-08-19T18:19:03.300Z,1755627543.300 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:19:03.301Z,1755627543.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:03.551Z,1755627543.551 [DAT](INFO): Reached modem response timeout
2025-08-19T18:19:03.551Z,1755627543.551 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:19:03.551Z,1755627543.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:03.591Z,1755627543.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:03.593Z,1755627543.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 149.757309 m,
      bearing: 201.888565 deg,
      approach rate: 0.438757 m/s,
      LOS rate: -0.157656 deg/s,
      cmd heading: 194.984047 deg,
      new cmd heading: 194.816732 deg.

2025-08-19T18:19:03.803Z,1755627543.803 [DAT](INFO): Reached modem response timeout
2025-08-19T18:19:03.803Z,1755627543.803 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:19:03.803Z,1755627543.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:03.994Z,1755627543.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:03.996Z,1755627543.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:03.999Z,1755627543.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 149.932373 m,
      bearing: 201.823635 deg,
      approach rate: 0.431379 m/s,
      LOS rate: -0.159808 deg/s,
      cmd heading: 194.816734 deg,
      new cmd heading: 194.622173 deg.

2025-08-19T18:19:04.054Z,1755627544.054 [DAT](INFO): Reached modem response timeout
2025-08-19T18:19:04.055Z,1755627544.055 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:19:04.055Z,1755627544.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:04.307Z,1755627544.307 [DAT](INFO): Reached modem response timeout
2025-08-19T18:19:04.307Z,1755627544.307 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:19:04.308Z,1755627544.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:04.429Z,1755627544.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:04.432Z,1755627544.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 150.121582 m,
      bearing: 201.754562 deg,
      approach rate: 0.437469 m/s,
      LOS rate: -0.159503 deg/s,
      cmd heading: 194.622170 deg,
      new cmd heading: 194.415212 deg.

2025-08-19T18:19:04.558Z,1755627544.558 [DAT](INFO): DAT read: Response Not Received

2025-08-19T18:19:04.559Z,1755627544.559 [DAT](INFO): response not received
2025-08-19T18:19:04.559Z,1755627544.559 [DAT](INFO): DAT read: user:883>

2025-08-19T18:19:04.560Z,1755627544.560 [DAT](INFO): DAT read: Tx time:18:19:03.1196

2025-08-19T18:19:04.560Z,1755627544.560 [DAT](INFO): Ping request sent.
2025-08-19T18:19:04.560Z,1755627544.560 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:04.560Z,1755627544.560 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:04.561Z,1755627544.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765
2025-08-19T18:19:04.811Z,1755627544.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250433
2025-08-19T18:19:04.833Z,1755627544.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:04.836Z,1755627544.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 150.298462 m,
      bearing: 201.690216 deg,
      approach rate: 0.437752 m/s,
      LOS rate: -0.159060 deg/s,
      cmd heading: 194.415215 deg,
      new cmd heading: 194.222405 deg.

2025-08-19T18:19:05.066Z,1755627545.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504934
2025-08-19T18:19:05.276Z,1755627545.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:05.279Z,1755627545.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 150.501358 m,
      bearing: 201.620343 deg,
      approach rate: 0.457660 m/s,
      LOS rate: -0.157396 deg/s,
      cmd heading: 194.222399 deg,
      new cmd heading: 194.013062 deg.

2025-08-19T18:19:05.315Z,1755627545.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755125
2025-08-19T18:19:05.566Z,1755627545.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006143
2025-08-19T18:19:05.658Z,1755627545.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:05.661Z,1755627545.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 150.666901 m,
      bearing: 201.557093 deg,
      approach rate: 0.433270 m/s,
      LOS rate: -0.165360 deg/s,
      cmd heading: 194.013067 deg,
      new cmd heading: 193.823527 deg.

2025-08-19T18:19:05.819Z,1755627545.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258271
2025-08-19T18:19:05.826Z,1755627545.826 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:19:06.052Z,1755627546.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:06.071Z,1755627546.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510665
2025-08-19T18:19:06.072Z,1755627546.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:06.079Z,1755627546.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 150.836700 m,
      bearing: 201.489998 deg,
      approach rate: 0.410497 m/s,
      LOS rate: -0.162021 deg/s,
      cmd heading: 193.823529 deg,
      new cmd heading: 193.622473 deg.

2025-08-19T18:19:06.323Z,1755627546.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762973
2025-08-19T18:19:06.538Z,1755627546.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:06.541Z,1755627546.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 151.037445 m,
      bearing: 201.408266 deg,
      approach rate: 0.431288 m/s,
      LOS rate: -0.175365 deg/s,
      cmd heading: 193.622476 deg,
      new cmd heading: 193.377605 deg.

2025-08-19T18:19:06.575Z,1755627546.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014825
2025-08-19T18:19:06.827Z,1755627546.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266488
2025-08-19T18:19:06.830Z,1755627546.830 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:19:06.911Z,1755627546.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:06.914Z,1755627546.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 151.192551 m,
      bearing: 201.345350 deg,
      approach rate: 0.415450 m/s,
      LOS rate: -0.168346 deg/s,
      cmd heading: 193.377600 deg,
      new cmd heading: 193.189048 deg.

2025-08-19T18:19:07.078Z,1755627547.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518170
2025-08-19T18:19:07.331Z,1755627547.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770406
2025-08-19T18:19:07.342Z,1755627547.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:07.345Z,1755627547.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 151.368439 m,
      bearing: 201.272032 deg,
      approach rate: 0.408136 m/s,
      LOS rate: -0.169931 deg/s,
      cmd heading: 193.189046 deg,
      new cmd heading: 192.969348 deg.

2025-08-19T18:19:07.583Z,1755627547.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023160
2025-08-19T18:19:07.723Z,1755627547.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:07.731Z,1755627547.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 151.512970 m,
      bearing: 201.209627 deg,
      approach rate: 0.379092 m/s,
      LOS rate: -0.163527 deg/s,
      cmd heading: 192.969346 deg,
      new cmd heading: 192.782310 deg.

2025-08-19T18:19:07.836Z,1755627547.836 [DAT](INFO): DAT read: Rx Time:18:19:05.7279

2025-08-19T18:19:07.836Z,1755627547.836 [DAT](INFO): Rx dataTimestamp_ set to:1755627547.835939
2025-08-19T18:19:07.837Z,1755627547.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276895
2025-08-19T18:19:08.087Z,1755627548.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526292
2025-08-19T18:19:08.116Z,1755627548.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:08.118Z,1755627548.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.50 m.
2025-08-19T18:19:08.121Z,1755627548.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.500000 m,
      nav range: 151.675339 m,
      bearing: 201.136973 deg,
      approach rate: 0.410928 m/s,
      LOS rate: -0.183678 deg/s,
      cmd heading: 192.782308 deg,
      new cmd heading: 192.564581 deg.

2025-08-19T18:19:08.349Z,1755627548.349 [DAT](INFO): DAT read: 18:19:05.7279 LVL= 32752, 27953, 27970, 32755, AGC= 64, IDX= 455, 0.31,-0.627, 1.300, 1.196, 0.959, PHS=-1.484, 0.386, 0.193, RAW= 275.4,  10.2, CAL= 274.2,  11.9, ROT= 235.8, -11.9

2025-08-19T18:19:08.350Z,1755627548.350 [DAT](INFO): got valid direction response:
 18:19:05.7279 LVL= 32752, 27953, 27970, 32755, AGC= 64, IDX= 455, 0.31,-0.627, 1.300, 1.196, 0.959, PHS=-1.484, 0.386, 0.193, RAW= 275.4,  10.2, CAL= 274.2,  11.9, ROT= 235.8, -11.9

2025-08-19T18:19:08.351Z,1755627548.351 [DAT](INFO): DAT read: Bearing 279.2, -56.7 (Local)

2025-08-19T18:19:08.351Z,1755627548.351 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.2, -56.7 (Local)

2025-08-19T18:19:08.352Z,1755627548.352 [DAT](INFO): DAT read: Range 11 to 50 : 153.0 m  (Round-trip  204.1 ms) speed -0.4 m/s

2025-08-19T18:19:08.353Z,1755627548.353 [DAT](INFO): DAT read: user:884>

2025-08-19T18:19:08.354Z,1755627548.354 [DAT](INFO): DAT read: Tx time:18:19:06.8196

2025-08-19T18:19:08.355Z,1755627548.355 [DAT](INFO): Ping request sent.
2025-08-19T18:19:08.355Z,1755627548.355 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:08.355Z,1755627548.355 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:08.356Z,1755627548.356 [DAT](INFO): direction in FSK: [-0.550003,-0.809306,0.206204]
2025-08-19T18:19:08.356Z,1755627548.356 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:08.356Z,1755627548.356 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:08.360Z,1755627548.360 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:08.360Z,1755627548.360 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:08.572Z,1755627548.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.000000 m,
      deltaT: 16.385701 s,
      deltaX: 7.500000 m,
      approachRate: 0.457716 m/s,
      rangeRepo size: 4

2025-08-19T18:19:08.579Z,1755627548.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 153.000000 m,
      bearing: 201.229802 deg,
      lat: 36.779357 deg,
      lon: -121.859484 deg,
      deltaT: 16.385701 s,
      deltaX: 7.500000 m,
      approachRate: 0.457716 m/s,
      posRepo size: 4

2025-08-19T18:19:08.580Z,1755627548.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-08-19T18:19:08.586Z,1755627548.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 152.013962 m,
      bearing: 201.229802 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.183678 deg/s,
      cmd heading: 192.564575 deg,
      new cmd heading: 192.314565 deg.

2025-08-19T18:19:08.908Z,1755627548.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-08-19T18:19:08.911Z,1755627548.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 152.141479 m,
      bearing: 201.165987 deg,
      approach rate: 0.379533 m/s,
      LOS rate: -0.189772 deg/s,
      cmd heading: 192.314563 deg,
      new cmd heading: 192.123281 deg.

2025-08-19T18:19:09.355Z,1755627549.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-08-19T18:19:09.357Z,1755627549.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 152.300339 m,
      bearing: 201.084824 deg,
      approach rate: 0.355575 m/s,
      LOS rate: -0.181479 deg/s,
      cmd heading: 192.123277 deg,
      new cmd heading: 191.880042 deg.

2025-08-19T18:19:09.746Z,1755627549.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-08-19T18:19:09.749Z,1755627549.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 152.434601 m,
      bearing: 201.013794 deg,
      approach rate: 0.342642 m/s,
      LOS rate: -0.181112 deg/s,
      cmd heading: 191.880040 deg,
      new cmd heading: 191.667138 deg.

2025-08-19T18:19:10.199Z,1755627550.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:10.203Z,1755627550.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-08-19T18:19:10.206Z,1755627550.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 152.581512 m,
      bearing: 200.933258 deg,
      approach rate: 0.322215 m/s,
      LOS rate: -0.176465 deg/s,
      cmd heading: 191.667143 deg,
      new cmd heading: 191.425770 deg.

2025-08-19T18:19:10.354Z,1755627550.354 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:10.354Z,1755627550.354 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:10.355Z,1755627550.355 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:10.607Z,1755627550.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251836
2025-08-19T18:19:10.622Z,1755627550.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-08-19T18:19:10.624Z,1755627550.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 152.728378 m,
      bearing: 200.845744 deg,
      approach rate: 0.350303 m/s,
      LOS rate: -0.208537 deg/s,
      cmd heading: 191.425764 deg,
      new cmd heading: 191.163475 deg.

2025-08-19T18:19:10.859Z,1755627550.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504086
2025-08-19T18:19:11.008Z,1755627551.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-08-19T18:19:11.011Z,1755627551.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 152.850677 m,
      bearing: 200.770162 deg,
      approach rate: 0.316827 m/s,
      LOS rate: -0.195646 deg/s,
      cmd heading: 191.163471 deg,
      new cmd heading: 190.936908 deg.

2025-08-19T18:19:11.111Z,1755627551.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755916
2025-08-19T18:19:11.363Z,1755627551.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008543
2025-08-19T18:19:11.438Z,1755627551.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-08-19T18:19:11.441Z,1755627551.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 152.982605 m,
      bearing: 200.686309 deg,
      approach rate: 0.306500 m/s,
      LOS rate: -0.194643 deg/s,
      cmd heading: 190.936914 deg,
      new cmd heading: 190.685573 deg.

2025-08-19T18:19:11.614Z,1755627551.614 [DAT](INFO): DAT read: Rx Time:18:19:09.4297

2025-08-19T18:19:11.615Z,1755627551.615 [DAT](INFO): Rx dataTimestamp_ set to:1755627551.614618
2025-08-19T18:19:11.615Z,1755627551.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260805
2025-08-19T18:19:11.820Z,1755627551.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.00 m.
2025-08-19T18:19:11.823Z,1755627551.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.000000 m,
      nav range: 153.096466 m,
      bearing: 200.611110 deg,
      approach rate: 0.297720 m/s,
      LOS rate: -0.196480 deg/s,
      cmd heading: 190.685576 deg,
      new cmd heading: 190.460150 deg.

2025-08-19T18:19:11.867Z,1755627551.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511979
2025-08-19T18:19:12.124Z,1755627552.124 [DAT](INFO): DAT read: 18:19:09.4297 LVL= 29296, 22401, 25314, 30883, AGC= 60, IDX= 442, 0.09, 2.418,-2.267,-1.790,-2.336, PHS=-1.427, 0.114, 0.502, RAW= 259.0,   9.2, CAL= 258.1,   9.1, ROT= 251.9,  -9.1

2025-08-19T18:19:12.125Z,1755627552.125 [DAT](INFO): got valid direction response:
 18:19:09.4297 LVL= 29296, 22401, 25314, 30883, AGC= 60, IDX= 442, 0.09, 2.418,-2.267,-1.790,-2.336, PHS=-1.427, 0.114, 0.502, RAW= 259.0,   9.2, CAL= 258.1,   9.1, ROT= 251.9,  -9.1

2025-08-19T18:19:12.126Z,1755627552.126 [DAT](INFO): DAT read: Bearing 261.8, -73.6 (Local)

2025-08-19T18:19:12.127Z,1755627552.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.8, -73.6 (Local)

2025-08-19T18:19:12.128Z,1755627552.128 [DAT](INFO): DAT read: Range 11 to 50 : 154.5 m  (Round-trip  206.0 ms) speed -0.4 m/s

2025-08-19T18:19:12.129Z,1755627552.129 [DAT](INFO): DAT read: user:885>

2025-08-19T18:19:12.130Z,1755627552.130 [DAT](INFO): DAT read: Tx time:18:19:10.5196

2025-08-19T18:19:12.131Z,1755627552.131 [DAT](INFO): Ping request sent.
2025-08-19T18:19:12.131Z,1755627552.131 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:12.131Z,1755627552.131 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:12.132Z,1755627552.132 [DAT](INFO): direction in FSK: [-0.306766,-0.938552,0.158158]
2025-08-19T18:19:12.132Z,1755627552.132 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:12.132Z,1755627552.132 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:12.135Z,1755627552.135 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:12.136Z,1755627552.136 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:12.332Z,1755627552.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.500000 m,
      deltaT: 3.778203 s,
      deltaX: 1.500000 m,
      approachRate: 0.397014 m/s,
      rangeRepo size: 4

2025-08-19T18:19:12.338Z,1755627552.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.500000 m,
      bearing: 201.513014 deg,
      lat: 36.779383 deg,
      lon: -121.859503 deg,
      deltaT: 3.778203 s,
      deltaX: 1.500000 m,
      approachRate: 0.397014 m/s,
      posRepo size: 4

2025-08-19T18:19:12.339Z,1755627552.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-19T18:19:12.349Z,1755627552.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.069321 m,
      bearing: 201.513014 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.196480 deg/s,
      cmd heading: 190.460153 deg,
      new cmd heading: 190.159296 deg.

2025-08-19T18:19:12.668Z,1755627552.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:12.675Z,1755627552.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-19T18:19:12.677Z,1755627552.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.174820 m,
      bearing: 201.430894 deg,
      approach rate: 0.307059 m/s,
      LOS rate: -0.238844 deg/s,
      cmd heading: 190.159297 deg,
      new cmd heading: 189.913113 deg.

2025-08-19T18:19:12.874Z,1755627552.874 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:12.874Z,1755627552.874 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:12.874Z,1755627552.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:13.053Z,1755627553.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-19T18:19:13.072Z,1755627553.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.277206 m,
      bearing: 201.347438 deg,
      approach rate: 0.270838 m/s,
      LOS rate: -0.220613 deg/s,
      cmd heading: 189.913109 deg,
      new cmd heading: 189.662911 deg.

2025-08-19T18:19:13.127Z,1755627553.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995902
2025-08-19T18:19:13.379Z,1755627553.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247955
2025-08-19T18:19:13.488Z,1755627553.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-19T18:19:13.495Z,1755627553.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.374176 m,
      bearing: 201.259902 deg,
      approach rate: 0.222789 m/s,
      LOS rate: -0.200986 deg/s,
      cmd heading: 189.662906 deg,
      new cmd heading: 189.400469 deg.

2025-08-19T18:19:13.630Z,1755627553.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499743
2025-08-19T18:19:13.852Z,1755627553.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-19T18:19:13.855Z,1755627553.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.459915 m,
      bearing: 201.178264 deg,
      approach rate: 0.235340 m/s,
      LOS rate: -0.223957 deg/s,
      cmd heading: 189.400463 deg,
      new cmd heading: 189.155688 deg.

2025-08-19T18:19:13.883Z,1755627553.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752133
2025-08-19T18:19:14.134Z,1755627554.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003802
2025-08-19T18:19:14.249Z,1755627554.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-19T18:19:14.252Z,1755627554.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.544144 m,
      bearing: 201.093431 deg,
      approach rate: 0.212294 m/s,
      LOS rate: -0.213698 deg/s,
      cmd heading: 189.155682 deg,
      new cmd heading: 188.901327 deg.

2025-08-19T18:19:14.387Z,1755627554.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256348
2025-08-19T18:19:14.638Z,1755627554.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507818
2025-08-19T18:19:14.693Z,1755627554.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:14.695Z,1755627554.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-19T18:19:14.698Z,1755627554.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.638138 m,
      bearing: 200.997660 deg,
      approach rate: 0.210533 m/s,
      LOS rate: -0.214382 deg/s,
      cmd heading: 188.901326 deg,
      new cmd heading: 188.614192 deg.

2025-08-19T18:19:14.890Z,1755627554.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759822
2025-08-19T18:19:15.083Z,1755627555.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-19T18:19:15.086Z,1755627555.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.715744 m,
      bearing: 200.913901 deg,
      approach rate: 0.200196 m/s,
      LOS rate: -0.215956 deg/s,
      cmd heading: 188.614199 deg,
      new cmd heading: 188.363053 deg.

2025-08-19T18:19:15.144Z,1755627555.144 [DAT](INFO): DAT read: Rx Time:18:19:13.1310

2025-08-19T18:19:15.144Z,1755627555.144 [DAT](INFO): Rx dataTimestamp_ set to:1755627555.143868
2025-08-19T18:19:15.147Z,1755627555.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015211
2025-08-19T18:19:15.394Z,1755627555.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263765
2025-08-19T18:19:15.513Z,1755627555.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.50 m.
2025-08-19T18:19:15.516Z,1755627555.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.500000 m,
      nav range: 151.792465 m,
      bearing: 200.819671 deg,
      approach rate: 0.178455 m/s,
      LOS rate: -0.219069 deg/s,
      cmd heading: 188.363053 deg,
      new cmd heading: 188.080509 deg.

2025-08-19T18:19:15.666Z,1755627555.666 [DAT](INFO): DAT read: 18:19:13.1310 LVL= 31216, 23073, 21234, 28339, AGC= 60, IDX= 455,-0.23,-2.196,-0.807, 0.046,-0.768, PHS=-1.325, 0.006, 0.770, RAW= 248.9,   6.0, CAL= 246.8,   6.0, ROT= 263.2,  -6.0

2025-08-19T18:19:15.667Z,1755627555.667 [DAT](INFO): got valid direction response:
 18:19:13.1310 LVL= 31216, 23073, 21234, 28339, AGC= 60, IDX= 455,-0.23,-2.196,-0.807, 0.046,-0.768, PHS=-1.325, 0.006, 0.770, RAW= 248.9,   6.0, CAL= 246.8,   6.0, ROT= 263.2,  -6.0

2025-08-19T18:19:15.668Z,1755627555.668 [DAT](INFO): DAT read: Bearing 225.2, -85.6 (Local)

2025-08-19T18:19:15.668Z,1755627555.668 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.2, -85.6 (Local)

2025-08-19T18:19:15.669Z,1755627555.669 [DAT](INFO): DAT read: Range 11 to 50 : 155.4 m  (Round-trip  207.3 ms) speed -0.2 m/s

2025-08-19T18:19:15.670Z,1755627555.670 [DAT](INFO): DAT read: user:886>

2025-08-19T18:19:15.670Z,1755627555.670 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:15.671Z,1755627555.671 [DAT](INFO): direction in FSK: [-0.117755,-0.987526,0.104528]
2025-08-19T18:19:15.672Z,1755627555.672 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:15.675Z,1755627555.675 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:15.675Z,1755627555.675 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:15.675Z,1755627555.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:15.899Z,1755627555.899 [DAT](INFO): DAT read: Tx time:18:19:14.2696

2025-08-19T18:19:15.899Z,1755627555.899 [DAT](INFO): Ping request sent.
2025-08-19T18:19:15.899Z,1755627555.899 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:15.900Z,1755627555.900 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:15.900Z,1755627555.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000931
2025-08-19T18:19:15.926Z,1755627555.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.399994 m,
      deltaT: 3.529757 s,
      deltaX: 0.899994 m,
      approachRate: 0.254973 m/s,
      rangeRepo size: 4

2025-08-19T18:19:15.929Z,1755627555.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 155.399994 m,
      bearing: 202.695094 deg,
      lat: 36.779384 deg,
      lon: -121.859566 deg,
      deltaT: 3.529757 s,
      deltaX: 0.899994 m,
      approachRate: 0.254973 m/s,
      posRepo size: 4

2025-08-19T18:19:15.933Z,1755627555.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m.
2025-08-19T18:19:15.939Z,1755627555.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.399994 m,
      nav range: 153.839462 m,
      bearing: 202.695094 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.219069 deg/s,
      cmd heading: 188.080515 deg,
      new cmd heading: 187.822757 deg.

2025-08-19T18:19:16.151Z,1755627556.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251409
2025-08-19T18:19:16.314Z,1755627556.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m.
2025-08-19T18:19:16.323Z,1755627556.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.399994 m,
      nav range: 153.896515 m,
      bearing: 202.603371 deg,
      approach rate: 0.139650 m/s,
      LOS rate: -0.224431 deg/s,
      cmd heading: 187.822757 deg,
      new cmd heading: 187.547693 deg.

2025-08-19T18:19:16.403Z,1755627556.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503090
2025-08-19T18:19:16.654Z,1755627556.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876
2025-08-19T18:19:16.741Z,1755627556.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:16.743Z,1755627556.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m.
2025-08-19T18:19:16.746Z,1755627556.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.399994 m,
      nav range: 153.955017 m,
      bearing: 202.509606 deg,
      approach rate: 0.136211 m/s,
      LOS rate: -0.218231 deg/s,
      cmd heading: 187.547692 deg,
      new cmd heading: 187.266506 deg.

2025-08-19T18:19:16.906Z,1755627556.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006968
2025-08-19T18:19:17.101Z,1755627557.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m.
2025-08-19T18:19:17.103Z,1755627557.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.399994 m,
      nav range: 153.996033 m,
      bearing: 202.430803 deg,
      approach rate: 0.114763 m/s,
      LOS rate: -0.220434 deg/s,
      cmd heading: 187.266507 deg,
      new cmd heading: 187.030163 deg.

2025-08-19T18:19:17.159Z,1755627557.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259607
2025-08-19T18:19:17.410Z,1755627557.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867
2025-08-19T18:19:17.554Z,1755627557.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m.
2025-08-19T18:19:17.556Z,1755627557.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.399994 m,
      nav range: 154.042694 m,
      bearing: 202.334243 deg,
      approach rate: 0.104352 m/s,
      LOS rate: -0.215879 deg/s,
      cmd heading: 187.030168 deg,
      new cmd heading: 186.740578 deg.

2025-08-19T18:19:17.663Z,1755627557.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763628
2025-08-19T18:19:17.910Z,1755627557.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m.
2025-08-19T18:19:17.912Z,1755627557.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.399994 m,
      nav range: 154.078400 m,
      bearing: 202.252676 deg,
      approach rate: 0.098702 m/s,
      LOS rate: -0.225425 deg/s,
      cmd heading: 186.740582 deg,
      new cmd heading: 186.495939 deg.

2025-08-19T18:19:17.915Z,1755627557.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015093
2025-08-19T18:19:18.167Z,1755627558.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267564
2025-08-19T18:19:18.313Z,1755627558.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m.
2025-08-19T18:19:18.316Z,1755627558.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.399994 m,
      nav range: 154.113449 m,
      bearing: 202.163517 deg,
      approach rate: 0.086859 m/s,
      LOS rate: -0.220901 deg/s,
      cmd heading: 186.495938 deg,
      new cmd heading: 186.228525 deg.

2025-08-19T18:19:18.419Z,1755627558.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519060
2025-08-19T18:19:18.670Z,1755627558.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770934
2025-08-19T18:19:18.848Z,1755627558.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:18.867Z,1755627558.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m.
2025-08-19T18:19:18.874Z,1755627558.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.399994 m,
      nav range: 154.153198 m,
      bearing: 202.043922 deg,
      approach rate: 0.071790 m/s,
      LOS rate: -0.215941 deg/s,
      cmd heading: 186.228523 deg,
      new cmd heading: 185.869836 deg.

2025-08-19T18:19:18.923Z,1755627558.923 [DAT](INFO): DAT read: Rx Time:18:19:16.8819

2025-08-19T18:19:18.924Z,1755627558.924 [DAT](INFO): Rx dataTimestamp_ set to:1755627558.923616
2025-08-19T18:19:18.925Z,1755627558.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025311
2025-08-19T18:19:19.175Z,1755627559.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275302
2025-08-19T18:19:19.405Z,1755627559.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.40 m.
2025-08-19T18:19:19.419Z,1755627559.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.399994 m,
      nav range: 154.185974 m,
      bearing: 201.930636 deg,
      approach rate: 0.064952 m/s,
      LOS rate: -0.224453 deg/s,
      cmd heading: 185.869842 deg,
      new cmd heading: 185.530058 deg.

2025-08-19T18:19:19.432Z,1755627559.432 [DAT](INFO): DAT read: 18:19:16.8819 LVL= 27856, 24145, 20562, 27891, AGC= 61, IDX= 432,-0.39,-2.517,-1.157,-0.137,-1.103, PHS=-1.312,-0.009, 0.922, RAW= 245.5,   4.1, CAL= 242.9,   4.3, ROT= 267.1,  -4.3

2025-08-19T18:19:19.433Z,1755627559.433 [DAT](INFO): got valid direction response:
 18:19:16.8819 LVL= 27856, 24145, 20562, 27891, AGC= 61, IDX= 432,-0.39,-2.517,-1.157,-0.137,-1.103, PHS=-1.312,-0.009, 0.922, RAW= 245.5,   4.1, CAL= 242.9,   4.3, ROT= 267.1,  -4.3

2025-08-19T18:19:19.434Z,1755627559.434 [DAT](INFO): DAT read: Bearing 143.6, -87.1 (Local)

2025-08-19T18:19:19.434Z,1755627559.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.6, -87.1 (Local)

2025-08-19T18:19:19.436Z,1755627559.436 [DAT](INFO): DAT read: Range 11 to 50 : 156.1 m  (Round-trip  208.2 ms) speed -0.1 m/s

2025-08-19T18:19:19.436Z,1755627559.436 [DAT](INFO): DAT read: user:887>

2025-08-19T18:19:19.437Z,1755627559.437 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:19.438Z,1755627559.438 [DAT](INFO): direction in FSK: [-0.050450,-0.995908,0.074979]
2025-08-19T18:19:19.438Z,1755627559.438 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:19.445Z,1755627559.445 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:19.458Z,1755627559.458 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:19.458Z,1755627559.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:19.679Z,1755627559.679 [DAT](INFO): DAT read: Tx time:18:19:18.0196

2025-08-19T18:19:19.679Z,1755627559.679 [DAT](INFO): Ping request sent.
2025-08-19T18:19:19.679Z,1755627559.679 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:19.679Z,1755627559.679 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:19.680Z,1755627559.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000772
2025-08-19T18:19:19.907Z,1755627559.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 156.100006 m,
      deltaT: 3.778313 s,
      deltaX: 0.700012 m,
      approachRate: 0.185271 m/s,
      rangeRepo size: 4

2025-08-19T18:19:19.926Z,1755627559.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.100006 m,
      bearing: 202.819215 deg,
      lat: 36.779385 deg,
      lon: -121.859598 deg,
      deltaT: 3.778313 s,
      deltaX: 0.700012 m,
      approachRate: 0.185271 m/s,
      posRepo size: 4

2025-08-19T18:19:19.927Z,1755627559.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.10 m.
2025-08-19T18:19:19.931Z,1755627559.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251656
2025-08-19T18:19:19.934Z,1755627559.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.100006 m,
      nav range: 155.286545 m,
      bearing: 202.819215 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.224453 deg/s,
      cmd heading: 185.530054 deg,
      new cmd heading: 185.169563 deg.

2025-08-19T18:19:20.183Z,1755627560.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504338
2025-08-19T18:19:20.298Z,1755627560.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.10 m.
2025-08-19T18:19:20.301Z,1755627560.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.100006 m,
      nav range: 155.303467 m,
      bearing: 202.732880 deg,
      approach rate: 0.043287 m/s,
      LOS rate: -0.220822 deg/s,
      cmd heading: 185.169557 deg,
      new cmd heading: 184.910581 deg.

2025-08-19T18:19:20.437Z,1755627560.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757926
2025-08-19T18:19:20.686Z,1755627560.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007484
2025-08-19T18:19:20.740Z,1755627560.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.10 m.
2025-08-19T18:19:20.743Z,1755627560.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.100006 m,
      nav range: 155.319504 m,
      bearing: 202.638010 deg,
      approach rate: 0.036238 m/s,
      LOS rate: -0.214349 deg/s,
      cmd heading: 184.910583 deg,
      new cmd heading: 184.626005 deg.

2025-08-19T18:19:20.939Z,1755627560.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259578
2025-08-19T18:19:21.116Z,1755627561.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:21.118Z,1755627561.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.10 m.
2025-08-19T18:19:21.121Z,1755627561.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.100006 m,
      nav range: 155.329605 m,
      bearing: 202.555609 deg,
      approach rate: 0.026709 m/s,
      LOS rate: -0.217865 deg/s,
      cmd heading: 184.626010 deg,
      new cmd heading: 184.378826 deg.

2025-08-19T18:19:21.192Z,1755627561.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512763
2025-08-19T18:19:21.443Z,1755627561.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764098
2025-08-19T18:19:21.552Z,1755627561.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.10 m.
2025-08-19T18:19:21.560Z,1755627561.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.100006 m,
      nav range: 155.337662 m,
      bearing: 202.464294 deg,
      approach rate: 0.018596 m/s,
      LOS rate: -0.210763 deg/s,
      cmd heading: 184.378826 deg,
      new cmd heading: 184.104895 deg.

2025-08-19T18:19:21.695Z,1755627561.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015524
2025-08-19T18:19:21.922Z,1755627561.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.10 m.
2025-08-19T18:19:21.925Z,1755627561.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.100006 m,
      nav range: 155.341415 m,
      bearing: 202.379757 deg,
      approach rate: 0.010133 m/s,
      LOS rate: -0.228193 deg/s,
      cmd heading: 184.104894 deg,
      new cmd heading: 183.851292 deg.

2025-08-19T18:19:21.947Z,1755627561.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267505
2025-08-19T18:19:22.200Z,1755627562.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520592
2025-08-19T18:19:22.323Z,1755627562.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.10 m.
2025-08-19T18:19:22.326Z,1755627562.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.100006 m,
      nav range: 155.341187 m,
      bearing: 202.292202 deg,
      approach rate: -0.000571 m/s,
      LOS rate: -0.218516 deg/s,
      cmd heading: 183.851289 deg,
      new cmd heading: 183.588628 deg.

2025-08-19T18:19:22.454Z,1755627562.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774277
2025-08-19T18:19:22.702Z,1755627562.702 [DAT](INFO): DAT read: Rx Time:18:19:20.6324

2025-08-19T18:19:22.703Z,1755627562.703 [DAT](INFO): Rx dataTimestamp_ set to:1755627562.702504
2025-08-19T18:19:22.703Z,1755627562.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024394
2025-08-19T18:19:22.803Z,1755627562.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.10 m.
2025-08-19T18:19:22.810Z,1755627562.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.100006 m,
      nav range: 155.338043 m,
      bearing: 202.189033 deg,
      approach rate: -0.006538 m/s,
      LOS rate: -0.214584 deg/s,
      cmd heading: 183.588627 deg,
      new cmd heading: 183.279116 deg.

2025-08-19T18:19:22.955Z,1755627562.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275664
2025-08-19T18:19:23.212Z,1755627563.212 [DAT](INFO): DAT read: 18:19:20.6324 LVL= 32752, 32753, 31346, 32755, AGC= 62, IDX= 437,-0.33, 0.124, 1.288, 2.766, 1.478, PHS=-1.252,-0.145, 1.244, RAW= 236.3,   1.4, CAL= 233.2,   2.0, ROT= 276.8,  -2.0

2025-08-19T18:19:23.214Z,1755627563.214 [DAT](INFO): got valid direction response:
 18:19:20.6324 LVL= 32752, 32753, 31346, 32755, AGC= 62, IDX= 437,-0.33, 0.124, 1.288, 2.766, 1.478, PHS=-1.252,-0.145, 1.244, RAW= 236.3,   1.4, CAL= 233.2,   2.0, ROT= 276.8,  -2.0

2025-08-19T18:19:23.214Z,1755627563.214 [DAT](INFO): DAT read: Bearing  74.4, -78.2 (Local)

2025-08-19T18:19:23.215Z,1755627563.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.4, -78.2 (Local)

2025-08-19T18:19:23.216Z,1755627563.216 [DAT](INFO): DAT read: Range 11 to 50 : 156.4 m  (Round-trip  208.6 ms) speed -0.1 m/s

2025-08-19T18:19:23.217Z,1755627563.217 [DAT](INFO): DAT read: user:888>

2025-08-19T18:19:23.218Z,1755627563.218 [DAT](INFO): DAT read: Tx time:18:19:21.7696

2025-08-19T18:19:23.218Z,1755627563.218 [DAT](INFO): Ping request sent.
2025-08-19T18:19:23.218Z,1755627563.218 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:23.219Z,1755627563.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:23.220Z,1755627563.220 [DAT](INFO): direction in FSK: [0.118332,-0.992361,0.034899]
2025-08-19T18:19:23.220Z,1755627563.220 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:23.220Z,1755627563.220 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:23.227Z,1755627563.227 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:23.227Z,1755627563.227 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:23.237Z,1755627563.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 156.399994 m,
      deltaT: 3.780104 s,
      deltaX: 0.299988 m,
      approachRate: 0.079360 m/s,
      rangeRepo size: 4

2025-08-19T18:19:23.260Z,1755627563.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.399994 m,
      bearing: 203.019343 deg,
      lat: 36.779389 deg,
      lon: -121.859627 deg,
      deltaT: 3.780104 s,
      deltaX: 0.299988 m,
      approachRate: 0.079360 m/s,
      posRepo size: 4

2025-08-19T18:19:23.261Z,1755627563.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:23.276Z,1755627563.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.848083 m,
      bearing: 203.019343 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.214584 deg/s,
      cmd heading: 183.279111 deg,
      new cmd heading: 183.000651 deg.

2025-08-19T18:19:23.657Z,1755627563.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:23.663Z,1755627563.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:23.670Z,1755627563.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.830124 m,
      bearing: 202.924731 deg,
      approach rate: -0.042024 m/s,
      LOS rate: -0.221410 deg/s,
      cmd heading: 183.000657 deg,
      new cmd heading: 182.716789 deg.

2025-08-19T18:19:23.711Z,1755627563.711 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:23.711Z,1755627563.711 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:23.711Z,1755627563.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:23.963Z,1755627563.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744418
2025-08-19T18:19:23.971Z,1755627563.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:23.974Z,1755627563.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.814209 m,
      bearing: 202.857655 deg,
      approach rate: -0.051705 m/s,
      LOS rate: -0.217940 deg/s,
      cmd heading: 182.716795 deg,
      new cmd heading: 182.515548 deg.

2025-08-19T18:19:24.214Z,1755627564.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996139
2025-08-19T18:19:24.385Z,1755627564.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:24.388Z,1755627564.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.793839 m,
      bearing: 202.770469 deg,
      approach rate: -0.049253 m/s,
      LOS rate: -0.210830 deg/s,
      cmd heading: 182.515550 deg,
      new cmd heading: 182.253959 deg.

2025-08-19T18:19:24.469Z,1755627564.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250432
2025-08-19T18:19:24.718Z,1755627564.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500240
2025-08-19T18:19:24.817Z,1755627564.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:24.820Z,1755627564.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.758347 m,
      bearing: 202.674377 deg,
      approach rate: -0.082114 m/s,
      LOS rate: -0.222367 deg/s,
      cmd heading: 182.253954 deg,
      new cmd heading: 181.965616 deg.

2025-08-19T18:19:24.970Z,1755627564.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752201
2025-08-19T18:19:25.213Z,1755627565.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:25.216Z,1755627565.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.723938 m,
      bearing: 202.592026 deg,
      approach rate: -0.086927 m/s,
      LOS rate: -0.208090 deg/s,
      cmd heading: 181.965611 deg,
      new cmd heading: 181.718505 deg.

2025-08-19T18:19:25.223Z,1755627565.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004309
2025-08-19T18:19:25.478Z,1755627565.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258728
2025-08-19T18:19:25.617Z,1755627565.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:25.636Z,1755627565.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.680984 m,
      bearing: 202.501736 deg,
      approach rate: -0.106387 m/s,
      LOS rate: -0.223694 deg/s,
      cmd heading: 181.718508 deg,
      new cmd heading: 181.447563 deg.

2025-08-19T18:19:25.726Z,1755627565.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508209
2025-08-19T18:19:25.979Z,1755627565.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760305
2025-08-19T18:19:26.002Z,1755627566.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:26.004Z,1755627566.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:26.007Z,1755627566.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.637695 m,
      bearing: 202.418840 deg,
      approach rate: -0.111597 m/s,
      LOS rate: -0.213760 deg/s,
      cmd heading: 181.447568 deg,
      new cmd heading: 181.198813 deg.

2025-08-19T18:19:26.231Z,1755627566.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012617
2025-08-19T18:19:26.401Z,1755627566.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:26.404Z,1755627566.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.589493 m,
      bearing: 202.334297 deg,
      approach rate: -0.121549 m/s,
      LOS rate: -0.213251 deg/s,
      cmd heading: 181.198812 deg,
      new cmd heading: 180.945108 deg.

2025-08-19T18:19:26.487Z,1755627566.487 [DAT](INFO): DAT read: Rx Time:18:19:24.3823

2025-08-19T18:19:26.488Z,1755627566.488 [DAT](INFO): Rx dataTimestamp_ set to:1755627566.487179
2025-08-19T18:19:26.491Z,1755627566.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271825
2025-08-19T18:19:26.736Z,1755627566.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517391
2025-08-19T18:19:26.842Z,1755627566.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.40 m.
2025-08-19T18:19:26.845Z,1755627566.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.399994 m,
      nav range: 155.530762 m,
      bearing: 202.240993 deg,
      approach rate: -0.133140 m/s,
      LOS rate: -0.211594 deg/s,
      cmd heading: 180.945112 deg,
      new cmd heading: 180.665096 deg.

2025-08-19T18:19:26.993Z,1755627566.993 [DAT](INFO): DAT read: 18:19:24.3823 LVL= 27600, 25297, 23970, 30099, AGC= 62, IDX= 420,-0.33, 1.544, 2.207,-2.300, 2.752, PHS=-1.106,-0.500, 1.187, RAW= 224.8,   4.1, CAL= 223.6,   4.9, ROT= 286.4,  -4.9

2025-08-19T18:19:26.994Z,1755627566.994 [DAT](INFO): got valid direction response:
 18:19:24.3823 LVL= 27600, 25297, 23970, 30099, AGC= 62, IDX= 420,-0.33, 1.544, 2.207,-2.300, 2.752, PHS=-1.106,-0.500, 1.187, RAW= 224.8,   4.1, CAL= 223.6,   4.9, ROT= 286.4,  -4.9

2025-08-19T18:19:26.995Z,1755627566.995 [DAT](INFO): DAT read: Bearing  73.5, -67.6 (Local)

2025-08-19T18:19:26.995Z,1755627566.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.5, -67.6 (Local)

2025-08-19T18:19:26.997Z,1755627566.997 [DAT](INFO): DAT read: Range 11 to 50 : 156.3 m  (Round-trip  208.5 ms) speed  0.0 m/s

2025-08-19T18:19:26.998Z,1755627566.998 [DAT](INFO): DAT read: user:889>

2025-08-19T18:19:26.998Z,1755627566.998 [DAT](INFO): DAT read: Tx time:18:19:25.4696

2025-08-19T18:19:26.999Z,1755627566.999 [DAT](INFO): Ping request sent.
2025-08-19T18:19:26.999Z,1755627566.999 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:26.999Z,1755627566.999 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:26.000Z,1755627567.000 [DAT](INFO): direction in FSK: [0.281310,-0.955808,0.085417]
2025-08-19T18:19:27.000Z,1755627567.000 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:27.000Z,1755627567.000 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:27.009Z,1755627567.009 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:27.009Z,1755627567.009 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:27.257Z,1755627567.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 156.300003 m,
      deltaT: 3.780201 s,
      deltaX: -0.099991 m,
      approachRate: -0.026451 m/s,
      rangeRepo size: 4

2025-08-19T18:19:27.264Z,1755627567.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.300003 m,
      bearing: 202.191597 deg,
      lat: 36.779391 deg,
      lon: -121.859627 deg,
      deltaT: 3.780201 s,
      deltaX: -0.099991 m,
      approachRate: -0.026451 m/s,
      posRepo size: 4

2025-08-19T18:19:27.265Z,1755627567.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.30 m.
2025-08-19T18:19:27.271Z,1755627567.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.300003 m,
      nav range: 155.243103 m,
      bearing: 202.191597 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.211594 deg/s,
      cmd heading: 180.665102 deg,
      new cmd heading: 180.403122 deg.

2025-08-19T18:19:27.639Z,1755627567.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.30 m.
2025-08-19T18:19:27.641Z,1755627567.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.300003 m,
      nav range: 155.179535 m,
      bearing: 202.103735 deg,
      approach rate: -0.165705 m/s,
      LOS rate: -0.229127 deg/s,
      cmd heading: 180.403123 deg,
      new cmd heading: 180.139429 deg.

2025-08-19T18:19:28.023Z,1755627568.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:28.026Z,1755627568.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.30 m.
2025-08-19T18:19:28.028Z,1755627568.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.300003 m,
      nav range: 155.120682 m,
      bearing: 202.021861 deg,
      approach rate: -0.152101 m/s,
      LOS rate: -0.211676 deg/s,
      cmd heading: 180.139423 deg,
      new cmd heading: 179.893710 deg.

2025-08-19T18:19:28.247Z,1755627568.247 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:28.247Z,1755627568.247 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:28.248Z,1755627568.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:28.414Z,1755627568.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.30 m.
2025-08-19T18:19:28.416Z,1755627568.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.300003 m,
      nav range: 155.053665 m,
      bearing: 201.940484 deg,
      approach rate: -0.172788 m/s,
      LOS rate: -0.209903 deg/s,
      cmd heading: 179.893714 deg,
      new cmd heading: 179.649479 deg.

2025-08-19T18:19:28.502Z,1755627568.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503071
2025-08-19T18:19:28.751Z,1755627568.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752129
2025-08-19T18:19:28.858Z,1755627568.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.30 m.
2025-08-19T18:19:28.860Z,1755627568.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.300003 m,
      nav range: 154.971863 m,
      bearing: 201.849326 deg,
      approach rate: -0.184194 m/s,
      LOS rate: -0.205369 deg/s,
      cmd heading: 179.649480 deg,
      new cmd heading: 179.375863 deg.

2025-08-19T18:19:29.002Z,1755627569.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003725
2025-08-19T18:19:29.230Z,1755627569.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.30 m.
2025-08-19T18:19:29.236Z,1755627569.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.300003 m,
      nav range: 154.900543 m,
      bearing: 201.774306 deg,
      approach rate: -0.191868 m/s,
      LOS rate: -0.201916 deg/s,
      cmd heading: 179.375862 deg,
      new cmd heading: 179.150700 deg.

2025-08-19T18:19:29.263Z,1755627569.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263913
2025-08-19T18:19:29.517Z,1755627569.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517581
2025-08-19T18:19:29.664Z,1755627569.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.30 m.
2025-08-19T18:19:29.667Z,1755627569.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.300003 m,
      nav range: 154.809219 m,
      bearing: 201.684690 deg,
      approach rate: -0.209927 m/s,
      LOS rate: -0.206123 deg/s,
      cmd heading: 179.150698 deg,
      new cmd heading: 178.881694 deg.

2025-08-19T18:19:29.767Z,1755627569.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767841
2025-08-19T18:19:30.019Z,1755627570.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019959
2025-08-19T18:19:30.038Z,1755627570.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:30.040Z,1755627570.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.30 m.
2025-08-19T18:19:30.048Z,1755627570.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.300003 m,
      nav range: 154.730896 m,
      bearing: 201.611468 deg,
      approach rate: -0.208420 m/s,
      LOS rate: -0.194945 deg/s,
      cmd heading: 178.881698 deg,
      new cmd heading: 178.661921 deg.

2025-08-19T18:19:30.272Z,1755627570.272 [DAT](INFO): DAT read: Rx Time:18:19:28.0816

2025-08-19T18:19:30.272Z,1755627570.272 [DAT](INFO): Rx dataTimestamp_ set to:1755627570.271969
2025-08-19T18:19:30.273Z,1755627570.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274478
2025-08-19T18:19:30.430Z,1755627570.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.30 m.
2025-08-19T18:19:30.432Z,1755627570.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.300003 m,
      nav range: 154.639297 m,
      bearing: 201.529950 deg,
      approach rate: -0.235185 m/s,
      LOS rate: -0.209427 deg/s,
      cmd heading: 178.661916 deg,
      new cmd heading: 178.417219 deg.

2025-08-19T18:19:30.523Z,1755627570.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524127
2025-08-19T18:19:30.780Z,1755627570.780 [DAT](INFO): DAT read: 18:19:28.0816 LVL= 24560, 28065, 18162, 25043, AGC= 58, IDX= 430, 0.04, 2.975, 3.127,-1.008,-2.346, PHS=-0.860,-0.765, 1.294, RAW= 212.2,   3.2, CAL= 211.6,   2.5, ROT= 298.4,  -2.5

2025-08-19T18:19:30.781Z,1755627570.781 [DAT](INFO): got valid direction response:
 18:19:28.0816 LVL= 24560, 28065, 18162, 25043, AGC= 58, IDX= 430, 0.04, 2.975, 3.127,-1.008,-2.346, PHS=-0.860,-0.765, 1.294, RAW= 212.2,   3.2, CAL= 211.6,   2.5, ROT= 298.4,  -2.5

2025-08-19T18:19:30.782Z,1755627570.782 [DAT](INFO): DAT read: Bearing  56.4, -55.3 (Local)

2025-08-19T18:19:30.783Z,1755627570.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.4, -55.3 (Local)

2025-08-19T18:19:30.784Z,1755627570.784 [DAT](INFO): DAT read: Range 11 to 50 : 156.0 m  (Round-trip  208.0 ms) speed  0.0 m/s

2025-08-19T18:19:30.785Z,1755627570.785 [DAT](INFO): DAT read: user:890>

2025-08-19T18:19:30.786Z,1755627570.786 [DAT](INFO): DAT read: Tx time:18:19:29.1695

2025-08-19T18:19:30.787Z,1755627570.787 [DAT](INFO): Ping request sent.
2025-08-19T18:19:30.787Z,1755627570.787 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:30.787Z,1755627570.787 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:30.788Z,1755627570.788 [DAT](INFO): direction in FSK: [0.475171,-0.878811,0.043619]
2025-08-19T18:19:30.788Z,1755627570.788 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:30.789Z,1755627570.789 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:30.792Z,1755627570.792 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:30.792Z,1755627570.792 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:30.964Z,1755627570.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 156.000000 m,
      deltaT: 3.787734 s,
      deltaX: -0.300003 m,
      approachRate: -0.079204 m/s,
      rangeRepo size: 4

2025-08-19T18:19:30.970Z,1755627570.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.000000 m,
      bearing: 201.428111 deg,
      lat: 36.779391 deg,
      lon: -121.859627 deg,
      deltaT: 3.787734 s,
      deltaX: -0.300003 m,
      approachRate: -0.079204 m/s,
      posRepo size: 4

2025-08-19T18:19:30.971Z,1755627570.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.00 m.
2025-08-19T18:19:30.978Z,1755627570.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.000000 m,
      nav range: 154.520340 m,
      bearing: 201.428111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.209427 deg/s,
      cmd heading: 178.417218 deg,
      new cmd heading: 178.081880 deg.

2025-08-19T18:19:31.319Z,1755627571.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.00 m.
2025-08-19T18:19:31.322Z,1755627571.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.000000 m,
      nav range: 154.431732 m,
      bearing: 201.351888 deg,
      approach rate: -0.248869 m/s,
      LOS rate: -0.214207 deg/s,
      cmd heading: 178.081883 deg,
      new cmd heading: 177.853084 deg.

2025-08-19T18:19:31.729Z,1755627571.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.00 m.
2025-08-19T18:19:31.755Z,1755627571.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.000000 m,
      nav range: 154.327118 m,
      bearing: 201.271770 deg,
      approach rate: -0.255702 m/s,
      LOS rate: -0.195960 deg/s,
      cmd heading: 177.853085 deg,
      new cmd heading: 177.612570 deg.

2025-08-19T18:19:32.114Z,1755627572.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:32.116Z,1755627572.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.00 m.
2025-08-19T18:19:32.119Z,1755627572.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.000000 m,
      nav range: 154.223633 m,
      bearing: 201.196046 deg,
      approach rate: -0.266952 m/s,
      LOS rate: -0.195469 deg/s,
      cmd heading: 177.612567 deg,
      new cmd heading: 177.385245 deg.

2025-08-19T18:19:32.286Z,1755627572.286 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:32.286Z,1755627572.286 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:32.287Z,1755627572.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:32.513Z,1755627572.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.00 m.
2025-08-19T18:19:32.516Z,1755627572.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.000000 m,
      nav range: 154.109726 m,
      bearing: 201.116271 deg,
      approach rate: -0.286915 m/s,
      LOS rate: -0.201090 deg/s,
      cmd heading: 177.385245 deg,
      new cmd heading: 177.145745 deg.

2025-08-19T18:19:32.539Z,1755627572.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751891
2025-08-19T18:19:32.790Z,1755627572.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003568
2025-08-19T18:19:32.940Z,1755627572.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.00 m.
2025-08-19T18:19:32.943Z,1755627572.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.000000 m,
      nav range: 153.987488 m,
      bearing: 201.033876 deg,
      approach rate: -0.286226 m/s,
      LOS rate: -0.193084 deg/s,
      cmd heading: 177.145751 deg,
      new cmd heading: 176.898372 deg.

2025-08-19T18:19:33.043Z,1755627573.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256566
2025-08-19T18:19:33.295Z,1755627573.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507623
2025-08-19T18:19:33.331Z,1755627573.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.00 m.
2025-08-19T18:19:33.335Z,1755627573.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.000000 m,
      nav range: 153.874939 m,
      bearing: 200.961137 deg,
      approach rate: -0.287679 m/s,
      LOS rate: -0.186060 deg/s,
      cmd heading: 176.898375 deg,
      new cmd heading: 176.680000 deg.

2025-08-19T18:19:33.547Z,1755627573.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759633
2025-08-19T18:19:33.769Z,1755627573.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.00 m.
2025-08-19T18:19:33.772Z,1755627573.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.000000 m,
      nav range: 153.739227 m,
      bearing: 200.874927 deg,
      approach rate: -0.309896 m/s,
      LOS rate: -0.197034 deg/s,
      cmd heading: 176.680000 deg,
      new cmd heading: 176.421142 deg.

2025-08-19T18:19:33.799Z,1755627573.799 [DAT](INFO): DAT read: Rx Time:18:19:31.7806

2025-08-19T18:19:33.799Z,1755627573.799 [DAT](INFO): Rx dataTimestamp_ set to:1755627573.798819
2025-08-19T18:19:33.800Z,1755627573.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012820
2025-08-19T18:19:34.050Z,1755627574.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263555
2025-08-19T18:19:34.140Z,1755627574.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:34.149Z,1755627574.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.00 m.
2025-08-19T18:19:34.156Z,1755627574.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.000000 m,
      nav range: 153.623306 m,
      bearing: 200.804176 deg,
      approach rate: -0.305551 m/s,
      LOS rate: -0.186630 deg/s,
      cmd heading: 176.421136 deg,
      new cmd heading: 176.208724 deg.

2025-08-19T18:19:34.318Z,1755627574.318 [DAT](INFO): DAT read: 18:19:31.7806 LVL= 30960, 30513, 19858, 30371, AGC= 61, IDX= 437,-0.30, 0.394, 0.190, 2.544, 1.226, PHS=-0.730,-0.991, 1.274, RAW= 204.0,   4.2, CAL= 203.9,   3.1, ROT= 306.1,  -3.1

2025-08-19T18:19:34.319Z,1755627574.319 [DAT](INFO): got valid direction response:
 18:19:31.7806 LVL= 30960, 30513, 19858, 30371, AGC= 61, IDX= 437,-0.30, 0.394, 0.190, 2.544, 1.226, PHS=-0.730,-0.991, 1.274, RAW= 204.0,   4.2, CAL= 203.9,   3.1, ROT= 306.1,  -3.1

2025-08-19T18:19:34.320Z,1755627574.320 [DAT](INFO): DAT read: Bearing  47.5, -47.0 (Local)

2025-08-19T18:19:34.320Z,1755627574.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.5, -47.0 (Local)

2025-08-19T18:19:34.321Z,1755627574.321 [DAT](INFO): DAT read: Range 11 to 50 : 155.2 m  (Round-trip  207.0 ms) speed  0.1 m/s

2025-08-19T18:19:34.322Z,1755627574.322 [DAT](INFO): DAT read: user:891>

2025-08-19T18:19:34.323Z,1755627574.323 [DAT](INFO): DAT read: Tx time:18:19:32.8695

2025-08-19T18:19:34.323Z,1755627574.323 [DAT](INFO): Ping request sent.
2025-08-19T18:19:34.323Z,1755627574.323 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:34.324Z,1755627574.324 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:34.325Z,1755627574.325 [DAT](INFO): direction in FSK: [0.588334,-0.806807,0.054079]
2025-08-19T18:19:34.325Z,1755627574.325 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:34.325Z,1755627574.325 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:34.328Z,1755627574.328 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:34.328Z,1755627574.328 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:34.564Z,1755627574.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.199997 m,
      deltaT: 3.529565 s,
      deltaX: -0.800003 m,
      approachRate: -0.226658 m/s,
      rangeRepo size: 4

2025-08-19T18:19:34.573Z,1755627574.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 155.199997 m,
      bearing: 200.729229 deg,
      lat: 36.779391 deg,
      lon: -121.859627 deg,
      deltaT: 3.529565 s,
      deltaX: -0.800003 m,
      approachRate: -0.226658 m/s,
      posRepo size: 4

2025-08-19T18:19:34.578Z,1755627574.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.20 m.
2025-08-19T18:19:34.580Z,1755627574.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.199997 m,
      nav range: 153.495346 m,
      bearing: 200.729229 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.186630 deg/s,
      cmd heading: 176.208717 deg,
      new cmd heading: 175.976557 deg.

2025-08-19T18:19:35.038Z,1755627575.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.20 m.
2025-08-19T18:19:35.041Z,1755627575.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.199997 m,
      nav range: 153.343811 m,
      bearing: 200.641737 deg,
      approach rate: -0.318941 m/s,
      LOS rate: -0.184330 deg/s,
      cmd heading: 175.976559 deg,
      new cmd heading: 175.713825 deg.

2025-08-19T18:19:35.404Z,1755627575.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.20 m.
2025-08-19T18:19:35.407Z,1755627575.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.199997 m,
      nav range: 153.215622 m,
      bearing: 200.570436 deg,
      approach rate: -0.350897 m/s,
      LOS rate: -0.195339 deg/s,
      cmd heading: 175.713829 deg,
      new cmd heading: 175.499748 deg.

2025-08-19T18:19:35.851Z,1755627575.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.20 m.
2025-08-19T18:19:35.857Z,1755627575.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.199997 m,
      nav range: 153.076340 m,
      bearing: 200.493328 deg,
      approach rate: -0.311669 m/s,
      LOS rate: -0.172700 deg/s,
      cmd heading: 175.499744 deg,
      new cmd heading: 175.268211 deg.

2025-08-19T18:19:36.252Z,1755627576.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:36.258Z,1755627576.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.20 m.
2025-08-19T18:19:36.261Z,1755627576.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.199997 m,
      nav range: 152.936829 m,
      bearing: 200.421733 deg,
      approach rate: -0.342199 m/s,
      LOS rate: -0.175770 deg/s,
      cmd heading: 175.268214 deg,
      new cmd heading: 175.053236 deg.

2025-08-19T18:19:36.319Z,1755627576.319 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:36.319Z,1755627576.319 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:36.319Z,1755627576.319 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:36.571Z,1755627576.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247386
2025-08-19T18:19:36.687Z,1755627576.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.20 m.
2025-08-19T18:19:36.694Z,1755627576.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.199997 m,
      nav range: 152.804749 m,
      bearing: 200.356342 deg,
      approach rate: -0.308350 m/s,
      LOS rate: -0.152793 deg/s,
      cmd heading: 175.053241 deg,
      new cmd heading: 174.856896 deg.

2025-08-19T18:19:36.823Z,1755627576.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499200
2025-08-19T18:19:36.954Z,1755627576.954 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:19:37.074Z,1755627577.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751158
2025-08-19T18:19:37.192Z,1755627577.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.20 m.
2025-08-19T18:19:37.219Z,1755627577.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.199997 m,
      nav range: 152.611740 m,
      bearing: 200.265474 deg,
      approach rate: -0.381890 m/s,
      LOS rate: -0.180020 deg/s,
      cmd heading: 174.856900 deg,
      new cmd heading: 174.583954 deg.

2025-08-19T18:19:37.327Z,1755627577.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003871
2025-08-19T18:19:37.549Z,1755627577.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.20 m.
2025-08-19T18:19:37.552Z,1755627577.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.199997 m,
      nav range: 152.476974 m,
      bearing: 200.204168 deg,
      approach rate: -0.377554 m/s,
      LOS rate: -0.171902 deg/s,
      cmd heading: 174.583952 deg,
      new cmd heading: 174.399874 deg.

2025-08-19T18:19:37.579Z,1755627577.579 [DAT](INFO): DAT read: Rx Time:18:19:35.4792

2025-08-19T18:19:37.579Z,1755627577.579 [DAT](INFO): Rx dataTimestamp_ set to:1755627577.578793
2025-08-19T18:19:37.580Z,1755627577.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256375
2025-08-19T18:19:37.830Z,1755627577.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507127
2025-08-19T18:19:37.959Z,1755627577.959 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:19:38.050Z,1755627578.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.20 m.
2025-08-19T18:19:38.053Z,1755627578.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.199997 m,
      nav range: 152.296356 m,
      bearing: 200.122483 deg,
      approach rate: -0.360739 m/s,
      LOS rate: -0.163339 deg/s,
      cmd heading: 174.399878 deg,
      new cmd heading: 174.154534 deg.

2025-08-19T18:19:38.089Z,1755627578.089 [DAT](INFO): DAT read: 18:19:35.4792 LVL= 32752, 32753, 27490, 32755, AGC= 63, IDX= 422, 0.02, 0.460,-0.023, 2.295, 1.149, PHS=-0.587,-1.127, 1.102, RAW= 196.6,   6.1, CAL= 196.8,   5.6, ROT= 313.2,  -5.6

2025-08-19T18:19:38.091Z,1755627578.091 [DAT](INFO): got valid direction response:
 18:19:35.4792 LVL= 32752, 32753, 27490, 32755, AGC= 63, IDX= 422, 0.02, 0.460,-0.023, 2.295, 1.149, PHS=-0.587,-1.127, 1.102, RAW= 196.6,   6.1, CAL= 196.8,   5.6, ROT= 313.2,  -5.6

2025-08-19T18:19:38.092Z,1755627578.092 [DAT](INFO): DAT read: Bearing  40.8, -39.3 (Local)

2025-08-19T18:19:38.092Z,1755627578.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.8, -39.3 (Local)

2025-08-19T18:19:38.094Z,1755627578.094 [DAT](INFO): DAT read: Range 11 to 50 : 154.2 m  (Round-trip  205.6 ms) speed  0.4 m/s

2025-08-19T18:19:38.094Z,1755627578.094 [DAT](INFO): DAT read: user:892>

2025-08-19T18:19:38.095Z,1755627578.095 [DAT](INFO): DAT read: Tx time:18:19:36.5695

2025-08-19T18:19:38.095Z,1755627578.095 [DAT](INFO): Ping request sent.
2025-08-19T18:19:38.095Z,1755627578.095 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:38.096Z,1755627578.096 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:38.097Z,1755627578.097 [DAT](INFO): direction in FSK: [0.681280,-0.725489,0.097583]
2025-08-19T18:19:38.097Z,1755627578.097 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:38.097Z,1755627578.097 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:38.104Z,1755627578.104 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:38.104Z,1755627578.104 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:38.405Z,1755627578.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.199997 m,
      deltaT: 3.779068 s,
      deltaX: -1.000000 m,
      approachRate: -0.264616 m/s,
      rangeRepo size: 4

2025-08-19T18:19:38.412Z,1755627578.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.199997 m,
      bearing: 200.127818 deg,
      lat: 36.779395 deg,
      lon: -121.859627 deg,
      deltaT: 3.779068 s,
      deltaX: -1.000000 m,
      approachRate: -0.264616 m/s,
      posRepo size: 4

2025-08-19T18:19:38.413Z,1755627578.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m.
2025-08-19T18:19:38.420Z,1755627578.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.199997 m,
      nav range: 151.756500 m,
      bearing: 200.127818 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.163339 deg/s,
      cmd heading: 174.154538 deg,
      new cmd heading: 173.980718 deg.

2025-08-19T18:19:38.836Z,1755627578.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:38.838Z,1755627578.838 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:38.838Z,1755627578.838 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:38.839Z,1755627578.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:38.842Z,1755627578.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m.
2025-08-19T18:19:38.845Z,1755627578.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.199997 m,
      nav range: 151.586823 m,
      bearing: 200.056514 deg,
      approach rate: -0.391565 m/s,
      LOS rate: -0.164733 deg/s,
      cmd heading: 173.980723 deg,
      new cmd heading: 173.766571 deg.

2025-08-19T18:19:39.091Z,1755627579.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995849
2025-08-19T18:19:39.244Z,1755627579.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m.
2025-08-19T18:19:39.251Z,1755627579.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.199997 m,
      nav range: 151.434296 m,
      bearing: 199.996599 deg,
      approach rate: -0.375460 m/s,
      LOS rate: -0.147634 deg/s,
      cmd heading: 173.766569 deg,
      new cmd heading: 173.586645 deg.

2025-08-19T18:19:39.342Z,1755627579.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247075
2025-08-19T18:19:39.595Z,1755627579.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499412
2025-08-19T18:19:39.636Z,1755627579.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m.
2025-08-19T18:19:39.643Z,1755627579.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.199997 m,
      nav range: 151.274872 m,
      bearing: 199.935972 deg,
      approach rate: -0.406925 m/s,
      LOS rate: -0.154913 deg/s,
      cmd heading: 173.586649 deg,
      new cmd heading: 173.404575 deg.

2025-08-19T18:19:39.846Z,1755627579.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751018
2025-08-19T18:19:40.079Z,1755627580.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m.
2025-08-19T18:19:40.082Z,1755627580.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.199997 m,
      nav range: 151.088470 m,
      bearing: 199.868461 deg,
      approach rate: -0.420087 m/s,
      LOS rate: -0.152334 deg/s,
      cmd heading: 173.404569 deg,
      new cmd heading: 173.201790 deg.

2025-08-19T18:19:40.101Z,1755627580.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005358
2025-08-19T18:19:40.350Z,1755627580.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255050
2025-08-19T18:19:40.474Z,1755627580.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m.
2025-08-19T18:19:40.477Z,1755627580.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.199997 m,
      nav range: 150.926239 m,
      bearing: 199.811583 deg,
      approach rate: -0.410975 m/s,
      LOS rate: -0.144242 deg/s,
      cmd heading: 173.201795 deg,
      new cmd heading: 173.030978 deg.

2025-08-19T18:19:40.602Z,1755627580.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507102
2025-08-19T18:19:40.854Z,1755627580.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759038
2025-08-19T18:19:40.891Z,1755627580.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:40.893Z,1755627580.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m.
2025-08-19T18:19:40.896Z,1755627580.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.199997 m,
      nav range: 150.745148 m,
      bearing: 199.750148 deg,
      approach rate: -0.432716 m/s,
      LOS rate: -0.146976 deg/s,
      cmd heading: 173.030972 deg,
      new cmd heading: 172.846445 deg.

2025-08-19T18:19:41.106Z,1755627581.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011048
2025-08-19T18:19:41.263Z,1755627581.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m.
2025-08-19T18:19:41.266Z,1755627581.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.199997 m,
      nav range: 150.584305 m,
      bearing: 199.697417 deg,
      approach rate: -0.434376 m/s,
      LOS rate: -0.142558 deg/s,
      cmd heading: 172.846447 deg,
      new cmd heading: 172.688087 deg.

2025-08-19T18:19:41.359Z,1755627581.359 [DAT](INFO): DAT read: Rx Time:18:19:39.1775

2025-08-19T18:19:41.359Z,1755627581.359 [DAT](INFO): Rx dataTimestamp_ set to:1755627581.358752
2025-08-19T18:19:41.360Z,1755627581.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264241
2025-08-19T18:19:41.610Z,1755627581.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514985
2025-08-19T18:19:41.754Z,1755627581.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.20 m.
2025-08-19T18:19:41.759Z,1755627581.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.199997 m,
      nav range: 150.374588 m,
      bearing: 199.630927 deg,
      approach rate: -0.426917 m/s,
      LOS rate: -0.135542 deg/s,
      cmd heading: 172.688083 deg,
      new cmd heading: 172.488334 deg.

2025-08-19T18:19:41.868Z,1755627581.868 [DAT](INFO): DAT read: 18:19:39.1775 LVL= 29728, 26609, 22322, 27667, AGC= 63, IDX= 421,-0.20,-2.839, 2.577,-1.209,-2.410, PHS=-0.327,-1.251, 1.157, RAW= 187.7,   4.0, CAL= 187.7,   1.8, ROT= 322.3,  -1.8

2025-08-19T18:19:41.870Z,1755627581.870 [DAT](INFO): got valid direction response:
 18:19:39.1775 LVL= 29728, 26609, 22322, 27667, AGC= 63, IDX= 421,-0.20,-2.839, 2.577,-1.209,-2.410, PHS=-0.327,-1.251, 1.157, RAW= 187.7,   4.0, CAL= 187.7,   1.8, ROT= 322.3,  -1.8

2025-08-19T18:19:41.871Z,1755627581.871 [DAT](INFO): DAT read: Bearing  26.0, -29.9 (Local)

2025-08-19T18:19:41.871Z,1755627581.871 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.0, -29.9 (Local)

2025-08-19T18:19:41.873Z,1755627581.873 [DAT](INFO): DAT read: Range 11 to 50 : 152.9 m  (Round-trip  203.9 ms) speed  0.4 m/s

2025-08-19T18:19:41.874Z,1755627581.874 [DAT](INFO): DAT read: user:893>

2025-08-19T18:19:41.874Z,1755627581.874 [DAT](INFO): DAT read: Tx time:18:19:40.2695

2025-08-19T18:19:41.875Z,1755627581.875 [DAT](INFO): Ping request sent.
2025-08-19T18:19:41.875Z,1755627581.875 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:41.875Z,1755627581.875 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:41.876Z,1755627581.876 [DAT](INFO): direction in FSK: [0.790833,-0.611225,0.031411]
2025-08-19T18:19:41.876Z,1755627581.876 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:41.877Z,1755627581.877 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:41.880Z,1755627581.880 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:41.880Z,1755627581.880 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:42.105Z,1755627582.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 152.899994 m,
      deltaT: 3.779731 s,
      deltaX: -1.300003 m,
      approachRate: -0.343941 m/s,
      rangeRepo size: 4

2025-08-19T18:19:42.108Z,1755627582.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.899994 m,
      bearing: 198.982310 deg,
      lat: 36.779395 deg,
      lon: -121.859608 deg,
      deltaT: 3.779731 s,
      deltaX: -1.300003 m,
      approachRate: -0.343941 m/s,
      posRepo size: 4

2025-08-19T18:19:42.108Z,1755627582.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-08-19T18:19:42.111Z,1755627582.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 149.668991 m,
      bearing: 198.982310 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.135542 deg/s,
      cmd heading: 172.488341 deg,
      new cmd heading: 172.345869 deg.

2025-08-19T18:19:42.483Z,1755627582.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-08-19T18:19:42.486Z,1755627582.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 149.500839 m,
      bearing: 198.929266 deg,
      approach rate: -0.444294 m/s,
      LOS rate: -0.140311 deg/s,
      cmd heading: 172.345863 deg,
      new cmd heading: 172.186553 deg.

2025-08-19T18:19:42.908Z,1755627582.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:42.910Z,1755627582.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-08-19T18:19:42.912Z,1755627582.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 149.311554 m,
      bearing: 198.871515 deg,
      approach rate: -0.443798 m/s,
      LOS rate: -0.135576 deg/s,
      cmd heading: 172.186555 deg,
      new cmd heading: 172.013081 deg.

2025-08-19T18:19:43.122Z,1755627583.122 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:43.122Z,1755627583.122 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:43.123Z,1755627583.123 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:43.296Z,1755627583.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-08-19T18:19:43.299Z,1755627583.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 149.137238 m,
      bearing: 198.820206 deg,
      approach rate: -0.451184 m/s,
      LOS rate: -0.132958 deg/s,
      cmd heading: 172.013082 deg,
      new cmd heading: 171.858977 deg.

2025-08-19T18:19:43.375Z,1755627583.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499817
2025-08-19T18:19:43.626Z,1755627583.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751736
2025-08-19T18:19:43.685Z,1755627583.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-08-19T18:19:43.708Z,1755627583.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 148.959656 m,
      bearing: 198.769746 deg,
      approach rate: -0.456355 m/s,
      LOS rate: -0.129828 deg/s,
      cmd heading: 171.858980 deg,
      new cmd heading: 171.707420 deg.

2025-08-19T18:19:43.878Z,1755627583.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003649
2025-08-19T18:19:44.119Z,1755627584.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-08-19T18:19:44.122Z,1755627584.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 148.757599 m,
      bearing: 198.715534 deg,
      approach rate: -0.465431 m/s,
      LOS rate: -0.125046 deg/s,
      cmd heading: 171.707418 deg,
      new cmd heading: 171.544560 deg.

2025-08-19T18:19:44.131Z,1755627584.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255781
2025-08-19T18:19:44.383Z,1755627584.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508240
2025-08-19T18:19:44.506Z,1755627584.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-08-19T18:19:44.508Z,1755627584.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 148.575638 m,
      bearing: 198.668464 deg,
      approach rate: -0.471189 m/s,
      LOS rate: -0.122036 deg/s,
      cmd heading: 171.544559 deg,
      new cmd heading: 171.403177 deg.

2025-08-19T18:19:44.634Z,1755627584.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759615
2025-08-19T18:19:44.886Z,1755627584.886 [DAT](INFO): DAT read: Rx Time:18:19:42.8754

2025-08-19T18:19:44.887Z,1755627584.887 [DAT](INFO): Rx dataTimestamp_ set to:1755627584.886495
2025-08-19T18:19:44.887Z,1755627584.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012614
2025-08-19T18:19:44.938Z,1755627584.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:44.940Z,1755627584.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-08-19T18:19:44.943Z,1755627584.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 148.368805 m,
      bearing: 198.616909 deg,
      approach rate: -0.475854 m/s,
      LOS rate: -0.118778 deg/s,
      cmd heading: 171.403174 deg,
      new cmd heading: 171.248292 deg.

2025-08-19T18:19:45.140Z,1755627585.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264844
2025-08-19T18:19:45.317Z,1755627585.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.90 m.
2025-08-19T18:19:45.320Z,1755627585.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.899994 m,
      nav range: 148.186966 m,
      bearing: 198.573283 deg,
      approach rate: -0.482302 m/s,
      LOS rate: -0.115852 deg/s,
      cmd heading: 171.248292 deg,
      new cmd heading: 171.117256 deg.

2025-08-19T18:19:45.411Z,1755627585.411 [DAT](INFO): DAT read: 18:19:42.8754 LVL= 29936, 32753, 24498, 29731, AGC= 62, IDX= 415, 0.11,-2.207,-3.090,-0.698,-1.929, PHS=-0.175,-1.115, 1.188, RAW= 186.1,   1.0, CAL= 186.1,  -1.7, ROT= 323.9,   1.7

2025-08-19T18:19:45.412Z,1755627585.412 [DAT](INFO): got valid direction response:
 18:19:42.8754 LVL= 29936, 32753, 24498, 29731, AGC= 62, IDX= 415, 0.11,-2.207,-3.090,-0.698,-1.929, PHS=-0.175,-1.115, 1.188, RAW= 186.1,   1.0, CAL= 186.1,  -1.7, ROT= 323.9,   1.7

2025-08-19T18:19:45.413Z,1755627585.413 [DAT](INFO): DAT read: Bearing  12.6, -27.2 (Local)

2025-08-19T18:19:45.413Z,1755627585.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6, -27.2 (Local)

2025-08-19T18:19:45.415Z,1755627585.415 [DAT](INFO): DAT read: Range 11 to 50 : 151.3 m  (Round-trip  201.8 ms) speed  0.2 m/s

2025-08-19T18:19:45.415Z,1755627585.415 [DAT](INFO): DAT read: user:894>

2025-08-19T18:19:45.416Z,1755627585.416 [DAT](INFO): DAT read: Tx time:18:19:43.9695

2025-08-19T18:19:45.416Z,1755627585.416 [DAT](INFO): Ping request sent.
2025-08-19T18:19:45.416Z,1755627585.416 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:45.417Z,1755627585.417 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:45.440Z,1755627585.440 [DAT](INFO): direction in FSK: [0.807634,-0.588937,-0.029666]
2025-08-19T18:19:45.441Z,1755627585.441 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:45.441Z,1755627585.441 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:45.448Z,1755627585.448 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:45.448Z,1755627585.448 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:45.786Z,1755627585.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.300003 m,
      deltaT: 3.529167 s,
      deltaX: -1.599991 m,
      approachRate: -0.453362 m/s,
      rangeRepo size: 4

2025-08-19T18:19:45.797Z,1755627585.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 151.300003 m,
      bearing: 197.997961 deg,
      lat: 36.779395 deg,
      lon: -121.859592 deg,
      deltaT: 3.529167 s,
      deltaX: -1.599991 m,
      approachRate: -0.453362 m/s,
      posRepo size: 4

2025-08-19T18:19:45.802Z,1755627585.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.30 m.
2025-08-19T18:19:45.805Z,1755627585.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.300003 m,
      nav range: 147.535355 m,
      bearing: 197.997961 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.115852 deg/s,
      cmd heading: 171.117262 deg,
      new cmd heading: 170.958779 deg.

2025-08-19T18:19:46.133Z,1755627586.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.30 m.
2025-08-19T18:19:46.136Z,1755627586.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.300003 m,
      nav range: 147.338745 m,
      bearing: 197.952543 deg,
      approach rate: -0.546663 m/s,
      LOS rate: -0.126452 deg/s,
      cmd heading: 170.958774 deg,
      new cmd heading: 170.822338 deg.

2025-08-19T18:19:46.516Z,1755627586.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.30 m.
2025-08-19T18:19:46.519Z,1755627586.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.300003 m,
      nav range: 147.149048 m,
      bearing: 197.910493 deg,
      approach rate: -0.494949 m/s,
      LOS rate: -0.109854 deg/s,
      cmd heading: 170.822334 deg,
      new cmd heading: 170.696025 deg.

2025-08-19T18:19:46.952Z,1755627586.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:46.954Z,1755627586.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.30 m.
2025-08-19T18:19:46.957Z,1755627586.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.300003 m,
      nav range: 146.929352 m,
      bearing: 197.861979 deg,
      approach rate: -0.501495 m/s,
      LOS rate: -0.110909 deg/s,
      cmd heading: 170.696031 deg,
      new cmd heading: 170.550270 deg.

2025-08-19T18:19:47.154Z,1755627587.154 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:47.154Z,1755627587.154 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:47.155Z,1755627587.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:47.336Z,1755627587.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.30 m.
2025-08-19T18:19:47.339Z,1755627587.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.300003 m,
      nav range: 146.733170 m,
      bearing: 197.822243 deg,
      approach rate: -0.513048 m/s,
      LOS rate: -0.104056 deg/s,
      cmd heading: 170.550274 deg,
      new cmd heading: 170.430906 deg.

2025-08-19T18:19:47.407Z,1755627587.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990458
2025-08-19T18:19:47.658Z,1755627587.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241878
2025-08-19T18:19:47.736Z,1755627587.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.30 m.
2025-08-19T18:19:47.739Z,1755627587.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.300003 m,
      nav range: 146.526733 m,
      bearing: 197.782183 deg,
      approach rate: -0.516509 m/s,
      LOS rate: -0.100370 deg/s,
      cmd heading: 170.430910 deg,
      new cmd heading: 170.310564 deg.

2025-08-19T18:19:47.910Z,1755627587.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493942
2025-08-19T18:19:48.163Z,1755627588.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746045
2025-08-19T18:19:48.170Z,1755627588.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.30 m.
2025-08-19T18:19:48.174Z,1755627588.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.300003 m,
      nav range: 146.304138 m,
      bearing: 197.740850 deg,
      approach rate: -0.513698 m/s,
      LOS rate: -0.095532 deg/s,
      cmd heading: 170.310562 deg,
      new cmd heading: 170.186374 deg.

2025-08-19T18:19:48.414Z,1755627588.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997845
2025-08-19T18:19:48.553Z,1755627588.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.30 m.
2025-08-19T18:19:48.556Z,1755627588.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.300003 m,
      nav range: 146.112503 m,
      bearing: 197.706817 deg,
      approach rate: -0.526658 m/s,
      LOS rate: -0.093655 deg/s,
      cmd heading: 170.186376 deg,
      new cmd heading: 170.084141 deg.

2025-08-19T18:19:48.666Z,1755627588.666 [DAT](INFO): DAT read: Rx Time:18:19:46.5732

2025-08-19T18:19:48.667Z,1755627588.667 [DAT](INFO): Rx dataTimestamp_ set to:1755627588.666644
2025-08-19T18:19:48.668Z,1755627588.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251320
2025-08-19T18:19:48.919Z,1755627588.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502049
2025-08-19T18:19:48.960Z,1755627588.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:48.962Z,1755627588.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.30 m.
2025-08-19T18:19:48.964Z,1755627588.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.300003 m,
      nav range: 145.885178 m,
      bearing: 197.666255 deg,
      approach rate: -0.530698 m/s,
      LOS rate: -0.094841 deg/s,
      cmd heading: 170.084141 deg,
      new cmd heading: 169.962266 deg.

2025-08-19T18:19:49.181Z,1755627589.181 [DAT](INFO): DAT read: 18:19:46.5732 LVL= 23344, 27761, 21154, 29603, AGC= 58, IDX= 424,-0.36, 0.812,-0.367, 1.877, 0.914, PHS=-0.000,-1.236, 0.918, RAW= 175.1,   3.4, CAL= 174.5,   1.2, ROT= 335.5,  -1.2

2025-08-19T18:19:49.186Z,1755627589.186 [DAT](INFO): got valid direction response:
 18:19:46.5732 LVL= 23344, 27761, 21154, 29603, AGC= 58, IDX= 424,-0.36, 0.812,-0.367, 1.877, 0.914, PHS=-0.000,-1.236, 0.918, RAW= 175.1,   3.4, CAL= 174.5,   1.2, ROT= 335.5,  -1.2

2025-08-19T18:19:49.188Z,1755627589.188 [DAT](INFO): DAT read: Bearing   6.2, -14.5 (Local)

2025-08-19T18:19:49.189Z,1755627589.189 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.2, -14.5 (Local)

2025-08-19T18:19:49.192Z,1755627589.192 [DAT](INFO): DAT read: Range 11 to 50 : 149.7 m  (Round-trip  199.6 ms) speed  0.4 m/s

2025-08-19T18:19:49.193Z,1755627589.193 [DAT](INFO): DAT read: user:895>

2025-08-19T18:19:49.229Z,1755627589.229 [DAT](INFO): DAT read: Tx time:18:19:47.6695

2025-08-19T18:19:49.234Z,1755627589.234 [DAT](INFO): Ping request sent.
2025-08-19T18:19:49.234Z,1755627589.234 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:49.235Z,1755627589.235 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:49.236Z,1755627589.236 [DAT](INFO): direction in FSK: [0.909762,-0.414602,0.020942]
2025-08-19T18:19:49.237Z,1755627589.237 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:49.237Z,1755627589.237 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:49.245Z,1755627589.245 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:49.250Z,1755627589.250 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:49.413Z,1755627589.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.699997 m,
      deltaT: 3.778682 s,
      deltaX: -1.600006 m,
      approachRate: -0.423430 m/s,
      rangeRepo size: 4

2025-08-19T18:19:49.419Z,1755627589.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.699997 m,
      bearing: 197.271642 deg,
      lat: 36.779378 deg,
      lon: -121.859588 deg,
      deltaT: 3.778682 s,
      deltaX: -1.600006 m,
      approachRate: -0.423430 m/s,
      posRepo size: 4

2025-08-19T18:19:49.420Z,1755627589.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m.
2025-08-19T18:19:49.426Z,1755627589.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.699997 m,
      nav range: 147.372406 m,
      bearing: 197.271642 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.094841 deg/s,
      cmd heading: 169.962263 deg,
      new cmd heading: 169.834153 deg.

2025-08-19T18:19:49.762Z,1755627589.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m.
2025-08-19T18:19:49.764Z,1755627589.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.699997 m,
      nav range: 147.169067 m,
      bearing: 197.238463 deg,
      approach rate: -0.581712 m/s,
      LOS rate: -0.095049 deg/s,
      cmd heading: 169.834156 deg,
      new cmd heading: 169.734483 deg.

2025-08-19T18:19:50.220Z,1755627590.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m.
2025-08-19T18:19:50.223Z,1755627590.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.699997 m,
      nav range: 146.916885 m,
      bearing: 197.198465 deg,
      approach rate: -0.550153 m/s,
      LOS rate: -0.087410 deg/s,
      cmd heading: 169.734477 deg,
      new cmd heading: 169.614274 deg.

2025-08-19T18:19:50.578Z,1755627590.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m.
2025-08-19T18:19:50.581Z,1755627590.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.699997 m,
      nav range: 146.718277 m,
      bearing: 197.168532 deg,
      approach rate: -0.554283 m/s,
      LOS rate: -0.083650 deg/s,
      cmd heading: 169.614279 deg,
      new cmd heading: 169.524360 deg.

2025-08-19T18:19:50.993Z,1755627590.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:50.995Z,1755627590.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m.
2025-08-19T18:19:50.998Z,1755627590.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.699997 m,
      nav range: 146.491974 m,
      bearing: 197.135271 deg,
      approach rate: -0.542846 m/s,
      LOS rate: -0.079909 deg/s,
      cmd heading: 169.524366 deg,
      new cmd heading: 169.424428 deg.

2025-08-19T18:19:51.190Z,1755627591.190 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:51.190Z,1755627591.190 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:51.190Z,1755627591.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:51.380Z,1755627591.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m.
2025-08-19T18:19:51.383Z,1755627591.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.699997 m,
      nav range: 146.280838 m,
      bearing: 197.106030 deg,
      approach rate: -0.547881 m/s,
      LOS rate: -0.075986 deg/s,
      cmd heading: 169.424427 deg,
      new cmd heading: 169.336579 deg.

2025-08-19T18:19:51.439Z,1755627591.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205046
2025-08-19T18:19:51.692Z,1755627591.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458093
2025-08-19T18:19:51.802Z,1755627591.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m.
2025-08-19T18:19:51.805Z,1755627591.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.699997 m,
      nav range: 146.050613 m,
      bearing: 197.075997 deg,
      approach rate: -0.545843 m/s,
      LOS rate: -0.071319 deg/s,
      cmd heading: 169.336577 deg,
      new cmd heading: 169.246335 deg.

2025-08-19T18:19:51.943Z,1755627591.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708841
2025-08-19T18:19:52.196Z,1755627592.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961362
2025-08-19T18:19:52.263Z,1755627592.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m.
2025-08-19T18:19:52.266Z,1755627592.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.699997 m,
      nav range: 145.798553 m,
      bearing: 197.047424 deg,
      approach rate: -0.547517 m/s,
      LOS rate: -0.062173 deg/s,
      cmd heading: 169.246337 deg,
      new cmd heading: 169.160469 deg.

2025-08-19T18:19:52.446Z,1755627592.446 [DAT](INFO): DAT read: Rx Time:18:19:50.2706

2025-08-19T18:19:52.447Z,1755627592.447 [DAT](INFO): Rx dataTimestamp_ set to:1755627592.446635
2025-08-19T18:19:52.447Z,1755627592.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213457
2025-08-19T18:19:52.606Z,1755627592.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.70 m.
2025-08-19T18:19:52.608Z,1755627592.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.699997 m,
      nav range: 145.612549 m,
      bearing: 197.027805 deg,
      approach rate: -0.569041 m/s,
      LOS rate: -0.060096 deg/s,
      cmd heading: 169.160467 deg,
      new cmd heading: 169.101536 deg.

2025-08-19T18:19:52.700Z,1755627592.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465546
2025-08-19T18:19:52.956Z,1755627592.956 [DAT](INFO): DAT read: 18:19:50.2706 LVL= 32752, 32753, 29314, 32755, AGC= 67, IDX= 413,-0.05,-2.819, 2.036,-2.226,-2.845, PHS= 0.128,-1.357, 0.574, RAW= 162.8,   7.5, CAL= 162.3,   7.5, ROT= 347.7,  -7.5

2025-08-19T18:19:52.957Z,1755627592.957 [DAT](INFO): got valid direction response:
 18:19:50.2706 LVL= 32752, 32753, 29314, 32755, AGC= 67, IDX= 413,-0.05,-2.819, 2.036,-2.226,-2.845, PHS= 0.128,-1.357, 0.574, RAW= 162.8,   7.5, CAL= 162.3,   7.5, ROT= 347.7,  -7.5

2025-08-19T18:19:52.958Z,1755627592.958 [DAT](INFO): DAT read: Bearing   3.3,  -2.2 (Local)

2025-08-19T18:19:52.959Z,1755627592.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  -2.2 (Local)

2025-08-19T18:19:52.960Z,1755627592.960 [DAT](INFO): DAT read: Range 11 to 50 : 147.6 m  (Round-trip  196.9 ms) speed  0.6 m/s

2025-08-19T18:19:52.961Z,1755627592.961 [DAT](INFO): DAT read: user:896>

2025-08-19T18:19:52.986Z,1755627592.986 [DAT](INFO): DAT read: Tx time:18:19:51.3695

2025-08-19T18:19:52.986Z,1755627592.986 [DAT](INFO): Ping request sent.
2025-08-19T18:19:52.986Z,1755627592.986 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:52.987Z,1755627592.987 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:52.988Z,1755627592.988 [DAT](INFO): direction in FSK: [0.968687,-0.211208,0.130526]
2025-08-19T18:19:52.988Z,1755627592.988 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:52.988Z,1755627592.988 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:52.991Z,1755627592.991 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:52.991Z,1755627592.991 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:53.150Z,1755627593.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.600006 m,
      deltaT: 3.779650 s,
      deltaX: -2.099991 m,
      approachRate: -0.555605 m/s,
      rangeRepo size: 4

2025-08-19T18:19:53.152Z,1755627593.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.600006 m,
      bearing: 194.279413 deg,
      lat: 36.779378 deg,
      lon: -121.859508 deg,
      deltaT: 3.779650 s,
      deltaX: -2.099991 m,
      approachRate: -0.555605 m/s,
      posRepo size: 4

2025-08-19T18:19:53.153Z,1755627593.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-19T18:19:53.160Z,1755627593.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 143.397568 m,
      bearing: 194.279413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.060096 deg/s,
      cmd heading: 169.101537 deg,
      new cmd heading: 169.001364 deg.

2025-08-19T18:19:53.523Z,1755627593.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:53.526Z,1755627593.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-19T18:19:53.528Z,1755627593.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 143.182419 m,
      bearing: 194.253514 deg,
      approach rate: -0.565574 m/s,
      LOS rate: -0.068184 deg/s,
      cmd heading: 169.001365 deg,
      new cmd heading: 168.923552 deg.

2025-08-19T18:19:53.709Z,1755627593.709 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:53.710Z,1755627593.710 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:53.710Z,1755627593.710 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:53.959Z,1755627593.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972107
2025-08-19T18:19:53.971Z,1755627593.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-19T18:19:53.974Z,1755627593.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 142.944870 m,
      bearing: 194.232027 deg,
      approach rate: -0.532843 m/s,
      LOS rate: -0.048277 deg/s,
      cmd heading: 168.923556 deg,
      new cmd heading: 168.858989 deg.

2025-08-19T18:19:54.211Z,1755627594.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224636
2025-08-19T18:19:54.317Z,1755627594.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-19T18:19:54.320Z,1755627594.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 142.759842 m,
      bearing: 194.216804 deg,
      approach rate: -0.534878 m/s,
      LOS rate: -0.044066 deg/s,
      cmd heading: 168.858983 deg,
      new cmd heading: 168.813253 deg.

2025-08-19T18:19:54.462Z,1755627594.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475981
2025-08-19T18:19:54.725Z,1755627594.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738869
2025-08-19T18:19:54.735Z,1755627594.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-19T18:19:54.738Z,1755627594.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 142.535675 m,
      bearing: 194.200171 deg,
      approach rate: -0.536618 m/s,
      LOS rate: -0.039877 deg/s,
      cmd heading: 168.813248 deg,
      new cmd heading: 168.763273 deg.

2025-08-19T18:19:54.975Z,1755627594.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988140
2025-08-19T18:19:55.157Z,1755627595.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-19T18:19:55.167Z,1755627595.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 142.316437 m,
      bearing: 194.189081 deg,
      approach rate: -0.539572 m/s,
      LOS rate: -0.027337 deg/s,
      cmd heading: 168.763278 deg,
      new cmd heading: 168.729955 deg.

2025-08-19T18:19:55.227Z,1755627595.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240136
2025-08-19T18:19:55.478Z,1755627595.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492008
2025-08-19T18:19:55.540Z,1755627595.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:55.547Z,1755627595.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-19T18:19:55.552Z,1755627595.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 142.108673 m,
      bearing: 194.180147 deg,
      approach rate: -0.512425 m/s,
      LOS rate: -0.022067 deg/s,
      cmd heading: 168.729961 deg,
      new cmd heading: 168.703119 deg.

2025-08-19T18:19:55.731Z,1755627595.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744186
2025-08-19T18:19:55.994Z,1755627595.994 [DAT](INFO): DAT read: Rx Time:18:19:53.9678

2025-08-19T18:19:55.995Z,1755627595.995 [DAT](INFO): Rx dataTimestamp_ set to:1755627595.994634
2025-08-19T18:19:55.995Z,1755627595.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009082
2025-08-19T18:19:56.010Z,1755627596.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-19T18:19:56.013Z,1755627596.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 141.860229 m,
      bearing: 194.174277 deg,
      approach rate: -0.535977 m/s,
      LOS rate: -0.012684 deg/s,
      cmd heading: 168.703118 deg,
      new cmd heading: 168.685479 deg.

2025-08-19T18:19:56.243Z,1755627596.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256390
2025-08-19T18:19:56.358Z,1755627596.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-19T18:19:56.360Z,1755627596.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.600006 m,
      nav range: 141.663544 m,
      bearing: 194.171157 deg,
      approach rate: -0.566477 m/s,
      LOS rate: -0.008999 deg/s,
      cmd heading: 168.685482 deg,
      new cmd heading: 168.676109 deg.

2025-08-19T18:19:56.507Z,1755627596.507 [DAT](INFO): DAT read: 18:19:53.9678 LVL= 30704, 32753, 30274, 32755, AGC= 65, IDX= 417, 0.20, 1.250,-0.453, 1.442, 0.972, PHS= 0.380,-1.380, 0.426, RAW= 151.3,   6.5, CAL= 150.6,   6.8, ROT= 359.4,  -6.8

2025-08-19T18:19:56.508Z,1755627596.508 [DAT](INFO): got valid direction response:
 18:19:53.9678 LVL= 30704, 32753, 30274, 32755, AGC= 65, IDX= 417, 0.20, 1.250,-0.453, 1.442, 0.972, PHS= 0.380,-1.380, 0.426, RAW= 151.3,   6.5, CAL= 150.6,   6.8, ROT= 359.4,  -6.8

2025-08-19T18:19:56.509Z,1755627596.509 [DAT](INFO): DAT read: Bearing 352.5,   9.8 (Local)

2025-08-19T18:19:56.509Z,1755627596.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.5,   9.8 (Local)

2025-08-19T18:19:56.519Z,1755627596.519 [DAT](INFO): DAT read: Range 11 to 50 : 145.6 m  (Round-trip  194.2 ms) speed  0.6 m/s

2025-08-19T18:19:56.520Z,1755627596.520 [DAT](INFO): DAT read: user:897>

2025-08-19T18:19:56.520Z,1755627596.520 [DAT](INFO): DAT read: Tx time:18:19:55.0695

2025-08-19T18:19:56.521Z,1755627596.521 [DAT](INFO): Ping request sent.
2025-08-19T18:19:56.521Z,1755627596.521 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:19:56.521Z,1755627596.521 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:19:56.526Z,1755627596.526 [DAT](INFO): direction in FSK: [0.992911,-0.010398,0.118404]
2025-08-19T18:19:56.527Z,1755627596.527 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:56.527Z,1755627596.527 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:56.546Z,1755627596.546 [DAT](INFO): publishing transmit ping time
2025-08-19T18:19:56.546Z,1755627596.546 [DAT](INFO): publishing direction and range info
2025-08-19T18:19:56.770Z,1755627596.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.600006 m,
      deltaT: 3.545691 s,
      deltaX: -2.000000 m,
      approachRate: -0.564065 m/s,
      rangeRepo size: 4

2025-08-19T18:19:56.772Z,1755627596.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.600006 m,
      bearing: 194.167686 deg,
      lat: 36.779378 deg,
      lon: -121.859508 deg,
      deltaT: 3.545691 s,
      deltaX: -2.000000 m,
      approachRate: -0.564065 m/s,
      posRepo size: 4

2025-08-19T18:19:56.773Z,1755627596.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-19T18:19:56.775Z,1755627596.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.600006 m,
      nav range: 141.445328 m,
      bearing: 194.167686 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008999 deg/s,
      cmd heading: 168.676111 deg,
      new cmd heading: 168.665001 deg.

2025-08-19T18:19:57.224Z,1755627597.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-19T18:19:57.231Z,1755627597.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.600006 m,
      nav range: 141.204437 m,
      bearing: 194.163200 deg,
      approach rate: -0.529353 m/s,
      LOS rate: -0.009875 deg/s,
      cmd heading: 168.665006 deg,
      new cmd heading: 168.651525 deg.

2025-08-19T18:19:57.557Z,1755627597.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:57.559Z,1755627597.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-19T18:19:57.562Z,1755627597.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.600006 m,
      nav range: 141.021530 m,
      bearing: 194.164018 deg,
      approach rate: -0.545952 m/s,
      LOS rate: 0.002445 deg/s,
      cmd heading: 168.651523 deg,
      new cmd heading: 168.653981 deg.

2025-08-19T18:19:57.754Z,1755627597.754 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:19:57.754Z,1755627597.754 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:19:57.755Z,1755627597.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:19:58.007Z,1755627598.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485783
2025-08-19T18:19:58.055Z,1755627598.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-19T18:19:58.058Z,1755627598.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.600006 m,
      nav range: 140.770020 m,
      bearing: 194.166199 deg,
      approach rate: -0.507327 m/s,
      LOS rate: 0.004408 deg/s,
      cmd heading: 168.653982 deg,
      new cmd heading: 168.660537 deg.

2025-08-19T18:19:58.259Z,1755627598.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737965
2025-08-19T18:19:58.390Z,1755627598.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-19T18:19:58.399Z,1755627598.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.600006 m,
      nav range: 140.582611 m,
      bearing: 194.169200 deg,
      approach rate: -0.567057 m/s,
      LOS rate: 0.009094 deg/s,
      cmd heading: 168.660539 deg,
      new cmd heading: 168.669555 deg.

2025-08-19T18:19:58.511Z,1755627598.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989948
2025-08-19T18:19:58.763Z,1755627598.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241817
2025-08-19T18:19:58.768Z,1755627598.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-19T18:19:58.771Z,1755627598.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.600006 m,
      nav range: 140.374207 m,
      bearing: 194.174004 deg,
      approach rate: -0.544167 m/s,
      LOS rate: 0.012561 deg/s,
      cmd heading: 168.669554 deg,
      new cmd heading: 168.683987 deg.

2025-08-19T18:19:59.015Z,1755627599.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494324
2025-08-19T18:19:59.234Z,1755627599.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-19T18:19:59.237Z,1755627599.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.600006 m,
      nav range: 140.133881 m,
      bearing: 194.179012 deg,
      approach rate: -0.515927 m/s,
      LOS rate: 0.010770 deg/s,
      cmd heading: 168.683980 deg,
      new cmd heading: 168.699030 deg.

2025-08-19T18:19:59.267Z,1755627599.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745784
2025-08-19T18:19:59.519Z,1755627599.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998218
2025-08-19T18:19:59.575Z,1755627599.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:19:59.577Z,1755627599.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-19T18:19:59.579Z,1755627599.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.600006 m,
      nav range: 139.943466 m,
      bearing: 194.184281 deg,
      approach rate: -0.556145 m/s,
      LOS rate: 0.015409 deg/s,
      cmd heading: 168.699034 deg,
      new cmd heading: 168.714861 deg.

2025-08-19T18:19:59.770Z,1755627599.770 [DAT](INFO): DAT read: Rx Time:18:19:57.6653

2025-08-19T18:19:59.771Z,1755627599.771 [DAT](INFO): Rx dataTimestamp_ set to:1755627599.770622
2025-08-19T18:19:59.771Z,1755627599.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250719
2025-08-19T18:20:00.022Z,1755627600.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501616
2025-08-19T18:20:00.071Z,1755627600.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.60 m.
2025-08-19T18:20:00.074Z,1755627600.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.600006 m,
      nav range: 139.677734 m,
      bearing: 194.192107 deg,
      approach rate: -0.537731 m/s,
      LOS rate: 0.015867 deg/s,
      cmd heading: 168.714866 deg,
      new cmd heading: 168.738389 deg.

2025-08-19T18:20:00.281Z,1755627600.281 [DAT](INFO): DAT read: 18:19:57.6653 LVL= 31792, 32753, 29170, 32755, AGC= 62, IDX= 423,-0.05, 0.647,-1.157, 0.555, 0.253, PHS= 0.495,-1.365, 0.258, RAW= 143.3,   7.0, CAL= 142.9,   7.7, ROT=   7.1,  -7.7

2025-08-19T18:20:00.283Z,1755627600.283 [DAT](INFO): got valid direction response:
 18:19:57.6653 LVL= 31792, 32753, 29170, 32755, AGC= 62, IDX= 423,-0.05, 0.647,-1.157, 0.555, 0.253, PHS= 0.495,-1.365, 0.258, RAW= 143.3,   7.0, CAL= 142.9,   7.7, ROT=   7.1,  -7.7

2025-08-19T18:20:00.284Z,1755627600.284 [DAT](INFO): DAT read: Bearing 343.9,  18.2 (Local)

2025-08-19T18:20:00.284Z,1755627600.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.9,  18.2 (Local)

2025-08-19T18:20:00.286Z,1755627600.286 [DAT](INFO): DAT read: Range 11 to 50 : 143.7 m  (Round-trip  191.6 ms) speed  0.4 m/s

2025-08-19T18:20:00.287Z,1755627600.287 [DAT](INFO): DAT read: user:898>

2025-08-19T18:20:00.288Z,1755627600.288 [DAT](INFO): DAT read: Tx time:18:19:58.7695

2025-08-19T18:20:00.288Z,1755627600.288 [DAT](INFO): Ping request sent.
2025-08-19T18:20:00.288Z,1755627600.288 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:00.288Z,1755627600.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:00.291Z,1755627600.291 [DAT](INFO): direction in FSK: [0.983384,0.122487,0.133986]
2025-08-19T18:20:00.292Z,1755627600.292 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:00.294Z,1755627600.294 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:00.299Z,1755627600.299 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:00.299Z,1755627600.299 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:00.474Z,1755627600.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.699997 m,
      deltaT: 3.778390 s,
      deltaX: -1.900009 m,
      approachRate: -0.502862 m/s,
      rangeRepo size: 4

2025-08-19T18:20:00.476Z,1755627600.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.699997 m,
      bearing: 194.519458 deg,
      lat: 36.779406 deg,
      lon: -121.859508 deg,
      deltaT: 3.778390 s,
      deltaX: -1.900009 m,
      approachRate: -0.502862 m/s,
      posRepo size: 4

2025-08-19T18:20:00.476Z,1755627600.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-19T18:20:00.483Z,1755627600.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 136.492508 m,
      bearing: 194.519458 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015867 deg/s,
      cmd heading: 168.738389 deg,
      new cmd heading: 168.757342 deg.

2025-08-19T18:20:00.826Z,1755627600.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-19T18:20:00.828Z,1755627600.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 136.289673 m,
      bearing: 194.530316 deg,
      approach rate: -0.568597 m/s,
      LOS rate: 0.030483 deg/s,
      cmd heading: 168.757336 deg,
      new cmd heading: 168.789959 deg.

2025-08-19T18:20:01.275Z,1755627601.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-19T18:20:01.278Z,1755627601.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 136.052383 m,
      bearing: 194.539168 deg,
      approach rate: -0.527972 m/s,
      LOS rate: 0.019730 deg/s,
      cmd heading: 168.789957 deg,
      new cmd heading: 168.816559 deg.

2025-08-19T18:20:01.641Z,1755627601.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:01.643Z,1755627601.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-19T18:20:01.648Z,1755627601.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 135.852310 m,
      bearing: 194.546655 deg,
      approach rate: -0.543702 m/s,
      LOS rate: 0.020378 deg/s,
      cmd heading: 168.816554 deg,
      new cmd heading: 168.839050 deg.

2025-08-19T18:20:01.786Z,1755627601.786 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:01.786Z,1755627601.786 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:01.787Z,1755627601.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:02.040Z,1755627602.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751937
2025-08-19T18:20:02.091Z,1755627602.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-19T18:20:02.094Z,1755627602.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 135.600632 m,
      bearing: 194.561278 deg,
      approach rate: -0.561651 m/s,
      LOS rate: 0.032693 deg/s,
      cmd heading: 168.839052 deg,
      new cmd heading: 168.883002 deg.

2025-08-19T18:20:02.290Z,1755627602.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002356
2025-08-19T18:20:02.445Z,1755627602.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-19T18:20:02.448Z,1755627602.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 135.408035 m,
      bearing: 194.573886 deg,
      approach rate: -0.543943 m/s,
      LOS rate: 0.035658 deg/s,
      cmd heading: 168.882998 deg,
      new cmd heading: 168.920874 deg.

2025-08-19T18:20:02.543Z,1755627602.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255145
2025-08-19T18:20:02.794Z,1755627602.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506343
2025-08-19T18:20:02.847Z,1755627602.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-19T18:20:02.850Z,1755627602.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 135.190094 m,
      bearing: 194.589785 deg,
      approach rate: -0.542188 m/s,
      LOS rate: 0.039617 deg/s,
      cmd heading: 168.920878 deg,
      new cmd heading: 168.968652 deg.

2025-08-19T18:20:03.049Z,1755627603.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760456
2025-08-19T18:20:03.285Z,1755627603.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-19T18:20:03.299Z,1755627603.299 [DAT](INFO): DAT read: Rx Time:18:20:01.3625

2025-08-19T18:20:03.299Z,1755627603.299 [DAT](INFO): Rx dataTimestamp_ set to:1755627603.298954
2025-08-19T18:20:03.300Z,1755627603.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011803
2025-08-19T18:20:03.314Z,1755627603.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 134.962860 m,
      bearing: 194.605465 deg,
      approach rate: -0.519254 m/s,
      LOS rate: 0.035893 deg/s,
      cmd heading: 168.968648 deg,
      new cmd heading: 169.015770 deg.

2025-08-19T18:20:03.550Z,1755627603.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262390
2025-08-19T18:20:03.662Z,1755627603.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:03.666Z,1755627603.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.70 m.
2025-08-19T18:20:03.671Z,1755627603.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.699997 m,
      nav range: 134.749710 m,
      bearing: 194.621823 deg,
      approach rate: -0.560163 m/s,
      LOS rate: 0.043057 deg/s,
      cmd heading: 169.015777 deg,
      new cmd heading: 169.064928 deg.

2025-08-19T18:20:03.803Z,1755627603.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514672
2025-08-19T18:20:04.075Z,1755627604.075 [DAT](INFO): DAT read: 18:20:01.3625 LVL= 31072, 32753, 32626, 32755, AGC= 60, IDX= 411,-0.43, 1.744,-0.189, 1.325, 1.209, PHS= 0.637,-1.353, 0.072, RAW= 134.0,   7.3, CAL= 134.0,   8.4, ROT=  16.0,  -8.4

2025-08-19T18:20:04.076Z,1755627604.076 [DAT](INFO): got valid direction response:
 18:20:01.3625 LVL= 31072, 32753, 32626, 32755, AGC= 60, IDX= 411,-0.43, 1.744,-0.189, 1.325, 1.209, PHS= 0.637,-1.353, 0.072, RAW= 134.0,   7.3, CAL= 134.0,   8.4, ROT=  16.0,  -8.4

2025-08-19T18:20:04.077Z,1755627604.077 [DAT](INFO): DAT read: Bearing 336.7,  27.4 (Local)

2025-08-19T18:20:04.077Z,1755627604.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 336.7,  27.4 (Local)

2025-08-19T18:20:04.079Z,1755627604.079 [DAT](INFO): DAT read: Range 11 to 50 : 141.6 m  (Round-trip  188.9 ms) speed  0.4 m/s

2025-08-19T18:20:04.080Z,1755627604.080 [DAT](INFO): DAT read: user:899>

2025-08-19T18:20:04.080Z,1755627604.080 [DAT](INFO): DAT read: Tx time:18:20:02.4695

2025-08-19T18:20:04.081Z,1755627604.081 [DAT](INFO): Ping request sent.
2025-08-19T18:20:04.081Z,1755627604.081 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:04.081Z,1755627604.081 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:04.082Z,1755627604.082 [DAT](INFO): direction in FSK: [0.950950,0.272680,0.146083]
2025-08-19T18:20:04.082Z,1755627604.082 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:04.083Z,1755627604.083 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:04.102Z,1755627604.102 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:04.102Z,1755627604.102 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:04.263Z,1755627604.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.600006 m,
      deltaT: 3.781769 s,
      deltaX: -2.099991 m,
      approachRate: -0.555293 m/s,
      rangeRepo size: 4

2025-08-19T18:20:04.270Z,1755627604.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.600006 m,
      bearing: 194.754702 deg,
      lat: 36.779410 deg,
      lon: -121.859510 deg,
      deltaT: 3.781769 s,
      deltaX: -2.099991 m,
      approachRate: -0.555293 m/s,
      posRepo size: 4

2025-08-19T18:20:04.270Z,1755627604.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:20:04.273Z,1755627604.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 134.066284 m,
      bearing: 194.754702 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.043057 deg/s,
      cmd heading: 169.064927 deg,
      new cmd heading: 169.142106 deg.

2025-08-19T18:20:04.594Z,1755627604.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:20:04.597Z,1755627604.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 133.869064 m,
      bearing: 194.771300 deg,
      approach rate: -0.596003 m/s,
      LOS rate: 0.050232 deg/s,
      cmd heading: 169.142108 deg,
      new cmd heading: 169.191974 deg.

2025-08-19T18:20:04.977Z,1755627604.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:20:04.979Z,1755627604.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 133.654007 m,
      bearing: 194.792818 deg,
      approach rate: -0.561755 m/s,
      LOS rate: 0.056298 deg/s,
      cmd heading: 169.191968 deg,
      new cmd heading: 169.256626 deg.

2025-08-19T18:20:05.406Z,1755627605.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:20:05.408Z,1755627605.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 133.417969 m,
      bearing: 194.814938 deg,
      approach rate: -0.550165 m/s,
      LOS rate: 0.051650 deg/s,
      cmd heading: 169.256623 deg,
      new cmd heading: 169.323102 deg.

2025-08-19T18:20:05.768Z,1755627605.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:05.770Z,1755627605.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:20:05.773Z,1755627605.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 133.219345 m,
      bearing: 194.836611 deg,
      approach rate: -0.545180 m/s,
      LOS rate: 0.059576 deg/s,
      cmd heading: 169.323108 deg,
      new cmd heading: 169.388224 deg.

2025-08-19T18:20:05.818Z,1755627605.818 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:05.818Z,1755627605.818 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:05.819Z,1755627605.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:06.073Z,1755627606.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992126
2025-08-19T18:20:06.236Z,1755627606.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:20:06.243Z,1755627606.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 132.978958 m,
      bearing: 194.862508 deg,
      approach rate: -0.515783 m/s,
      LOS rate: 0.055665 deg/s,
      cmd heading: 169.388227 deg,
      new cmd heading: 169.466057 deg.

2025-08-19T18:20:06.323Z,1755627606.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242248
2025-08-19T18:20:06.575Z,1755627606.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493846
2025-08-19T18:20:06.581Z,1755627606.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:20:06.584Z,1755627606.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 132.784134 m,
      bearing: 194.884941 deg,
      approach rate: -0.565085 m/s,
      LOS rate: 0.065162 deg/s,
      cmd heading: 169.466064 deg,
      new cmd heading: 169.533462 deg.

2025-08-19T18:20:06.826Z,1755627606.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745783
2025-08-19T18:20:06.997Z,1755627606.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:20:06.000Z,1755627607.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 132.563339 m,
      bearing: 194.911860 deg,
      approach rate: -0.530851 m/s,
      LOS rate: 0.064829 deg/s,
      cmd heading: 169.533464 deg,
      new cmd heading: 169.614356 deg.

2025-08-19T18:20:07.087Z,1755627607.087 [DAT](INFO): DAT read: Rx Time:18:20:05.0596

2025-08-19T18:20:07.088Z,1755627607.088 [DAT](INFO): Rx dataTimestamp_ set to:1755627607.087514
2025-08-19T18:20:07.093Z,1755627607.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011539
2025-08-19T18:20:07.334Z,1755627607.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253765
2025-08-19T18:20:07.418Z,1755627607.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.60 m.
2025-08-19T18:20:07.420Z,1755627607.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.600006 m,
      nav range: 132.343033 m,
      bearing: 194.941120 deg,
      approach rate: -0.523450 m/s,
      LOS rate: 0.069639 deg/s,
      cmd heading: 169.614361 deg,
      new cmd heading: 169.702288 deg.

2025-08-19T18:20:07.600Z,1755627607.600 [DAT](INFO): DAT read: 18:20:05.0596 LVL= 30288, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.30,-2.486, 1.888,-3.086,-3.042, PHS= 0.658,-1.308,-0.087, RAW= 127.9,   8.6, CAL= 128.2,   9.9, ROT=  21.8,  -9.9

2025-08-19T18:20:07.601Z,1755627607.601 [DAT](INFO): got valid direction response:
 18:20:05.0596 LVL= 30288, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.30,-2.486, 1.888,-3.086,-3.042, PHS= 0.658,-1.308,-0.087, RAW= 127.9,   8.6, CAL= 128.2,   9.9, ROT=  21.8,  -9.9

2025-08-19T18:20:07.606Z,1755627607.606 [DAT](INFO): DAT read: Bearing 330.5,  33.7 (Local)

2025-08-19T18:20:07.607Z,1755627607.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.5,  33.7 (Local)

2025-08-19T18:20:07.608Z,1755627607.608 [DAT](INFO): DAT read: Range 11 to 50 : 139.5 m  (Round-trip  186.0 ms) speed  0.4 m/s

2025-08-19T18:20:07.609Z,1755627607.609 [DAT](INFO): DAT read: user:900>

2025-08-19T18:20:07.611Z,1755627607.611 [DAT](INFO): DAT read: Tx time:18:20:06.1695

2025-08-19T18:20:07.611Z,1755627607.611 [DAT](INFO): Ping request sent.
2025-08-19T18:20:07.611Z,1755627607.611 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:07.611Z,1755627607.611 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:07.612Z,1755627607.612 [DAT](INFO): direction in FSK: [0.914660,0.365838,0.171929]
2025-08-19T18:20:07.613Z,1755627607.613 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:07.613Z,1755627607.613 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:07.624Z,1755627607.624 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:07.624Z,1755627607.624 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:07.816Z,1755627607.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.500000 m,
      deltaT: 3.532035 s,
      deltaX: -2.100006 m,
      approachRate: -0.594560 m/s,
      rangeRepo size: 4

2025-08-19T18:20:07.823Z,1755627607.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 139.500000 m,
      bearing: 195.049165 deg,
      lat: 36.779416 deg,
      lon: -121.859510 deg,
      deltaT: 3.532035 s,
      deltaX: -2.100006 m,
      approachRate: -0.594560 m/s,
      posRepo size: 4

2025-08-19T18:20:07.823Z,1755627607.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-19T18:20:07.830Z,1755627607.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 131.454025 m,
      bearing: 195.049165 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.069639 deg/s,
      cmd heading: 169.702293 deg,
      new cmd heading: 169.785305 deg.

2025-08-19T18:20:08.083Z,1755627608.083 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:20:08.215Z,1755627608.215 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +50,  +553,  

2025-08-19T18:20:08.229Z,1755627608.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:08.231Z,1755627608.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-19T18:20:08.234Z,1755627608.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 131.229828 m,
      bearing: 195.081807 deg,
      approach rate: -0.538972 m/s,
      LOS rate: 0.078604 deg/s,
      cmd heading: 169.785307 deg,
      new cmd heading: 169.883398 deg.

2025-08-19T18:20:08.343Z,1755627608.343 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:08.343Z,1755627608.343 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:08.344Z,1755627608.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:08.595Z,1755627608.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983468
2025-08-19T18:20:08.607Z,1755627608.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-19T18:20:08.610Z,1755627608.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 131.035034 m,
      bearing: 195.111061 deg,
      approach rate: -0.518250 m/s,
      LOS rate: 0.077947 deg/s,
      cmd heading: 169.883402 deg,
      new cmd heading: 169.971295 deg.

2025-08-19T18:20:08.847Z,1755627608.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235691
2025-08-19T18:20:09.008Z,1755627609.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-19T18:20:09.011Z,1755627609.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 130.827667 m,
      bearing: 195.142967 deg,
      approach rate: -0.516159 m/s,
      LOS rate: 0.079542 deg/s,
      cmd heading: 169.971293 deg,
      new cmd heading: 170.067161 deg.

2025-08-19T18:20:09.086Z,1755627609.086 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:20:09.102Z,1755627609.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489693
2025-08-19T18:20:09.350Z,1755627609.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739371
2025-08-19T18:20:09.456Z,1755627609.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-19T18:20:09.463Z,1755627609.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 130.612503 m,
      bearing: 195.183088 deg,
      approach rate: -0.480870 m/s,
      LOS rate: 0.089816 deg/s,
      cmd heading: 170.067161 deg,
      new cmd heading: 170.187725 deg.

2025-08-19T18:20:09.602Z,1755627609.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991358
2025-08-19T18:20:09.826Z,1755627609.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-19T18:20:09.828Z,1755627609.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 130.428650 m,
      bearing: 195.217857 deg,
      approach rate: -0.503233 m/s,
      LOS rate: 0.095302 deg/s,
      cmd heading: 170.187728 deg,
      new cmd heading: 170.292181 deg.

2025-08-19T18:20:09.855Z,1755627609.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243585
2025-08-19T18:20:10.109Z,1755627610.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497670
2025-08-19T18:20:10.249Z,1755627610.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:10.251Z,1755627610.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-19T18:20:10.254Z,1755627610.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 130.203766 m,
      bearing: 195.260347 deg,
      approach rate: -0.523564 m/s,
      LOS rate: 0.099093 deg/s,
      cmd heading: 170.292175 deg,
      new cmd heading: 170.419864 deg.

2025-08-19T18:20:10.359Z,1755627610.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747391
2025-08-19T18:20:10.610Z,1755627610.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999192
2025-08-19T18:20:10.650Z,1755627610.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-19T18:20:10.655Z,1755627610.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 130.004517 m,
      bearing: 195.298288 deg,
      approach rate: -0.500335 m/s,
      LOS rate: 0.095420 deg/s,
      cmd heading: 170.419859 deg,
      new cmd heading: 170.533857 deg.

2025-08-19T18:20:10.862Z,1755627610.862 [DAT](INFO): DAT read: Rx Time:18:20:08.7571

2025-08-19T18:20:10.863Z,1755627610.863 [DAT](INFO): Rx dataTimestamp_ set to:1755627610.862686
2025-08-19T18:20:10.864Z,1755627610.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252460
2025-08-19T18:20:11.024Z,1755627611.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.50 m.
2025-08-19T18:20:11.027Z,1755627611.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.500000 m,
      nav range: 129.810196 m,
      bearing: 195.335433 deg,
      approach rate: -0.518339 m/s,
      LOS rate: 0.099230 deg/s,
      cmd heading: 170.533855 deg,
      new cmd heading: 170.645456 deg.

2025-08-19T18:20:11.114Z,1755627611.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503207
2025-08-19T18:20:11.372Z,1755627611.372 [DAT](INFO): DAT read: 18:20:08.7570 LVL= 24944, 32753, 31282, 32755, AGC= 60, IDX= 419, 0.13,-1.325, 3.084,-1.989,-1.931, PHS= 0.708,-1.223,-0.102, RAW= 125.3,   7.4, CAL= 126.0,   8.6, ROT=  24.0,  -8.6

2025-08-19T18:20:11.373Z,1755627611.373 [DAT](INFO): got valid direction response:
 18:20:08.7570 LVL= 24944, 32753, 31282, 32755, AGC= 60, IDX= 419, 0.13,-1.325, 3.084,-1.989,-1.931, PHS= 0.708,-1.223,-0.102, RAW= 125.3,   7.4, CAL= 126.0,   8.6, ROT=  24.0,  -8.6

2025-08-19T18:20:11.374Z,1755627611.374 [DAT](INFO): DAT read: Bearing 325.1,  37.6 (Local)

2025-08-19T18:20:11.374Z,1755627611.374 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.1,  37.6 (Local)

2025-08-19T18:20:11.376Z,1755627611.376 [DAT](INFO): DAT read: Range 11 to 50 : 137.5 m  (Round-trip  183.4 ms) speed  0.4 m/s

2025-08-19T18:20:11.377Z,1755627611.377 [DAT](INFO): DAT read: user:901>

2025-08-19T18:20:11.377Z,1755627611.377 [DAT](INFO): DAT read: Tx time:18:20:09.8709

2025-08-19T18:20:11.378Z,1755627611.378 [DAT](INFO): Ping request sent.
2025-08-19T18:20:11.378Z,1755627611.378 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:11.378Z,1755627611.378 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:11.379Z,1755627611.379 [DAT](INFO): direction in FSK: [0.903274,0.402163,0.149535]
2025-08-19T18:20:11.379Z,1755627611.379 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:11.380Z,1755627611.380 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:11.383Z,1755627611.383 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:11.383Z,1755627611.383 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:11.544Z,1755627611.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.500000 m,
      deltaT: 3.778177 s,
      deltaX: -2.000000 m,
      approachRate: -0.529356 m/s,
      rangeRepo size: 4

2025-08-19T18:20:11.547Z,1755627611.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.500000 m,
      bearing: 195.446818 deg,
      lat: 36.779421 deg,
      lon: -121.859510 deg,
      deltaT: 3.778177 s,
      deltaX: -2.000000 m,
      approachRate: -0.529356 m/s,
      posRepo size: 4

2025-08-19T18:20:11.547Z,1755627611.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m.
2025-08-19T18:20:11.554Z,1755627611.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.500000 m,
      nav range: 129.066711 m,
      bearing: 195.446818 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.099230 deg/s,
      cmd heading: 170.645460 deg,
      new cmd heading: 170.800169 deg.

2025-08-19T18:20:11.872Z,1755627611.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m.
2025-08-19T18:20:11.875Z,1755627611.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.500000 m,
      nav range: 128.891205 m,
      bearing: 195.482868 deg,
      approach rate: -0.534514 m/s,
      LOS rate: 0.109940 deg/s,
      cmd heading: 170.800164 deg,
      new cmd heading: 170.908459 deg.

2025-08-19T18:20:12.304Z,1755627612.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:12.307Z,1755627612.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m.
2025-08-19T18:20:12.310Z,1755627612.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.500000 m,
      nav range: 128.672089 m,
      bearing: 195.531280 deg,
      approach rate: -0.503982 m/s,
      LOS rate: 0.111542 deg/s,
      cmd heading: 170.908463 deg,
      new cmd heading: 171.053948 deg.

2025-08-19T18:20:12.375Z,1755627612.375 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:12.375Z,1755627612.375 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:12.375Z,1755627612.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:12.628Z,1755627612.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249753
2025-08-19T18:20:12.687Z,1755627612.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m.
2025-08-19T18:20:12.690Z,1755627612.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.500000 m,
      nav range: 128.480438 m,
      bearing: 195.573597 deg,
      approach rate: -0.503851 m/s,
      LOS rate: 0.111417 deg/s,
      cmd heading: 171.053946 deg,
      new cmd heading: 171.181085 deg.

2025-08-19T18:20:12.879Z,1755627612.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501067
2025-08-19T18:20:13.133Z,1755627613.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754688
2025-08-19T18:20:13.299Z,1755627613.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m.
2025-08-19T18:20:13.302Z,1755627613.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.500000 m,
      nav range: 128.167267 m,
      bearing: 195.642757 deg,
      approach rate: -0.511805 m/s,
      LOS rate: 0.113302 deg/s,
      cmd heading: 171.181083 deg,
      new cmd heading: 171.389069 deg.

2025-08-19T18:20:13.383Z,1755627613.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004618
2025-08-19T18:20:13.635Z,1755627613.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257345
2025-08-19T18:20:13.769Z,1755627613.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m.
2025-08-19T18:20:13.771Z,1755627613.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.500000 m,
      nav range: 127.927132 m,
      bearing: 195.695414 deg,
      approach rate: -0.511477 m/s,
      LOS rate: 0.112368 deg/s,
      cmd heading: 171.389063 deg,
      new cmd heading: 171.547331 deg.

2025-08-19T18:20:13.887Z,1755627613.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508603
2025-08-19T18:20:14.143Z,1755627614.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765184
2025-08-19T18:20:14.286Z,1755627614.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m.
2025-08-19T18:20:14.288Z,1755627614.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.500000 m,
      nav range: 127.665070 m,
      bearing: 195.751758 deg,
      approach rate: -0.507082 m/s,
      LOS rate: 0.109248 deg/s,
      cmd heading: 171.547332 deg,
      new cmd heading: 171.716710 deg.

2025-08-19T18:20:14.392Z,1755627614.392 [DAT](INFO): DAT read: Rx Time:18:20:12.4559

2025-08-19T18:20:14.393Z,1755627614.393 [DAT](INFO): Rx dataTimestamp_ set to:1755627614.392239
2025-08-19T18:20:14.393Z,1755627614.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015193
2025-08-19T18:20:14.644Z,1755627614.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265352
2025-08-19T18:20:14.681Z,1755627614.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:14.683Z,1755627614.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m.
2025-08-19T18:20:14.686Z,1755627614.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.500000 m,
      nav range: 127.452576 m,
      bearing: 195.797405 deg,
      approach rate: -0.534573 m/s,
      LOS rate: 0.115026 deg/s,
      cmd heading: 171.716707 deg,
      new cmd heading: 171.853876 deg.

2025-08-19T18:20:14.895Z,1755627614.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517553
2025-08-19T18:20:15.079Z,1755627615.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.50 m.
2025-08-19T18:20:15.082Z,1755627615.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.500000 m,
      nav range: 127.248611 m,
      bearing: 195.841381 deg,
      approach rate: -0.514401 m/s,
      LOS rate: 0.111085 deg/s,
      cmd heading: 171.853871 deg,
      new cmd heading: 171.986008 deg.

2025-08-19T18:20:15.154Z,1755627615.154 [DAT](INFO): DAT read: 18:20:12.4559 LVL= 27776, 32753, 32642, 32755, AGC= 62, IDX= 408,-0.09,-1.581, 2.917,-2.199,-2.192, PHS= 0.713,-1.129,-0.051, RAW= 125.6,   5.9, CAL= 126.5,   7.1, ROT=  23.5,  -7.1

2025-08-19T18:20:15.155Z,1755627615.155 [DAT](INFO): got valid direction response:
 18:20:12.4559 LVL= 27776, 32753, 32642, 32755, AGC= 62, IDX= 408,-0.09,-1.581, 2.917,-2.199,-2.192, PHS= 0.713,-1.129,-0.051, RAW= 125.6,   5.9, CAL= 126.5,   7.1, ROT=  23.5,  -7.1

2025-08-19T18:20:15.156Z,1755627615.156 [DAT](INFO): DAT read: Bearing 322.5,  39.4 (Local)

2025-08-19T18:20:15.156Z,1755627615.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.5,  39.4 (Local)

2025-08-19T18:20:15.158Z,1755627615.158 [DAT](INFO): DAT read: Range 11 to 50 : 135.6 m  (Round-trip  180.8 ms) speed  0.4 m/s

2025-08-19T18:20:15.158Z,1755627615.158 [DAT](INFO): DAT read: user:902>

2025-08-19T18:20:15.159Z,1755627615.159 [DAT](INFO): DAT read: Tx time:18:20:13.5694

2025-08-19T18:20:15.159Z,1755627615.159 [DAT](INFO): Ping request sent.
2025-08-19T18:20:15.159Z,1755627615.159 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:15.160Z,1755627615.160 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:15.161Z,1755627615.161 [DAT](INFO): direction in FSK: [0.910028,0.395691,0.123601]
2025-08-19T18:20:15.161Z,1755627615.161 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:15.178Z,1755627615.178 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:15.204Z,1755627615.204 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:15.205Z,1755627615.205 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:15.498Z,1755627615.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.600006 m,
      deltaT: 3.781112 s,
      deltaX: -1.899994 m,
      approachRate: -0.502496 m/s,
      rangeRepo size: 4

2025-08-19T18:20:15.500Z,1755627615.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.600006 m,
      bearing: 194.488398 deg,
      lat: 36.779421 deg,
      lon: -121.859474 deg,
      deltaT: 3.781112 s,
      deltaX: -1.899994 m,
      approachRate: -0.502496 m/s,
      posRepo size: 4

2025-08-19T18:20:15.501Z,1755627615.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m.
2025-08-19T18:20:15.507Z,1755627615.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.600006 m,
      nav range: 126.115021 m,
      bearing: 194.488398 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.111085 deg/s,
      cmd heading: 171.986007 deg,
      new cmd heading: 172.123830 deg.

2025-08-19T18:20:15.865Z,1755627615.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m.
2025-08-19T18:20:15.868Z,1755627615.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.600006 m,
      nav range: 125.910660 m,
      bearing: 194.529256 deg,
      approach rate: -0.548866 m/s,
      LOS rate: 0.109912 deg/s,
      cmd heading: 172.123827 deg,
      new cmd heading: 172.246599 deg.

2025-08-19T18:20:16.300Z,1755627616.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m.
2025-08-19T18:20:16.303Z,1755627616.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.600006 m,
      nav range: 125.668777 m,
      bearing: 194.576624 deg,
      approach rate: -0.556118 m/s,
      LOS rate: 0.109116 deg/s,
      cmd heading: 172.246593 deg,
      new cmd heading: 172.388972 deg.

2025-08-19T18:20:16.670Z,1755627616.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m.
2025-08-19T18:20:16.673Z,1755627616.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.600006 m,
      nav range: 125.468575 m,
      bearing: 194.615744 deg,
      approach rate: -0.541779 m/s,
      LOS rate: 0.106033 deg/s,
      cmd heading: 172.388975 deg,
      new cmd heading: 172.506521 deg.

2025-08-19T18:20:17.064Z,1755627617.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:17.066Z,1755627617.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m.
2025-08-19T18:20:17.069Z,1755627617.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.600006 m,
      nav range: 125.254417 m,
      bearing: 194.657610 deg,
      approach rate: -0.540232 m/s,
      LOS rate: 0.105792 deg/s,
      cmd heading: 172.506523 deg,
      new cmd heading: 172.632336 deg.

2025-08-19T18:20:17.164Z,1755627617.164 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:17.164Z,1755627617.164 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:17.164Z,1755627617.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:17.415Z,1755627617.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255195
2025-08-19T18:20:17.501Z,1755627617.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m.
2025-08-19T18:20:17.504Z,1755627617.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.600006 m,
      nav range: 125.019577 m,
      bearing: 194.702028 deg,
      approach rate: -0.539795 m/s,
      LOS rate: 0.102288 deg/s,
      cmd heading: 172.632335 deg,
      new cmd heading: 172.765837 deg.

2025-08-19T18:20:17.666Z,1755627617.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507033
2025-08-19T18:20:17.876Z,1755627617.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m.
2025-08-19T18:20:17.879Z,1755627617.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.600006 m,
      nav range: 124.817719 m,
      bearing: 194.740211 deg,
      approach rate: -0.538899 m/s,
      LOS rate: 0.102101 deg/s,
      cmd heading: 172.765837 deg,
      new cmd heading: 172.880571 deg.

2025-08-19T18:20:17.919Z,1755627617.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759607
2025-08-19T18:20:18.171Z,1755627618.171 [DAT](INFO): DAT read: Rx Time:18:20:16.1517

2025-08-19T18:20:18.172Z,1755627618.172 [DAT](INFO): Rx dataTimestamp_ set to:1755627618.171449
2025-08-19T18:20:18.173Z,1755627618.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013208
2025-08-19T18:20:18.326Z,1755627618.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m.
2025-08-19T18:20:18.329Z,1755627618.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.600006 m,
      nav range: 124.577217 m,
      bearing: 194.785636 deg,
      approach rate: -0.533824 m/s,
      LOS rate: 0.101023 deg/s,
      cmd heading: 172.880571 deg,
      new cmd heading: 173.017111 deg.

2025-08-19T18:20:18.423Z,1755627618.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263180
2025-08-19T18:20:18.694Z,1755627618.694 [DAT](INFO): DAT read: 18:20:16.1517 LVL= 27232, 32753, 31698, 32755, AGC= 63, IDX= 413,-0.09, 1.192,-0.629, 0.584, 0.568, PHS= 0.726,-1.152,-0.028, RAW= 126.5,   5.6, CAL= 127.3,   6.9, ROT=  22.7,  -6.9

2025-08-19T18:20:18.695Z,1755627618.695 [DAT](INFO): got valid direction response:
 18:20:16.1517 LVL= 27232, 32753, 31698, 32755, AGC= 63, IDX= 413,-0.09, 1.192,-0.629, 0.584, 0.568, PHS= 0.726,-1.152,-0.028, RAW= 126.5,   5.6, CAL= 127.3,   6.9, ROT=  22.7,  -6.9

2025-08-19T18:20:18.696Z,1755627618.696 [DAT](INFO): DAT read: Bearing 322.9,  40.0 (Local)

2025-08-19T18:20:18.696Z,1755627618.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.9,  40.0 (Local)

2025-08-19T18:20:18.698Z,1755627618.698 [DAT](INFO): DAT read: Range 11 to 50 : 133.6 m  (Round-trip  178.2 ms) speed  0.5 m/s

2025-08-19T18:20:18.698Z,1755627618.698 [DAT](INFO): DAT read: user:903>

2025-08-19T18:20:18.699Z,1755627618.699 [DAT](INFO): DAT read: Tx time:18:20:17.2694

2025-08-19T18:20:18.699Z,1755627618.699 [DAT](INFO): Ping request sent.
2025-08-19T18:20:18.700Z,1755627618.700 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:18.700Z,1755627618.700 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:18.701Z,1755627618.701 [DAT](INFO): direction in FSK: [0.915856,0.383111,0.120137]
2025-08-19T18:20:18.701Z,1755627618.701 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:18.703Z,1755627618.703 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:18.711Z,1755627618.711 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:18.711Z,1755627618.711 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:18.922Z,1755627618.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.600006 m,
      deltaT: 3.528816 s,
      deltaX: -2.000000 m,
      approachRate: -0.566762 m/s,
      rangeRepo size: 4

2025-08-19T18:20:18.924Z,1755627618.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.600006 m,
      bearing: 194.557908 deg,
      lat: 36.779422 deg,
      lon: -121.859466 deg,
      deltaT: 3.528816 s,
      deltaX: -2.000000 m,
      approachRate: -0.566762 m/s,
      posRepo size: 4

2025-08-19T18:20:18.924Z,1755627618.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m.
2025-08-19T18:20:18.931Z,1755627618.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.600006 m,
      nav range: 124.055466 m,
      bearing: 194.557908 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.101023 deg/s,
      cmd heading: 173.017106 deg,
      new cmd heading: 173.194883 deg.

2025-08-19T18:20:19.353Z,1755627619.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:19.355Z,1755627619.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m.
2025-08-19T18:20:19.374Z,1755627619.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.600006 m,
      nav range: 123.807007 m,
      bearing: 194.602286 deg,
      approach rate: -0.561805 m/s,
      LOS rate: 0.100549 deg/s,
      cmd heading: 173.194883 deg,
      new cmd heading: 173.328286 deg.

2025-08-19T18:20:19.433Z,1755627619.433 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:19.433Z,1755627619.433 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:19.433Z,1755627619.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:19.686Z,1755627619.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986871
2025-08-19T18:20:19.739Z,1755627619.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m.
2025-08-19T18:20:19.742Z,1755627619.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.600006 m,
      nav range: 123.598419 m,
      bearing: 194.639471 deg,
      approach rate: -0.543312 m/s,
      LOS rate: 0.097018 deg/s,
      cmd heading: 173.328290 deg,
      new cmd heading: 173.440031 deg.

2025-08-19T18:20:19.939Z,1755627619.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239368
2025-08-19T18:20:20.191Z,1755627620.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491266
2025-08-19T18:20:20.210Z,1755627620.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m.
2025-08-19T18:20:20.212Z,1755627620.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.600006 m,
      nav range: 123.343063 m,
      bearing: 194.684999 deg,
      approach rate: -0.542724 m/s,
      LOS rate: 0.096964 deg/s,
      cmd heading: 173.440032 deg,
      new cmd heading: 173.576899 deg.

2025-08-19T18:20:20.442Z,1755627620.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742801
2025-08-19T18:20:20.676Z,1755627620.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m.
2025-08-19T18:20:20.679Z,1755627620.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.600006 m,
      nav range: 123.077126 m,
      bearing: 194.729288 deg,
      approach rate: -0.569847 m/s,
      LOS rate: 0.095107 deg/s,
      cmd heading: 173.576895 deg,
      new cmd heading: 173.710050 deg.

2025-08-19T18:20:20.697Z,1755627620.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997507
2025-08-19T18:20:20.946Z,1755627620.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246759
2025-08-19T18:20:21.055Z,1755627621.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m.
2025-08-19T18:20:21.058Z,1755627621.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.600006 m,
      nav range: 122.860786 m,
      bearing: 194.765224 deg,
      approach rate: -0.571046 m/s,
      LOS rate: 0.095022 deg/s,
      cmd heading: 173.710056 deg,
      new cmd heading: 173.818053 deg.

2025-08-19T18:20:21.199Z,1755627621.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499173
2025-08-19T18:20:21.451Z,1755627621.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750951
2025-08-19T18:20:21.461Z,1755627621.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:21.484Z,1755627621.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m.
2025-08-19T18:20:21.491Z,1755627621.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.600006 m,
      nav range: 122.630150 m,
      bearing: 194.802806 deg,
      approach rate: -0.537313 m/s,
      LOS rate: 0.087720 deg/s,
      cmd heading: 173.818055 deg,
      new cmd heading: 173.931014 deg.

2025-08-19T18:20:21.703Z,1755627621.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003189
2025-08-19T18:20:21.856Z,1755627621.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m.
2025-08-19T18:20:21.859Z,1755627621.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.600006 m,
      nav range: 122.407135 m,
      bearing: 194.839050 deg,
      approach rate: -0.599261 m/s,
      LOS rate: 0.097568 deg/s,
      cmd heading: 173.931013 deg,
      new cmd heading: 174.039943 deg.

2025-08-19T18:20:21.955Z,1755627621.955 [DAT](INFO): DAT read: Rx Time:18:20:19.8488

2025-08-19T18:20:21.955Z,1755627621.955 [DAT](INFO): Rx dataTimestamp_ set to:1755627621.955104
2025-08-19T18:20:21.956Z,1755627621.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256365
2025-08-19T18:20:22.207Z,1755627622.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506891
2025-08-19T18:20:22.250Z,1755627622.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.60 m.
2025-08-19T18:20:22.252Z,1755627622.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.600006 m,
      nav range: 122.183853 m,
      bearing: 194.875149 deg,
      approach rate: -0.567923 m/s,
      LOS rate: 0.091987 deg/s,
      cmd heading: 174.039941 deg,
      new cmd heading: 174.148437 deg.

2025-08-19T18:20:22.464Z,1755627622.464 [DAT](INFO): DAT read: 18:20:19.8488 LVL= 29360, 32753, 32754, 32755, AGC= 64, IDX= 415,-0.07, 2.285, 0.457, 1.709, 1.636, PHS= 0.751,-1.134, 0.029, RAW= 127.7,   4.3, CAL= 128.6,   5.7, ROT=  21.4,  -5.7

2025-08-19T18:20:22.466Z,1755627622.466 [DAT](INFO): got valid direction response:
 18:20:19.8488 LVL= 29360, 32753, 32754, 32755, AGC= 64, IDX= 415,-0.07, 2.285, 0.457, 1.709, 1.636, PHS= 0.751,-1.134, 0.029, RAW= 127.7,   4.3, CAL= 128.6,   5.7, ROT=  21.4,  -5.7

2025-08-19T18:20:22.466Z,1755627622.466 [DAT](INFO): DAT read: Bearing 321.9,  38.8 (Local)

2025-08-19T18:20:22.467Z,1755627622.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.9,  38.8 (Local)

2025-08-19T18:20:22.468Z,1755627622.468 [DAT](INFO): DAT read: Range 11 to 50 : 131.4 m  (Round-trip  175.2 ms) speed  0.5 m/s

2025-08-19T18:20:22.469Z,1755627622.469 [DAT](INFO): DAT read: user:904>

2025-08-19T18:20:22.470Z,1755627622.470 [DAT](INFO): DAT read: Tx time:18:20:20.9694

2025-08-19T18:20:22.470Z,1755627622.470 [DAT](INFO): Ping request sent.
2025-08-19T18:20:22.470Z,1755627622.470 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:22.471Z,1755627622.471 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:22.472Z,1755627622.472 [DAT](INFO): direction in FSK: [0.926452,0.363073,0.099320]
2025-08-19T18:20:22.472Z,1755627622.472 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:22.472Z,1755627622.472 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:22.475Z,1755627622.475 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:22.475Z,1755627622.475 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:22.752Z,1755627622.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 131.399994 m,
      deltaT: 3.782125 s,
      deltaX: -2.200012 m,
      approachRate: -0.581687 m/s,
      rangeRepo size: 4

2025-08-19T18:20:22.758Z,1755627622.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.399994 m,
      bearing: 194.703460 deg,
      lat: 36.779422 deg,
      lon: -121.859461 deg,
      deltaT: 3.782125 s,
      deltaX: -2.200012 m,
      approachRate: -0.581687 m/s,
      posRepo size: 4

2025-08-19T18:20:22.759Z,1755627622.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m.
2025-08-19T18:20:22.766Z,1755627622.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.399994 m,
      nav range: 121.787498 m,
      bearing: 194.703460 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.091987 deg/s,
      cmd heading: 174.148432 deg,
      new cmd heading: 174.286893 deg.

2025-08-19T18:20:23.211Z,1755627623.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m.
2025-08-19T18:20:23.215Z,1755627623.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.399994 m,
      nav range: 121.507919 m,
      bearing: 194.747453 deg,
      approach rate: -0.608136 m/s,
      LOS rate: 0.095915 deg/s,
      cmd heading: 174.286893 deg,
      new cmd heading: 174.419178 deg.

2025-08-19T18:20:23.648Z,1755627623.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:23.655Z,1755627623.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m.
2025-08-19T18:20:23.662Z,1755627623.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.399994 m,
      nav range: 121.277924 m,
      bearing: 194.782989 deg,
      approach rate: -0.517732 m/s,
      LOS rate: 0.080144 deg/s,
      cmd heading: 174.419180 deg,
      new cmd heading: 174.525989 deg.

2025-08-19T18:20:23.719Z,1755627623.719 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:23.719Z,1755627623.719 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:23.720Z,1755627623.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:23.970Z,1755627623.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500068
2025-08-19T18:20:23.983Z,1755627623.983 [CTD_Seabird](ERROR): Failed to parse device response: 09,2707.51
2025-08-19T18:20:24.149Z,1755627624.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m.
2025-08-19T18:20:24.162Z,1755627624.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.399994 m,
      nav range: 120.971100 m,
      bearing: 194.829506 deg,
      approach rate: -0.621343 m/s,
      LOS rate: 0.094440 deg/s,
      cmd heading: 174.525991 deg,
      new cmd heading: 174.665897 deg.

2025-08-19T18:20:24.222Z,1755627624.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752114
2025-08-19T18:20:24.475Z,1755627624.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004241
2025-08-19T18:20:24.500Z,1755627624.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m.
2025-08-19T18:20:24.503Z,1755627624.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.399994 m,
      nav range: 120.751526 m,
      bearing: 194.862824 deg,
      approach rate: -0.624961 m/s,
      LOS rate: 0.095004 deg/s,
      cmd heading: 174.665900 deg,
      new cmd heading: 174.766036 deg.

2025-08-19T18:20:24.726Z,1755627624.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256078
2025-08-19T18:20:24.880Z,1755627624.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m.
2025-08-19T18:20:24.900Z,1755627624.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.399994 m,
      nav range: 120.528725 m,
      bearing: 194.896304 deg,
      approach rate: -0.586598 m/s,
      LOS rate: 0.088308 deg/s,
      cmd heading: 174.766031 deg,
      new cmd heading: 174.866655 deg.

2025-08-19T18:20:24.979Z,1755627624.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508221
2025-08-19T18:20:25.231Z,1755627625.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760228
2025-08-19T18:20:25.287Z,1755627625.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m.
2025-08-19T18:20:25.290Z,1755627625.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.399994 m,
      nav range: 120.289825 m,
      bearing: 194.931901 deg,
      approach rate: -0.587078 m/s,
      LOS rate: 0.087652 deg/s,
      cmd heading: 174.866653 deg,
      new cmd heading: 174.973658 deg.

2025-08-19T18:20:25.482Z,1755627625.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012094
2025-08-19T18:20:25.703Z,1755627625.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:25.706Z,1755627625.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m.
2025-08-19T18:20:25.708Z,1755627625.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.399994 m,
      nav range: 120.044800 m,
      bearing: 194.969818 deg,
      approach rate: -0.585960 m/s,
      LOS rate: 0.090861 deg/s,
      cmd heading: 174.973655 deg,
      new cmd heading: 175.087638 deg.

2025-08-19T18:20:25.735Z,1755627625.735 [DAT](INFO): DAT read: Rx Time:18:20:23.5458

2025-08-19T18:20:25.735Z,1755627625.735 [DAT](INFO): Rx dataTimestamp_ set to:1755627625.734717
2025-08-19T18:20:25.736Z,1755627625.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265311
2025-08-19T18:20:25.986Z,1755627625.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516179
2025-08-19T18:20:26.155Z,1755627626.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.40 m.
2025-08-19T18:20:26.158Z,1755627626.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.399994 m,
      nav range: 119.785294 m,
      bearing: 195.009671 deg,
      approach rate: -0.577970 m/s,
      LOS rate: 0.088952 deg/s,
      cmd heading: 175.087637 deg,
      new cmd heading: 175.207455 deg.

2025-08-19T18:20:26.247Z,1755627626.247 [DAT](INFO): DAT read: 18:20:23.5458 LVL= 28528, 32753, 32754, 32755, AGC= 63, IDX= 417,-0.19, 1.720,-0.107, 1.189, 1.175, PHS= 0.647,-1.237,-0.030, RAW= 129.2,   7.5, CAL= 129.5,   8.8, ROT=  20.5,  -8.8

2025-08-19T18:20:26.248Z,1755627626.248 [DAT](INFO): got valid direction response:
 18:20:23.5458 LVL= 28528, 32753, 32754, 32755, AGC= 63, IDX= 417,-0.19, 1.720,-0.107, 1.189, 1.175, PHS= 0.647,-1.237,-0.030, RAW= 129.2,   7.5, CAL= 129.5,   8.8, ROT=  20.5,  -8.8

2025-08-19T18:20:26.249Z,1755627626.249 [DAT](INFO): DAT read: Bearing 327.6,  35.2 (Local)

2025-08-19T18:20:26.250Z,1755627626.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.6,  35.2 (Local)

2025-08-19T18:20:26.251Z,1755627626.251 [DAT](INFO): DAT read: Range 11 to 50 : 129.2 m  (Round-trip  172.3 ms) speed  0.5 m/s

2025-08-19T18:20:26.252Z,1755627626.252 [DAT](INFO): DAT read: user:905>

2025-08-19T18:20:26.252Z,1755627626.252 [DAT](INFO): DAT read: Tx time:18:20:24.6694

2025-08-19T18:20:26.253Z,1755627626.253 [DAT](INFO): Ping request sent.
2025-08-19T18:20:26.253Z,1755627626.253 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:26.253Z,1755627626.253 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:26.255Z,1755627626.255 [DAT](INFO): direction in FSK: [0.925646,0.346085,0.152986]
2025-08-19T18:20:26.255Z,1755627626.255 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:26.255Z,1755627626.255 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:26.258Z,1755627626.258 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:26.258Z,1755627626.258 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:26.543Z,1755627626.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 129.199997 m,
      deltaT: 3.780299 s,
      deltaX: -2.199997 m,
      approachRate: -0.581964 m/s,
      rangeRepo size: 4

2025-08-19T18:20:26.545Z,1755627626.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.199997 m,
      bearing: 194.648565 deg,
      lat: 36.779421 deg,
      lon: -121.859451 deg,
      deltaT: 3.780299 s,
      deltaX: -2.199997 m,
      approachRate: -0.581964 m/s,
      posRepo size: 4

2025-08-19T18:20:26.550Z,1755627626.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.20 m.
2025-08-19T18:20:26.552Z,1755627626.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.199997 m,
      nav range: 119.396980 m,
      bearing: 194.648565 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.088952 deg/s,
      cmd heading: 175.207453 deg,
      new cmd heading: 175.310949 deg.

2025-08-19T18:20:26.922Z,1755627626.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.20 m.
2025-08-19T18:20:26.925Z,1755627626.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.199997 m,
      nav range: 119.158340 m,
      bearing: 194.686074 deg,
      approach rate: -0.627778 m/s,
      LOS rate: 0.098870 deg/s,
      cmd heading: 175.310944 deg,
      new cmd heading: 175.423695 deg.

2025-08-19T18:20:27.339Z,1755627627.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.20 m.
2025-08-19T18:20:27.342Z,1755627627.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.199997 m,
      nav range: 118.919212 m,
      bearing: 194.723397 deg,
      approach rate: -0.574292 m/s,
      LOS rate: 0.089817 deg/s,
      cmd heading: 175.423696 deg,
      new cmd heading: 175.535892 deg.

2025-08-19T18:20:27.767Z,1755627627.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:27.769Z,1755627627.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.20 m.
2025-08-19T18:20:27.776Z,1755627627.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.199997 m,
      nav range: 118.671577 m,
      bearing: 194.764177 deg,
      approach rate: -0.575759 m/s,
      LOS rate: 0.095011 deg/s,
      cmd heading: 175.535889 deg,
      new cmd heading: 175.658482 deg.

2025-08-19T18:20:28.003Z,1755627628.003 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:28.003Z,1755627628.003 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:28.003Z,1755627628.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:28.172Z,1755627628.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.20 m.
2025-08-19T18:20:28.177Z,1755627628.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.199997 m,
      nav range: 118.426727 m,
      bearing: 194.804258 deg,
      approach rate: -0.607288 m/s,
      LOS rate: 0.099618 deg/s,
      cmd heading: 175.658477 deg,
      new cmd heading: 175.778971 deg.

2025-08-19T18:20:28.255Z,1755627628.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002579
2025-08-19T18:20:28.506Z,1755627628.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253615
2025-08-19T18:20:28.568Z,1755627628.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.20 m.
2025-08-19T18:20:28.572Z,1755627628.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.199997 m,
      nav range: 118.191940 m,
      bearing: 194.843014 deg,
      approach rate: -0.592902 m/s,
      LOS rate: 0.098063 deg/s,
      cmd heading: 175.778975 deg,
      new cmd heading: 175.895473 deg.

2025-08-19T18:20:28.758Z,1755627628.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505574
2025-08-19T18:20:28.951Z,1755627628.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.20 m.
2025-08-19T18:20:28.957Z,1755627628.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.199997 m,
      nav range: 117.969086 m,
      bearing: 194.879564 deg,
      approach rate: -0.582453 m/s,
      LOS rate: 0.095708 deg/s,
      cmd heading: 175.895471 deg,
      new cmd heading: 176.005329 deg.

2025-08-19T18:20:29.012Z,1755627629.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758547
2025-08-19T18:20:29.262Z,1755627629.262 [DAT](INFO): DAT read: Rx Time:18:20:27.2429

2025-08-19T18:20:29.263Z,1755627629.263 [DAT](INFO): Rx dataTimestamp_ set to:1755627629.262615
2025-08-19T18:20:29.263Z,1755627629.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010681
2025-08-19T18:20:29.362Z,1755627629.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.20 m.
2025-08-19T18:20:29.364Z,1755627629.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.199997 m,
      nav range: 117.725037 m,
      bearing: 194.919760 deg,
      approach rate: -0.593857 m/s,
      LOS rate: 0.098014 deg/s,
      cmd heading: 176.005328 deg,
      new cmd heading: 176.126166 deg.

2025-08-19T18:20:29.515Z,1755627629.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261737
2025-08-19T18:20:29.776Z,1755627629.776 [DAT](INFO): DAT read: 18:20:27.2429 LVL= 24016, 32433, 29538, 32755, AGC= 62, IDX= 419, 0.08,-2.305, 2.063,-2.869,-2.852, PHS= 0.649,-1.323,-0.061, RAW= 129.2,   8.5, CAL= 129.3,   9.8, ROT=  20.7,  -9.8

2025-08-19T18:20:29.777Z,1755627629.777 [DAT](INFO): got valid direction response:
 18:20:27.2429 LVL= 24016, 32433, 29538, 32755, AGC= 62, IDX= 419, 0.08,-2.305, 2.063,-2.869,-2.852, PHS= 0.649,-1.323,-0.061, RAW= 129.2,   8.5, CAL= 129.3,   9.8, ROT=  20.7,  -9.8

2025-08-19T18:20:29.778Z,1755627629.778 [DAT](INFO): DAT read: Bearing 330.0,  32.2 (Local)

2025-08-19T18:20:29.778Z,1755627629.778 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.0,  32.2 (Local)

2025-08-19T18:20:29.780Z,1755627629.780 [DAT](INFO): DAT read: Range 11 to 50 : 127.0 m  (Round-trip  169.4 ms) speed  0.3 m/s

2025-08-19T18:20:29.780Z,1755627629.780 [DAT](INFO): DAT read: user:906>

2025-08-19T18:20:29.781Z,1755627629.781 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:29.782Z,1755627629.782 [DAT](INFO): direction in FSK: [0.921794,0.348317,0.170209]
2025-08-19T18:20:29.782Z,1755627629.782 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:29.785Z,1755627629.785 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:29.785Z,1755627629.785 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:29.786Z,1755627629.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:29.916Z,1755627629.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 127.000000 m,
      deltaT: 3.529192 s,
      deltaX: -2.199997 m,
      approachRate: -0.623371 m/s,
      rangeRepo size: 4

2025-08-19T18:20:29.923Z,1755627629.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.000000 m,
      bearing: 194.928640 deg,
      lat: 36.779418 deg,
      lon: -121.859451 deg,
      deltaT: 3.529192 s,
      deltaX: -2.199997 m,
      approachRate: -0.623371 m/s,
      posRepo size: 4

2025-08-19T18:20:29.924Z,1755627629.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m.
2025-08-19T18:20:29.931Z,1755627629.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.000000 m,
      nav range: 117.751999 m,
      bearing: 194.928640 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.098014 deg/s,
      cmd heading: 176.126168 deg,
      new cmd heading: 176.289111 deg.

2025-08-19T18:20:30.019Z,1755627630.019 [DAT](INFO): DAT read: Tx tm:18:20:28.3694

2025-08-19T18:20:30.019Z,1755627630.019 [DAT](INFO): unknown deviceResponse_: Tx tm:18:20:28.3694

2025-08-19T18:20:30.020Z,1755627630.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766795
2025-08-19T18:20:30.242Z,1755627630.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:30.244Z,1755627630.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m.
2025-08-19T18:20:30.247Z,1755627630.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.000000 m,
      nav range: 117.550453 m,
      bearing: 194.962552 deg,
      approach rate: -0.613541 m/s,
      LOS rate: 0.103412 deg/s,
      cmd heading: 176.289109 deg,
      new cmd heading: 176.391020 deg.

2025-08-19T18:20:30.271Z,1755627630.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017716
2025-08-19T18:20:30.523Z,1755627630.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269831
2025-08-19T18:20:30.688Z,1755627630.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m.
2025-08-19T18:20:30.690Z,1755627630.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.000000 m,
      nav range: 117.290421 m,
      bearing: 195.007381 deg,
      approach rate: -0.586646 m/s,
      LOS rate: 0.101360 deg/s,
      cmd heading: 176.391015 deg,
      new cmd heading: 176.525799 deg.

2025-08-19T18:20:30.779Z,1755627630.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526356
2025-08-19T18:20:31.030Z,1755627631.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777621
2025-08-19T18:20:31.062Z,1755627631.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m.
2025-08-19T18:20:31.064Z,1755627631.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.000000 m,
      nav range: 117.070412 m,
      bearing: 195.044893 deg,
      approach rate: -0.588050 m/s,
      LOS rate: 0.100452 deg/s,
      cmd heading: 176.525802 deg,
      new cmd heading: 176.638549 deg.

2025-08-19T18:20:31.283Z,1755627631.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029720
2025-08-19T18:20:31.534Z,1755627631.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281670
2025-08-19T18:20:31.550Z,1755627631.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m.
2025-08-19T18:20:31.553Z,1755627631.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.000000 m,
      nav range: 116.798439 m,
      bearing: 195.088561 deg,
      approach rate: -0.556632 m/s,
      LOS rate: 0.089582 deg/s,
      cmd heading: 176.638555 deg,
      new cmd heading: 176.769865 deg.

2025-08-19T18:20:31.786Z,1755627631.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533623
2025-08-19T18:20:31.872Z,1755627631.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m.
2025-08-19T18:20:31.875Z,1755627631.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.000000 m,
      nav range: 116.603783 m,
      bearing: 195.119635 deg,
      approach rate: -0.605196 m/s,
      LOS rate: 0.096770 deg/s,
      cmd heading: 176.769872 deg,
      new cmd heading: 176.863248 deg.

2025-08-19T18:20:32.039Z,1755627632.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785702
2025-08-19T18:20:32.264Z,1755627632.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:32.266Z,1755627632.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m.
2025-08-19T18:20:32.268Z,1755627632.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.000000 m,
      nav range: 116.367439 m,
      bearing: 195.157345 deg,
      approach rate: -0.600291 m/s,
      LOS rate: 0.095976 deg/s,
      cmd heading: 176.863254 deg,
      new cmd heading: 176.976615 deg.

2025-08-19T18:20:32.291Z,1755627632.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037725
2025-08-19T18:20:32.543Z,1755627632.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290017
2025-08-19T18:20:32.695Z,1755627632.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m.
2025-08-19T18:20:32.698Z,1755627632.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.000000 m,
      nav range: 116.106895 m,
      bearing: 195.197390 deg,
      approach rate: -0.606871 m/s,
      LOS rate: 0.093484 deg/s,
      cmd heading: 176.976622 deg,
      new cmd heading: 177.097025 deg.

2025-08-19T18:20:32.795Z,1755627632.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542005
2025-08-19T18:20:33.047Z,1755627633.047 [DAT](INFO): DAT read: Rx Time:18:20:30.9400

2025-08-19T18:20:33.047Z,1755627633.047 [DAT](INFO): Rx dataTimestamp_ set to:1755627633.046708
2025-08-19T18:20:33.048Z,1755627633.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794768
2025-08-19T18:20:33.076Z,1755627633.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.00 m.
2025-08-19T18:20:33.080Z,1755627633.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.000000 m,
      nav range: 115.875732 m,
      bearing: 195.232987 deg,
      approach rate: -0.607054 m/s,
      LOS rate: 0.093666 deg/s,
      cmd heading: 177.097024 deg,
      new cmd heading: 177.204027 deg.

2025-08-19T18:20:33.298Z,1755627633.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045625
2025-08-19T18:20:33.556Z,1755627633.556 [DAT](INFO): DAT read: 18:20:30.9400 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 405, 0.00, 3.141, 1.196, 2.517, 2.574, PHS= 0.669,-1.333,-0.101, RAW= 127.6,   8.8, CAL= 127.9,  10.0, ROT=  22.1, -10.0

2025-08-19T18:20:33.557Z,1755627633.557 [DAT](INFO): got valid direction response:
 18:20:30.9400 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 405, 0.00, 3.141, 1.196, 2.517, 2.574, PHS= 0.669,-1.333,-0.101, RAW= 127.6,   8.8, CAL= 127.9,  10.0, ROT=  22.1, -10.0

2025-08-19T18:20:33.558Z,1755627633.558 [DAT](INFO): DAT read: Bearing 330.9,  31.0 (Local)

2025-08-19T18:20:33.558Z,1755627633.558 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.9,  31.0 (Local)

2025-08-19T18:20:33.560Z,1755627633.560 [DAT](INFO): DAT read: Range 11 to 50 : 124.8 m  (Round-trip  166.5 ms) speed  0.5 m/s

2025-08-19T18:20:33.561Z,1755627633.561 [DAT](INFO): DAT read: user:907>

2025-08-19T18:20:33.562Z,1755627633.562 [DAT](INFO): DAT read: Tx time:18:20:32.0694

2025-08-19T18:20:33.562Z,1755627633.562 [DAT](INFO): Ping request sent.
2025-08-19T18:20:33.562Z,1755627633.562 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:33.563Z,1755627633.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:33.564Z,1755627633.564 [DAT](INFO): direction in FSK: [0.912453,0.370509,0.173648]
2025-08-19T18:20:33.564Z,1755627633.564 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:33.564Z,1755627633.564 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:33.567Z,1755627633.567 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:33.568Z,1755627633.568 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:33.643Z,1755627633.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.800003 m,
      deltaT: 3.782331 s,
      deltaX: -2.199997 m,
      approachRate: -0.581651 m/s,
      rangeRepo size: 4

2025-08-19T18:20:33.650Z,1755627633.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.800003 m,
      bearing: 195.245949 deg,
      lat: 36.779416 deg,
      lon: -121.859451 deg,
      deltaT: 3.782331 s,
      deltaX: -2.199997 m,
      approachRate: -0.581651 m/s,
      posRepo size: 4

2025-08-19T18:20:33.651Z,1755627633.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-19T18:20:33.653Z,1755627633.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.800003 m,
      nav range: 115.822815 m,
      bearing: 195.245949 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.093666 deg/s,
      cmd heading: 177.204026 deg,
      new cmd heading: 177.363385 deg.

2025-08-19T18:20:33.931Z,1755627633.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-19T18:20:33.934Z,1755627633.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.800003 m,
      nav range: 115.627464 m,
      bearing: 195.275736 deg,
      approach rate: -0.677036 m/s,
      LOS rate: 0.103408 deg/s,
      cmd heading: 177.363388 deg,
      new cmd heading: 177.452900 deg.

2025-08-19T18:20:34.344Z,1755627634.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:34.346Z,1755627634.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-19T18:20:34.348Z,1755627634.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.800003 m,
      nav range: 115.373833 m,
      bearing: 195.314409 deg,
      approach rate: -0.612230 m/s,
      LOS rate: 0.093558 deg/s,
      cmd heading: 177.452905 deg,
      new cmd heading: 177.569180 deg.

2025-08-19T18:20:34.558Z,1755627634.558 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:34.558Z,1755627634.558 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:34.558Z,1755627634.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:34.770Z,1755627634.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-19T18:20:34.772Z,1755627634.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.800003 m,
      nav range: 115.111061 m,
      bearing: 195.354385 deg,
      approach rate: -0.619787 m/s,
      LOS rate: 0.094505 deg/s,
      cmd heading: 177.569182 deg,
      new cmd heading: 177.689384 deg.

2025-08-19T18:20:34.811Z,1755627634.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248190
2025-08-19T18:20:35.063Z,1755627635.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500038
2025-08-19T18:20:35.258Z,1755627635.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-19T18:20:35.260Z,1755627635.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.800003 m,
      nav range: 114.809036 m,
      bearing: 195.400569 deg,
      approach rate: -0.619109 m/s,
      LOS rate: 0.094918 deg/s,
      cmd heading: 177.689379 deg,
      new cmd heading: 177.828293 deg.

2025-08-19T18:20:35.315Z,1755627635.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752055
2025-08-19T18:20:35.566Z,1755627635.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003912
2025-08-19T18:20:35.771Z,1755627635.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-19T18:20:35.774Z,1755627635.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.800003 m,
      nav range: 114.481598 m,
      bearing: 195.445781 deg,
      approach rate: -0.637741 m/s,
      LOS rate: 0.088311 deg/s,
      cmd heading: 177.828292 deg,
      new cmd heading: 177.964318 deg.

2025-08-19T18:20:35.819Z,1755627635.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256429
2025-08-19T18:20:36.070Z,1755627636.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507959
2025-08-19T18:20:36.160Z,1755627636.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-19T18:20:36.185Z,1755627636.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.800003 m,
      nav range: 114.242279 m,
      bearing: 195.478726 deg,
      approach rate: -0.631917 m/s,
      LOS rate: 0.087173 deg/s,
      cmd heading: 177.964322 deg,
      new cmd heading: 178.063364 deg.

2025-08-19T18:20:36.323Z,1755627636.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760055
2025-08-19T18:20:36.576Z,1755627636.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013408
2025-08-19T18:20:36.669Z,1755627636.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:36.671Z,1755627636.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-19T18:20:36.674Z,1755627636.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.800003 m,
      nav range: 113.903549 m,
      bearing: 195.523352 deg,
      approach rate: -0.649894 m/s,
      LOS rate: 0.085875 deg/s,
      cmd heading: 178.063360 deg,
      new cmd heading: 178.197635 deg.

2025-08-19T18:20:36.826Z,1755627636.826 [DAT](INFO): DAT read: Rx Time:18:20:34.6369

2025-08-19T18:20:36.827Z,1755627636.827 [DAT](INFO): Rx dataTimestamp_ set to:1755627636.826566
2025-08-19T18:20:36.827Z,1755627636.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264977
2025-08-19T18:20:36.992Z,1755627636.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-19T18:20:36.995Z,1755627636.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.800003 m,
      nav range: 113.705093 m,
      bearing: 195.549359 deg,
      approach rate: -0.618501 m/s,
      LOS rate: 0.081193 deg/s,
      cmd heading: 178.197641 deg,
      new cmd heading: 178.275797 deg.

2025-08-19T18:20:37.080Z,1755627637.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517129
2025-08-19T18:20:37.336Z,1755627637.336 [DAT](INFO): DAT read: 18:20:34.6369 LVL= 25312, 32609, 32754, 32755, AGC= 61, IDX= 405, 0.00, 2.436, 0.476, 1.775, 1.860, PHS= 0.679,-1.339,-0.128, RAW= 126.6,   9.0, CAL= 126.9,  10.2, ROT=  23.1, -10.2

2025-08-19T18:20:37.337Z,1755627637.337 [DAT](INFO): got valid direction response:
 18:20:34.6369 LVL= 25312, 32609, 32754, 32755, AGC= 61, IDX= 405, 0.00, 2.436, 0.476, 1.775, 1.860, PHS= 0.679,-1.339,-0.128, RAW= 126.6,   9.0, CAL= 126.9,  10.2, ROT=  23.1, -10.2

2025-08-19T18:20:37.338Z,1755627637.338 [DAT](INFO): DAT read: Bearing 331.5,  29.3 (Local)

2025-08-19T18:20:37.338Z,1755627637.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.5,  29.3 (Local)

2025-08-19T18:20:37.340Z,1755627637.340 [DAT](INFO): DAT read: Range 11 to 50 : 122.4 m  (Round-trip  163.3 ms) speed  0.4 m/s

2025-08-19T18:20:37.341Z,1755627637.341 [DAT](INFO): DAT read: user:908>

2025-08-19T18:20:37.342Z,1755627637.342 [DAT](INFO): DAT read: Tx time:18:20:35.7694

2025-08-19T18:20:37.342Z,1755627637.342 [DAT](INFO): Ping request sent.
2025-08-19T18:20:37.342Z,1755627637.342 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:37.342Z,1755627637.342 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:37.343Z,1755627637.343 [DAT](INFO): direction in FSK: [0.905284,0.386136,0.177085]
2025-08-19T18:20:37.344Z,1755627637.344 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:37.344Z,1755627637.344 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:37.347Z,1755627637.347 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:37.347Z,1755627637.347 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:37.450Z,1755627637.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.400002 m,
      deltaT: 3.780049 s,
      deltaX: -2.400002 m,
      approachRate: -0.634913 m/s,
      rangeRepo size: 4

2025-08-19T18:20:37.452Z,1755627637.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.400002 m,
      bearing: 196.351126 deg,
      lat: 36.779412 deg,
      lon: -121.859470 deg,
      deltaT: 3.780049 s,
      deltaX: -2.400002 m,
      approachRate: -0.634913 m/s,
      posRepo size: 4

2025-08-19T18:20:37.453Z,1755627637.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-19T18:20:37.459Z,1755627637.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 114.224304 m,
      bearing: 196.351126 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.081193 deg/s,
      cmd heading: 178.275792 deg,
      new cmd heading: 178.386185 deg.

2025-08-19T18:20:37.826Z,1755627637.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-19T18:20:37.828Z,1755627637.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 113.975090 m,
      bearing: 196.382632 deg,
      approach rate: -0.655144 m/s,
      LOS rate: 0.083005 deg/s,
      cmd heading: 178.386182 deg,
      new cmd heading: 178.480906 deg.

2025-08-19T18:20:38.254Z,1755627638.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-19T18:20:38.257Z,1755627638.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 113.708900 m,
      bearing: 196.416441 deg,
      approach rate: -0.620581 m/s,
      LOS rate: 0.079006 deg/s,
      cmd heading: 178.480903 deg,
      new cmd heading: 178.582568 deg.

2025-08-19T18:20:38.734Z,1755627638.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:38.736Z,1755627638.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-19T18:20:38.738Z,1755627638.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 113.394379 m,
      bearing: 196.455503 deg,
      approach rate: -0.653392 m/s,
      LOS rate: 0.081373 deg/s,
      cmd heading: 178.582563 deg,
      new cmd heading: 178.700074 deg.

2025-08-19T18:20:38.847Z,1755627638.847 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:38.847Z,1755627638.847 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:38.848Z,1755627638.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:39.100Z,1755627639.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757445
2025-08-19T18:20:39.135Z,1755627639.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-19T18:20:39.138Z,1755627639.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 113.135742 m,
      bearing: 196.487510 deg,
      approach rate: -0.646915 m/s,
      LOS rate: 0.080241 deg/s,
      cmd heading: 178.700070 deg,
      new cmd heading: 178.796310 deg.

2025-08-19T18:20:39.210Z,1755627639.210 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:20:39.351Z,1755627639.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009127
2025-08-19T18:20:39.406Z,1755627639.406 [RudderServo](FAULT): Unknown EZ Servo Error: 10
2025-08-19T18:20:39.406Z,1755627639.406 [RudderServo] Hardware Fault, FailCount= 1
2025-08-19T18:20:39.406Z,1755627639.406 [RudderServo](ERROR): Hardware Fault
2025-08-19T18:20:39.406Z,1755627639.406 [RudderServo](ERROR): Rudder reporting null position
2025-08-19T18:20:39.489Z,1755627639.489 [CBIT](ERROR): Hardware Fault in component: RudderServo
2025-08-19T18:20:39.524Z,1755627639.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-19T18:20:39.530Z,1755627639.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 112.884682 m,
      bearing: 196.518437 deg,
      approach rate: -0.646425 m/s,
      LOS rate: 0.079806 deg/s,
      cmd heading: 178.796307 deg,
      new cmd heading: 178.889293 deg.

2025-08-19T18:20:39.608Z,1755627639.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263011
2025-08-19T18:20:39.811Z,1755627639.811 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-08-19T18:20:39.811Z,1755627639.811 [RudderServo](INFO): Powering down
2025-08-19T18:20:39.856Z,1755627639.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513160
2025-08-19T18:20:39.961Z,1755627639.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-19T18:20:39.964Z,1755627639.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 112.605499 m,
      bearing: 196.551992 deg,
      approach rate: -0.638949 m/s,
      LOS rate: 0.076986 deg/s,
      cmd heading: 178.889293 deg,
      new cmd heading: 178.990208 deg.

2025-08-19T18:20:40.107Z,1755627640.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764748
2025-08-19T18:20:40.214Z,1755627640.214 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:20:40.330Z,1755627640.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-19T18:20:40.332Z,1755627640.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 112.369591 m,
      bearing: 196.580195 deg,
      approach rate: -0.639681 m/s,
      LOS rate: 0.076634 deg/s,
      cmd heading: 178.990203 deg,
      new cmd heading: 179.074989 deg.

2025-08-19T18:20:40.359Z,1755627640.359 [DAT](INFO): DAT read: Rx Time:18:20:38.3337

2025-08-19T18:20:40.359Z,1755627640.359 [DAT](INFO): Rx dataTimestamp_ set to:1755627640.358884
2025-08-19T18:20:40.360Z,1755627640.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017745
2025-08-19T18:20:40.419Z,1755627640.419 [RudderServo](DEBUG): Initializing EZServoServo.
2025-08-19T18:20:40.538Z,1755627640.538 [RudderServo](DEBUG): Initializing RudderServo.
2025-08-19T18:20:40.611Z,1755627640.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268508
2025-08-19T18:20:40.614Z,1755627640.614 [CBIT](INFO): Clearing failed state for component RudderServo
2025-08-19T18:20:40.614Z,1755627640.614 [RudderServo] No Fault, FailCount= 1
2025-08-19T18:20:40.760Z,1755627640.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:40.763Z,1755627640.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-19T18:20:40.765Z,1755627640.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 112.099945 m,
      bearing: 196.611809 deg,
      approach rate: -0.622735 m/s,
      LOS rate: 0.073187 deg/s,
      cmd heading: 179.074992 deg,
      new cmd heading: 179.170063 deg.

2025-08-19T18:20:40.871Z,1755627640.871 [DAT](INFO): DAT read: 18:20:38.3337 LVL= 26672, 32209, 32690, 32755, AGC= 66, IDX= 405, 0.13, 2.378, 0.354, 1.733, 1.878, PHS= 0.601,-1.479,-0.190, RAW= 127.9,  11.7, CAL= 127.7,  12.9, ROT=  22.3, -12.9

2025-08-19T18:20:40.872Z,1755627640.872 [DAT](INFO): got valid direction response:
 18:20:38.3337 LVL= 26672, 32209, 32690, 32755, AGC= 66, IDX= 405, 0.13, 2.378, 0.354, 1.733, 1.878, PHS= 0.601,-1.479,-0.190, RAW= 127.9,  11.7, CAL= 127.7,  12.9, ROT=  22.3, -12.9

2025-08-19T18:20:40.873Z,1755627640.873 [DAT](INFO): DAT read: Bearing 335.2,  26.9 (Local)

2025-08-19T18:20:40.873Z,1755627640.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.2,  26.9 (Local)

2025-08-19T18:20:40.875Z,1755627640.875 [DAT](INFO): DAT read: Range 11 to 50 : 120.1 m  (Round-trip  160.2 ms) speed  0.8 m/s

2025-08-19T18:20:40.875Z,1755627640.875 [DAT](INFO): DAT read: user:909>

2025-08-19T18:20:40.876Z,1755627640.876 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:40.877Z,1755627640.877 [DAT](INFO): direction in FSK: [0.901859,0.369879,0.223250]
2025-08-19T18:20:40.877Z,1755627640.877 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:40.885Z,1755627640.885 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:40.885Z,1755627640.885 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:40.885Z,1755627640.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:41.115Z,1755627641.115 [DAT](INFO): DAT read: Tx time:18:20:39.4694

2025-08-19T18:20:41.115Z,1755627641.115 [DAT](INFO): Ping request sent.
2025-08-19T18:20:41.115Z,1755627641.115 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:41.115Z,1755627641.115 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:41.116Z,1755627641.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000777
2025-08-19T18:20:41.214Z,1755627641.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.099998 m,
      deltaT: 3.533946 s,
      deltaX: -2.300003 m,
      approachRate: -0.650831 m/s,
      rangeRepo size: 4

2025-08-19T18:20:41.216Z,1755627641.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 120.099998 m,
      bearing: 198.265095 deg,
      lat: 36.779406 deg,
      lon: -121.859511 deg,
      deltaT: 3.533946 s,
      deltaX: -2.300003 m,
      approachRate: -0.650831 m/s,
      posRepo size: 4

2025-08-19T18:20:41.217Z,1755627641.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m.
2025-08-19T18:20:41.221Z,1755627641.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.099998 m,
      nav range: 113.627396 m,
      bearing: 198.265095 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.073187 deg/s,
      cmd heading: 179.170069 deg,
      new cmd heading: 179.268105 deg.

2025-08-19T18:20:41.372Z,1755627641.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255793
2025-08-19T18:20:41.543Z,1755627641.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m.
2025-08-19T18:20:41.545Z,1755627641.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.099998 m,
      nav range: 113.402901 m,
      bearing: 198.294158 deg,
      approach rate: -0.672892 m/s,
      LOS rate: 0.087284 deg/s,
      cmd heading: 179.268109 deg,
      new cmd heading: 179.355470 deg.

2025-08-19T18:20:41.622Z,1755627641.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506246
2025-08-19T18:20:41.870Z,1755627641.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755384
2025-08-19T18:20:41.978Z,1755627641.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m.
2025-08-19T18:20:41.981Z,1755627641.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.099998 m,
      nav range: 113.134026 m,
      bearing: 198.329574 deg,
      approach rate: -0.617233 m/s,
      LOS rate: 0.081496 deg/s,
      cmd heading: 179.355467 deg,
      new cmd heading: 179.461969 deg.

2025-08-19T18:20:42.122Z,1755627642.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007370
2025-08-19T18:20:42.362Z,1755627642.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m.
2025-08-19T18:20:42.364Z,1755627642.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.099998 m,
      nav range: 112.897179 m,
      bearing: 198.360314 deg,
      approach rate: -0.618335 m/s,
      LOS rate: 0.080421 deg/s,
      cmd heading: 179.461964 deg,
      new cmd heading: 179.554377 deg.

2025-08-19T18:20:42.375Z,1755627642.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259480
2025-08-19T18:20:42.629Z,1755627642.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513647
2025-08-19T18:20:42.779Z,1755627642.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:42.782Z,1755627642.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m.
2025-08-19T18:20:42.784Z,1755627642.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.099998 m,
      nav range: 112.637161 m,
      bearing: 198.396791 deg,
      approach rate: -0.619073 m/s,
      LOS rate: 0.087047 deg/s,
      cmd heading: 179.554376 deg,
      new cmd heading: 179.664058 deg.

2025-08-19T18:20:42.883Z,1755627642.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767737
2025-08-19T18:20:43.131Z,1755627643.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016263
2025-08-19T18:20:43.230Z,1755627643.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m.
2025-08-19T18:20:43.232Z,1755627643.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.099998 m,
      nav range: 112.374290 m,
      bearing: 198.433501 deg,
      approach rate: -0.591699 m/s,
      LOS rate: 0.082824 deg/s,
      cmd heading: 179.664055 deg,
      new cmd heading: 179.774443 deg.

2025-08-19T18:20:43.383Z,1755627643.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267440
2025-08-19T18:20:43.568Z,1755627643.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m.
2025-08-19T18:20:43.572Z,1755627643.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.099998 m,
      nav range: 112.152771 m,
      bearing: 198.464285 deg,
      approach rate: -0.649537 m/s,
      LOS rate: 0.090445 deg/s,
      cmd heading: 179.774445 deg,
      new cmd heading: 179.866982 deg.

2025-08-19T18:20:43.638Z,1755627643.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522114
2025-08-19T18:20:43.886Z,1755627643.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771373
2025-08-19T18:20:44.139Z,1755627644.139 [DAT](INFO): DAT read: Rx Time:18:20:42.0307

2025-08-19T18:20:44.139Z,1755627644.139 [DAT](INFO): Rx dataTimestamp_ set to:1755627644.138798
2025-08-19T18:20:44.140Z,1755627644.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024601
2025-08-19T18:20:44.151Z,1755627644.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m.
2025-08-19T18:20:44.154Z,1755627644.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.099998 m,
      nav range: 111.784142 m,
      bearing: 198.515862 deg,
      approach rate: -0.631177 m/s,
      LOS rate: 0.088601 deg/s,
      cmd heading: 179.866980 deg,
      new cmd heading: 180.022219 deg.

2025-08-19T18:20:44.390Z,1755627644.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275342
2025-08-19T18:20:44.585Z,1755627644.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.10 m.
2025-08-19T18:20:44.593Z,1755627644.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.099998 m,
      nav range: 111.534531 m,
      bearing: 198.550684 deg,
      approach rate: -0.575889 m/s,
      LOS rate: 0.080519 deg/s,
      cmd heading: 180.022217 deg,
      new cmd heading: 180.126917 deg.

2025-08-19T18:20:44.674Z,1755627644.674 [DAT](INFO): DAT read: 18:20:42.0307 LVL= 27888, 30993, 32754, 32755, AGC= 67, IDX= 406,-0.35,-1.718, 2.593,-2.350,-2.161, PHS= 0.545,-1.484,-0.233, RAW= 127.7,  13.1, CAL= 127.4,  14.3, ROT=  22.6, -14.3

2025-08-19T18:20:44.675Z,1755627644.675 [DAT](INFO): got valid direction response:
 18:20:42.0307 LVL= 27888, 30993, 32754, 32755, AGC= 67, IDX= 406,-0.35,-1.718, 2.593,-2.350,-2.161, PHS= 0.545,-1.484,-0.233, RAW= 127.7,  13.1, CAL= 127.4,  14.3, ROT=  22.6, -14.3

2025-08-19T18:20:44.676Z,1755627644.676 [DAT](INFO): DAT read: Bearing 337.8,  25.8 (Local)

2025-08-19T18:20:44.677Z,1755627644.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.8,  25.8 (Local)

2025-08-19T18:20:44.695Z,1755627644.695 [DAT](INFO): DAT read: Range 11 to 50 : 117.9 m  (Round-trip  157.2 ms) speed  0.5 m/s

2025-08-19T18:20:44.695Z,1755627644.695 [DAT](INFO): DAT read: user:910>

2025-08-19T18:20:44.696Z,1755627644.696 [DAT](INFO): DAT read: Tx time:18:20:43.1194

2025-08-19T18:20:44.696Z,1755627644.696 [DAT](INFO): Ping request sent.
2025-08-19T18:20:44.696Z,1755627644.696 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:44.697Z,1755627644.697 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:44.706Z,1755627644.706 [DAT](INFO): direction in FSK: [0.894605,0.372388,0.246999]
2025-08-19T18:20:44.706Z,1755627644.706 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:44.707Z,1755627644.707 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:44.714Z,1755627644.714 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:44.714Z,1755627644.714 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:45.160Z,1755627645.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.900002 m,
      deltaT: 3.779786 s,
      deltaX: -2.199997 m,
      approachRate: -0.582043 m/s,
      rangeRepo size: 4

2025-08-19T18:20:45.163Z,1755627645.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.900002 m,
      bearing: 199.494696 deg,
      lat: 36.779406 deg,
      lon: -121.859531 deg,
      deltaT: 3.779786 s,
      deltaX: -2.199997 m,
      approachRate: -0.582043 m/s,
      posRepo size: 4

2025-08-19T18:20:45.164Z,1755627645.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-19T18:20:45.168Z,1755627645.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 111.754883 m,
      bearing: 199.494696 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.080519 deg/s,
      cmd heading: 180.126910 deg,
      new cmd heading: 180.265884 deg.

2025-08-19T18:20:45.548Z,1755627645.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:45.571Z,1755627645.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-19T18:20:45.579Z,1755627645.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 111.507980 m,
      bearing: 199.530112 deg,
      approach rate: -0.600673 m/s,
      LOS rate: 0.086354 deg/s,
      cmd heading: 180.265891 deg,
      new cmd heading: 180.372376 deg.

2025-08-19T18:20:45.653Z,1755627645.653 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:45.653Z,1755627645.653 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:45.654Z,1755627645.654 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:45.903Z,1755627645.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206030
2025-08-19T18:20:45.964Z,1755627645.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-19T18:20:45.967Z,1755627645.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 111.254272 m,
      bearing: 199.569757 deg,
      approach rate: -0.644390 m/s,
      LOS rate: 0.100923 deg/s,
      cmd heading: 180.372373 deg,
      new cmd heading: 180.491579 deg.

2025-08-19T18:20:46.155Z,1755627646.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458051
2025-08-19T18:20:46.345Z,1755627646.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-19T18:20:46.348Z,1755627646.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 111.020988 m,
      bearing: 199.606074 deg,
      approach rate: -0.612545 m/s,
      LOS rate: 0.095560 deg/s,
      cmd heading: 180.491574 deg,
      new cmd heading: 180.600754 deg.

2025-08-19T18:20:46.407Z,1755627646.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710623
2025-08-19T18:20:46.662Z,1755627646.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964337
2025-08-19T18:20:46.784Z,1755627646.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-19T18:20:46.787Z,1755627646.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 110.748245 m,
      bearing: 199.649088 deg,
      approach rate: -0.620877 m/s,
      LOS rate: 0.098158 deg/s,
      cmd heading: 180.600747 deg,
      new cmd heading: 180.730106 deg.

2025-08-19T18:20:46.911Z,1755627646.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214031
2025-08-19T18:20:47.158Z,1755627647.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-19T18:20:47.161Z,1755627647.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 110.515945 m,
      bearing: 199.685899 deg,
      approach rate: -0.621186 m/s,
      LOS rate: 0.098642 deg/s,
      cmd heading: 180.730111 deg,
      new cmd heading: 180.840776 deg.

2025-08-19T18:20:47.163Z,1755627647.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466222
2025-08-19T18:20:47.415Z,1755627647.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718011
2025-08-19T18:20:47.627Z,1755627647.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:47.629Z,1755627647.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-19T18:20:47.634Z,1755627647.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 110.223679 m,
      bearing: 199.731701 deg,
      approach rate: -0.621294 m/s,
      LOS rate: 0.097623 deg/s,
      cmd heading: 180.840774 deg,
      new cmd heading: 180.978544 deg.

2025-08-19T18:20:47.669Z,1755627647.669 [DAT](INFO): DAT read: Rx Time:18:20:45.6776

2025-08-19T18:20:47.671Z,1755627647.671 [DAT](INFO): Rx dataTimestamp_ set to:1755627647.669759
2025-08-19T18:20:47.673Z,1755627647.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975961
2025-08-19T18:20:47.920Z,1755627647.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223190
2025-08-19T18:20:48.108Z,1755627648.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.90 m.
2025-08-19T18:20:48.119Z,1755627648.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.900002 m,
      nav range: 109.946396 m,
      bearing: 199.776861 deg,
      approach rate: -0.577952 m/s,
      LOS rate: 0.094366 deg/s,
      cmd heading: 180.978539 deg,
      new cmd heading: 181.114360 deg.

2025-08-19T18:20:48.174Z,1755627648.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476452
2025-08-19T18:20:48.429Z,1755627648.429 [DAT](INFO): DAT read: 18:20:45.6775 LVL= 32112, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.12,-2.065, 2.245,-2.649,-2.489, PHS= 0.527,-1.504,-0.204, RAW= 129.2,  13.2, CAL= 128.7,  14.4, ROT=  21.3, -14.4

2025-08-19T18:20:48.430Z,1755627648.430 [DAT](INFO): got valid direction response:
 18:20:45.6775 LVL= 32112, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.12,-2.065, 2.245,-2.649,-2.489, PHS= 0.527,-1.504,-0.204, RAW= 129.2,  13.2, CAL= 128.7,  14.4, ROT=  21.3, -14.4

2025-08-19T18:20:48.431Z,1755627648.431 [DAT](INFO): DAT read: Bearing 339.0,  23.6 (Local)

2025-08-19T18:20:48.432Z,1755627648.432 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.0,  23.6 (Local)

2025-08-19T18:20:48.434Z,1755627648.434 [DAT](INFO): DAT read: Range 11 to 50 : 115.5 m  (Round-trip  154.1 ms) speed  0.8 m/s

2025-08-19T18:20:48.435Z,1755627648.435 [DAT](INFO): DAT read: user:911>

2025-08-19T18:20:48.436Z,1755627648.436 [DAT](INFO): DAT read: Tx time:18:20:46.7693

2025-08-19T18:20:48.437Z,1755627648.437 [DAT](INFO): Ping request sent.
2025-08-19T18:20:48.437Z,1755627648.437 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:48.458Z,1755627648.458 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:48.459Z,1755627648.459 [DAT](INFO): direction in FSK: [0.902420,0.351839,0.248690]
2025-08-19T18:20:48.459Z,1755627648.459 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:48.460Z,1755627648.460 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:48.471Z,1755627648.471 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:48.471Z,1755627648.471 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:48.753Z,1755627648.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.500000 m,
      deltaT: 3.779410 s,
      deltaX: -2.400002 m,
      approachRate: -0.635020 m/s,
      rangeRepo size: 4

2025-08-19T18:20:48.759Z,1755627648.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.500000 m,
      bearing: 200.302851 deg,
      lat: 36.779405 deg,
      lon: -121.859542 deg,
      deltaT: 3.779410 s,
      deltaX: -2.400002 m,
      approachRate: -0.635020 m/s,
      posRepo size: 4

2025-08-19T18:20:48.760Z,1755627648.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m.
2025-08-19T18:20:48.767Z,1755627648.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.500000 m,
      nav range: 110.012161 m,
      bearing: 200.302851 deg,
      approach rate: -12407297371639098793486094004 m/s,
      LOS rate: 0.094366 deg/s,
      cmd heading: 181.114364 deg,
      new cmd heading: 181.296578 deg.

2025-08-19T18:20:49.258Z,1755627649.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m.
2025-08-19T18:20:49.261Z,1755627649.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.500000 m,
      nav range: 109.648239 m,
      bearing: 200.361677 deg,
      approach rate: -0.719751 m/s,
      LOS rate: 0.116729 deg/s,
      cmd heading: 181.296580 deg,
      new cmd heading: 181.473641 deg.

2025-08-19T18:20:49.626Z,1755627649.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m.
2025-08-19T18:20:49.629Z,1755627649.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.500000 m,
      nav range: 109.419815 m,
      bearing: 200.398675 deg,
      approach rate: -0.619800 m/s,
      LOS rate: 0.100599 deg/s,
      cmd heading: 181.473646 deg,
      new cmd heading: 181.584872 deg.

2025-08-19T18:20:50.060Z,1755627650.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:50.064Z,1755627650.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m.
2025-08-19T18:20:50.070Z,1755627650.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.500000 m,
      nav range: 109.156441 m,
      bearing: 200.441486 deg,
      approach rate: -0.602054 m/s,
      LOS rate: 0.098100 deg/s,
      cmd heading: 181.584868 deg,
      new cmd heading: 181.713612 deg.

2025-08-19T18:20:50.187Z,1755627650.187 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:50.187Z,1755627650.187 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:50.187Z,1755627650.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:50.415Z,1755627650.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m.
2025-08-19T18:20:50.418Z,1755627650.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.500000 m,
      nav range: 108.913841 m,
      bearing: 200.481082 deg,
      approach rate: -0.689703 m/s,
      LOS rate: 0.112820 deg/s,
      cmd heading: 181.713618 deg,
      new cmd heading: 181.832669 deg.

2025-08-19T18:20:50.438Z,1755627650.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001646
2025-08-19T18:20:50.691Z,1755627650.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254009
2025-08-19T18:20:50.855Z,1755627650.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m.
2025-08-19T18:20:50.858Z,1755627650.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.500000 m,
      nav range: 108.641022 m,
      bearing: 200.524553 deg,
      approach rate: -0.621032 m/s,
      LOS rate: 0.099204 deg/s,
      cmd heading: 181.832668 deg,
      new cmd heading: 181.963409 deg.

2025-08-19T18:20:50.944Z,1755627650.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506366
2025-08-19T18:20:51.195Z,1755627651.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758082
2025-08-19T18:20:51.275Z,1755627651.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m.
2025-08-19T18:20:51.290Z,1755627651.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.500000 m,
      nav range: 108.389580 m,
      bearing: 200.564838 deg,
      approach rate: -0.597967 m/s,
      LOS rate: 0.096025 deg/s,
      cmd heading: 181.963411 deg,
      new cmd heading: 182.084545 deg.

2025-08-19T18:20:51.446Z,1755627651.446 [DAT](INFO): DAT read: Rx Time:18:20:49.3245

2025-08-19T18:20:51.447Z,1755627651.447 [DAT](INFO): Rx dataTimestamp_ set to:1755627651.446658
2025-08-19T18:20:51.448Z,1755627651.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010700
2025-08-19T18:20:51.631Z,1755627651.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.50 m.
2025-08-19T18:20:51.634Z,1755627651.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.500000 m,
      nav range: 108.149925 m,
      bearing: 200.603422 deg,
      approach rate: -0.673817 m/s,
      LOS rate: 0.108725 deg/s,
      cmd heading: 182.084538 deg,
      new cmd heading: 182.200548 deg.

2025-08-19T18:20:51.699Z,1755627651.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261758
2025-08-19T18:20:51.956Z,1755627651.956 [DAT](INFO): DAT read: 18:20:49.3245 LVL= 27824, 32753, 29906, 32755, AGC= 62, IDX= 407, 0.06,-1.225, 3.104,-1.802,-1.669, PHS= 0.546,-1.465,-0.177, RAW= 129.2,  12.4, CAL= 128.8,  13.6, ROT=  21.2, -13.6

2025-08-19T18:20:51.957Z,1755627651.957 [DAT](INFO): got valid direction response:
 18:20:49.3245 LVL= 27824, 32753, 29906, 32755, AGC= 62, IDX= 407, 0.06,-1.225, 3.104,-1.802,-1.669, PHS= 0.546,-1.465,-0.177, RAW= 129.2,  12.4, CAL= 128.8,  13.6, ROT=  21.2, -13.6

2025-08-19T18:20:51.958Z,1755627651.958 [DAT](INFO): DAT read: Bearing 338.6,  24.1 (Local)

2025-08-19T18:20:51.959Z,1755627651.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.6,  24.1 (Local)

2025-08-19T18:20:51.960Z,1755627651.960 [DAT](INFO): DAT read: Range 11 to 50 : 113.2 m  (Round-trip  151.0 ms) speed  0.6 m/s

2025-08-19T18:20:51.961Z,1755627651.961 [DAT](INFO): DAT read: user:912>

2025-08-19T18:20:51.962Z,1755627651.962 [DAT](INFO): DAT read: Tx time:18:20:50.4193

2025-08-19T18:20:51.962Z,1755627651.962 [DAT](INFO): Ping request sent.
2025-08-19T18:20:51.962Z,1755627651.962 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:51.962Z,1755627651.962 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:51.963Z,1755627651.963 [DAT](INFO): direction in FSK: [0.906182,0.351485,0.235142]
2025-08-19T18:20:51.963Z,1755627651.963 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:51.964Z,1755627651.964 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:52.011Z,1755627652.011 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:52.011Z,1755627652.011 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:52.214Z,1755627652.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.199997 m,
      deltaT: 3.526847 s,
      deltaX: -2.300003 m,
      approachRate: -0.652141 m/s,
      rangeRepo size: 4

2025-08-19T18:20:52.216Z,1755627652.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.199997 m,
      bearing: 200.668576 deg,
      lat: 36.779403 deg,
      lon: -121.859543 deg,
      deltaT: 3.526847 s,
      deltaX: -2.300003 m,
      approachRate: -0.652141 m/s,
      posRepo size: 4

2025-08-19T18:20:52.217Z,1755627652.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.20 m.
2025-08-19T18:20:52.224Z,1755627652.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.199997 m,
      nav range: 107.965988 m,
      bearing: 200.668576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.108725 deg/s,
      cmd heading: 182.200542 deg,
      new cmd heading: 182.390570 deg.

2025-08-19T18:20:52.686Z,1755627652.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:52.688Z,1755627652.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.20 m.
2025-08-19T18:20:52.695Z,1755627652.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.199997 m,
      nav range: 107.658401 m,
      bearing: 200.717019 deg,
      approach rate: -0.648338 m/s,
      LOS rate: 0.102403 deg/s,
      cmd heading: 182.390571 deg,
      new cmd heading: 182.536318 deg.

2025-08-19T18:20:52.709Z,1755627652.709 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:52.710Z,1755627652.710 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:52.711Z,1755627652.711 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:52.959Z,1755627652.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996863
2025-08-19T18:20:53.211Z,1755627653.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248635
2025-08-19T18:20:53.245Z,1755627653.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.20 m.
2025-08-19T18:20:53.248Z,1755627653.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.199997 m,
      nav range: 107.295296 m,
      bearing: 200.771912 deg,
      approach rate: -0.651727 m/s,
      LOS rate: 0.098858 deg/s,
      cmd heading: 182.536314 deg,
      new cmd heading: 182.701548 deg.

2025-08-19T18:20:53.466Z,1755627653.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503274
2025-08-19T18:20:53.618Z,1755627653.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.20 m.
2025-08-19T18:20:53.620Z,1755627653.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.199997 m,
      nav range: 107.057999 m,
      bearing: 200.807899 deg,
      approach rate: -0.637469 m/s,
      LOS rate: 0.096888 deg/s,
      cmd heading: 182.701550 deg,
      new cmd heading: 182.809749 deg.

2025-08-19T18:20:53.715Z,1755627653.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752745
2025-08-19T18:20:53.966Z,1755627653.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004529
2025-08-19T18:20:54.075Z,1755627654.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.20 m.
2025-08-19T18:20:54.081Z,1755627654.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.199997 m,
      nav range: 106.785973 m,
      bearing: 200.846377 deg,
      approach rate: -0.594980 m/s,
      LOS rate: 0.084375 deg/s,
      cmd heading: 182.809754 deg,
      new cmd heading: 182.925482 deg.

2025-08-19T18:20:54.218Z,1755627654.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256465
2025-08-19T18:20:54.438Z,1755627654.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.20 m.
2025-08-19T18:20:54.441Z,1755627654.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.199997 m,
      nav range: 106.537827 m,
      bearing: 200.881388 deg,
      approach rate: -0.682038 m/s,
      LOS rate: 0.096452 deg/s,
      cmd heading: 182.925484 deg,
      new cmd heading: 183.030761 deg.

2025-08-19T18:20:54.487Z,1755627654.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525268
2025-08-19T18:20:54.741Z,1755627654.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778943
2025-08-19T18:20:54.880Z,1755627654.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:54.882Z,1755627654.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.20 m.
2025-08-19T18:20:54.885Z,1755627654.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.199997 m,
      nav range: 106.262123 m,
      bearing: 200.919657 deg,
      approach rate: -0.621354 m/s,
      LOS rate: 0.086472 deg/s,
      cmd heading: 183.030765 deg,
      new cmd heading: 183.145871 deg.

2025-08-19T18:20:54.990Z,1755627654.990 [DAT](INFO): DAT read: Rx Time:18:20:52.9712

2025-08-19T18:20:54.991Z,1755627654.991 [DAT](INFO): Rx dataTimestamp_ set to:1755627654.990685
2025-08-19T18:20:54.992Z,1755627654.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029609
2025-08-19T18:20:55.246Z,1755627655.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284536
2025-08-19T18:20:55.265Z,1755627655.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.20 m.
2025-08-19T18:20:55.272Z,1755627655.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.199997 m,
      nav range: 106.038147 m,
      bearing: 200.950616 deg,
      approach rate: -0.584904 m/s,
      LOS rate: 0.081019 deg/s,
      cmd heading: 183.145867 deg,
      new cmd heading: 183.238940 deg.

2025-08-19T18:20:55.516Z,1755627655.516 [DAT](INFO): DAT read: 18:20:52.9712 LVL= 22784, 30129, 28114, 32755, AGC= 65, IDX= 406, 0.00,-2.963, 1.367, 2.753, 2.874, PHS= 0.548,-1.463,-0.166, RAW= 129.5,  12.2, CAL= 129.1,  13.4, ROT=  20.9, -13.4

2025-08-19T18:20:55.517Z,1755627655.517 [DAT](INFO): got valid direction response:
 18:20:52.9712 LVL= 22784, 30129, 28114, 32755, AGC= 65, IDX= 406, 0.00,-2.963, 1.367, 2.753, 2.874, PHS= 0.548,-1.463,-0.166, RAW= 129.5,  12.2, CAL= 129.1,  13.4, ROT=  20.9, -13.4

2025-08-19T18:20:55.518Z,1755627655.518 [DAT](INFO): DAT read: Bearing 339.3,  24.7 (Local)

2025-08-19T18:20:55.518Z,1755627655.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.3,  24.7 (Local)

2025-08-19T18:20:55.519Z,1755627655.519 [DAT](INFO): DAT read: Range 11 to 50 : 110.8 m  (Round-trip  147.8 ms) speed  0.4 m/s

2025-08-19T18:20:55.520Z,1755627655.520 [DAT](INFO): DAT read: user:913>

2025-08-19T18:20:55.521Z,1755627655.521 [DAT](INFO): DAT read: Tx time:18:20:54.0693

2025-08-19T18:20:55.521Z,1755627655.521 [DAT](INFO): Ping request sent.
2025-08-19T18:20:55.521Z,1755627655.521 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:55.522Z,1755627655.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:55.523Z,1755627655.523 [DAT](INFO): direction in FSK: [0.908772,0.347026,0.231748]
2025-08-19T18:20:55.523Z,1755627655.523 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:55.523Z,1755627655.523 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:55.526Z,1755627655.526 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:55.527Z,1755627655.527 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:55.694Z,1755627655.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.800003 m,
      deltaT: 3.549715 s,
      deltaX: -2.399994 m,
      approachRate: -0.676109 m/s,
      rangeRepo size: 4

2025-08-19T18:20:55.696Z,1755627655.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.800003 m,
      bearing: 201.037833 deg,
      lat: 36.779405 deg,
      lon: -121.859544 deg,
      deltaT: 3.549715 s,
      deltaX: -2.399994 m,
      approachRate: -0.676109 m/s,
      posRepo size: 4

2025-08-19T18:20:55.697Z,1755627655.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.80 m.
2025-08-19T18:20:55.704Z,1755627655.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.800003 m,
      nav range: 105.645981 m,
      bearing: 201.037833 deg,
      approach rate: -0.000000 m/s,
      LOS rate: 0.081019 deg/s,
      cmd heading: 183.238935 deg,
      new cmd heading: 183.341991 deg.

2025-08-19T18:20:56.090Z,1755627656.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.80 m.
2025-08-19T18:20:56.093Z,1755627656.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.800003 m,
      nav range: 105.379486 m,
      bearing: 201.072926 deg,
      approach rate: -0.665096 m/s,
      LOS rate: 0.087805 deg/s,
      cmd heading: 183.341989 deg,
      new cmd heading: 183.447536 deg.

2025-08-19T18:20:56.500Z,1755627656.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.80 m.
2025-08-19T18:20:56.503Z,1755627656.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.800003 m,
      nav range: 105.126175 m,
      bearing: 201.105651 deg,
      approach rate: -0.617194 m/s,
      LOS rate: 0.079926 deg/s,
      cmd heading: 183.447529 deg,
      new cmd heading: 183.545940 deg.

2025-08-19T18:20:56.903Z,1755627656.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:56.906Z,1755627656.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.80 m.
2025-08-19T18:20:56.909Z,1755627656.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.800003 m,
      nav range: 104.864838 m,
      bearing: 201.139997 deg,
      approach rate: -0.644962 m/s,
      LOS rate: 0.084975 deg/s,
      cmd heading: 183.545939 deg,
      new cmd heading: 183.649233 deg.

2025-08-19T18:20:57.010Z,1755627657.010 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:20:57.010Z,1755627657.010 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:20:57.011Z,1755627657.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:20:57.263Z,1755627657.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741266
2025-08-19T18:20:57.276Z,1755627657.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.80 m.
2025-08-19T18:20:57.302Z,1755627657.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.800003 m,
      nav range: 104.630798 m,
      bearing: 201.170905 deg,
      approach rate: -0.631595 m/s,
      LOS rate: 0.083597 deg/s,
      cmd heading: 183.649238 deg,
      new cmd heading: 183.742170 deg.

2025-08-19T18:20:57.514Z,1755627657.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993137
2025-08-19T18:20:57.668Z,1755627657.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.80 m.
2025-08-19T18:20:57.671Z,1755627657.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.800003 m,
      nav range: 104.385925 m,
      bearing: 201.202986 deg,
      approach rate: -0.624756 m/s,
      LOS rate: 0.082041 deg/s,
      cmd heading: 183.742170 deg,
      new cmd heading: 183.838638 deg.

2025-08-19T18:20:57.767Z,1755627657.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245272
2025-08-19T18:20:58.018Z,1755627658.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497139
2025-08-19T18:20:58.105Z,1755627658.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.80 m.
2025-08-19T18:20:58.108Z,1755627658.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.800003 m,
      nav range: 104.106255 m,
      bearing: 201.239261 deg,
      approach rate: -0.640124 m/s,
      LOS rate: 0.083252 deg/s,
      cmd heading: 183.838640 deg,
      new cmd heading: 183.947758 deg.

2025-08-19T18:20:58.271Z,1755627658.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749513
2025-08-19T18:20:58.496Z,1755627658.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.80 m.
2025-08-19T18:20:58.499Z,1755627658.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.800003 m,
      nav range: 103.857132 m,
      bearing: 201.270878 deg,
      approach rate: -0.636181 m/s,
      LOS rate: 0.080933 deg/s,
      cmd heading: 183.947759 deg,
      new cmd heading: 184.042836 deg.

2025-08-19T18:20:58.523Z,1755627658.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001245
2025-08-19T18:20:58.774Z,1755627658.774 [DAT](INFO): DAT read: Rx Time:18:20:56.6181

2025-08-19T18:20:58.775Z,1755627658.775 [DAT](INFO): Rx dataTimestamp_ set to:1755627658.774574
2025-08-19T18:20:58.775Z,1755627658.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254197
2025-08-19T18:20:58.944Z,1755627658.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:20:58.946Z,1755627658.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.80 m.
2025-08-19T18:20:58.948Z,1755627658.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.800003 m,
      nav range: 103.573929 m,
      bearing: 201.306120 deg,
      approach rate: -0.630409 m/s,
      LOS rate: 0.078665 deg/s,
      cmd heading: 184.042835 deg,
      new cmd heading: 184.148852 deg.

2025-08-19T18:20:59.027Z,1755627659.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506080
2025-08-19T18:20:59.284Z,1755627659.284 [DAT](INFO): DAT read: 18:20:56.6181 LVL= 28080, 32753, 30514, 32755, AGC= 64, IDX= 406, 0.19, 2.570, 0.601, 2.049, 2.096, PHS= 0.576,-1.450,-0.091, RAW= 131.2,  10.8, CAL= 130.8,  12.0, ROT=  19.2, -12.0

2025-08-19T18:20:59.286Z,1755627659.286 [DAT](INFO): got valid direction response:
 18:20:56.6181 LVL= 28080, 32753, 30514, 32755, AGC= 64, IDX= 406, 0.19, 2.570, 0.601, 2.049, 2.096, PHS= 0.576,-1.450,-0.091, RAW= 131.2,  10.8, CAL= 130.8,  12.0, ROT=  19.2, -12.0

2025-08-19T18:20:59.287Z,1755627659.287 [DAT](INFO): DAT read: Bearing 339.1,  25.1 (Local)

2025-08-19T18:20:59.287Z,1755627659.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.1,  25.1 (Local)

2025-08-19T18:20:59.288Z,1755627659.288 [DAT](INFO): DAT read: Range 11 to 50 : 108.5 m  (Round-trip  144.7 ms) speed  0.5 m/s

2025-08-19T18:20:59.289Z,1755627659.289 [DAT](INFO): DAT read: user:914>

2025-08-19T18:20:59.291Z,1755627659.291 [DAT](INFO): DAT read: Tx time:18:20:57.7193

2025-08-19T18:20:59.291Z,1755627659.291 [DAT](INFO): Ping request sent.
2025-08-19T18:20:59.291Z,1755627659.291 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:20:59.291Z,1755627659.291 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:20:59.292Z,1755627659.292 [DAT](INFO): direction in FSK: [0.923739,0.321680,0.207912]
2025-08-19T18:20:59.293Z,1755627659.293 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:59.293Z,1755627659.293 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:59.296Z,1755627659.296 [DAT](INFO): publishing transmit ping time
2025-08-19T18:20:59.297Z,1755627659.297 [DAT](INFO): publishing direction and range info
2025-08-19T18:20:59.370Z,1755627659.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.500000 m,
      deltaT: 3.778467 s,
      deltaX: -2.300003 m,
      approachRate: -0.608713 m/s,
      rangeRepo size: 4

2025-08-19T18:20:59.372Z,1755627659.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.500000 m,
      bearing: 201.405235 deg,
      lat: 36.779408 deg,
      lon: -121.859544 deg,
      deltaT: 3.778467 s,
      deltaX: -2.300003 m,
      approachRate: -0.608713 m/s,
      posRepo size: 4

2025-08-19T18:20:59.373Z,1755627659.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-08-19T18:20:59.384Z,1755627659.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.500000 m,
      nav range: 103.011002 m,
      bearing: 201.405235 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.078665 deg/s,
      cmd heading: 184.148853 deg,
      new cmd heading: 184.246921 deg.

2025-08-19T18:20:59.720Z,1755627659.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-08-19T18:20:59.723Z,1755627659.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.500000 m,
      nav range: 102.769798 m,
      bearing: 201.434981 deg,
      approach rate: -0.672263 m/s,
      LOS rate: 0.083099 deg/s,
      cmd heading: 184.246921 deg,
      new cmd heading: 184.336367 deg.

2025-08-19T18:21:00.151Z,1755627660.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-08-19T18:21:00.154Z,1755627660.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.500000 m,
      nav range: 102.504097 m,
      bearing: 201.468743 deg,
      approach rate: -0.615923 m/s,
      LOS rate: 0.078466 deg/s,
      cmd heading: 184.336369 deg,
      new cmd heading: 184.437916 deg.

2025-08-19T18:21:00.533Z,1755627660.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-08-19T18:21:00.540Z,1755627660.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.500000 m,
      nav range: 102.266731 m,
      bearing: 201.498701 deg,
      approach rate: -0.622991 m/s,
      LOS rate: 0.078813 deg/s,
      cmd heading: 184.437920 deg,
      new cmd heading: 184.528005 deg.

2025-08-19T18:21:00.975Z,1755627660.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:00.977Z,1755627660.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-08-19T18:21:00.980Z,1755627660.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.500000 m,
      nav range: 101.986801 m,
      bearing: 201.535431 deg,
      approach rate: -0.629150 m/s,
      LOS rate: 0.082776 deg/s,
      cmd heading: 184.528011 deg,
      new cmd heading: 184.638500 deg.

2025-08-19T18:21:01.043Z,1755627661.043 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:01.043Z,1755627661.043 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:01.044Z,1755627661.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:01.295Z,1755627661.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003432
2025-08-19T18:21:01.369Z,1755627661.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-08-19T18:21:01.372Z,1755627661.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.500000 m,
      nav range: 101.758827 m,
      bearing: 201.564726 deg,
      approach rate: -0.587478 m/s,
      LOS rate: 0.075663 deg/s,
      cmd heading: 184.638496 deg,
      new cmd heading: 184.726580 deg.

2025-08-19T18:21:01.548Z,1755627661.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256253
2025-08-19T18:21:01.740Z,1755627661.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-08-19T18:21:01.743Z,1755627661.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.500000 m,
      nav range: 101.509293 m,
      bearing: 201.596616 deg,
      approach rate: -0.665672 m/s,
      LOS rate: 0.085279 deg/s,
      cmd heading: 184.726578 deg,
      new cmd heading: 184.822481 deg.

2025-08-19T18:21:01.799Z,1755627661.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508250
2025-08-19T18:21:02.051Z,1755627662.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760028
2025-08-19T18:21:02.221Z,1755627662.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-08-19T18:21:02.228Z,1755627662.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.500000 m,
      nav range: 101.211044 m,
      bearing: 201.635096 deg,
      approach rate: -0.622708 m/s,
      LOS rate: 0.080580 deg/s,
      cmd heading: 184.822487 deg,
      new cmd heading: 184.938269 deg.

2025-08-19T18:21:02.303Z,1755627662.303 [DAT](INFO): DAT read: Rx Time:18:21:00.2650

2025-08-19T18:21:02.304Z,1755627662.304 [DAT](INFO): Rx dataTimestamp_ set to:1755627662.303271
2025-08-19T18:21:02.305Z,1755627662.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013367
2025-08-19T18:21:02.555Z,1755627662.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263507
2025-08-19T18:21:02.572Z,1755627662.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-08-19T18:21:02.575Z,1755627662.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.500000 m,
      nav range: 100.981819 m,
      bearing: 201.664829 deg,
      approach rate: -0.649036 m/s,
      LOS rate: 0.084377 deg/s,
      cmd heading: 184.938273 deg,
      new cmd heading: 185.027673 deg.

2025-08-19T18:21:02.821Z,1755627662.821 [DAT](INFO): DAT read: 18:21:00.2650 LVL= 30368, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.04, 0.693,-1.214, 0.227, 0.212, PHS= 0.582,-1.381,-0.029, RAW= 132.3,   9.5, CAL= 132.1,  10.7, ROT=  17.9, -10.7

2025-08-19T18:21:02.822Z,1755627662.822 [DAT](INFO): got valid direction response:
 18:21:00.2650 LVL= 30368, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.04, 0.693,-1.214, 0.227, 0.212, PHS= 0.582,-1.381,-0.029, RAW= 132.3,   9.5, CAL= 132.1,  10.7, ROT=  17.9, -10.7

2025-08-19T18:21:02.823Z,1755627662.823 [DAT](INFO): DAT read: Bearing 339.3,  25.4 (Local)

2025-08-19T18:21:02.824Z,1755627662.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.3,  25.4 (Local)

2025-08-19T18:21:02.825Z,1755627662.825 [DAT](INFO): DAT read: Range 11 to 50 : 106.2 m  (Round-trip  141.6 ms) speed  0.6 m/s

2025-08-19T18:21:02.826Z,1755627662.826 [DAT](INFO): DAT read: user:915>

2025-08-19T18:21:02.827Z,1755627662.827 [DAT](INFO): DAT read: Tx time:18:21:01.3693

2025-08-19T18:21:02.827Z,1755627662.827 [DAT](INFO): Ping request sent.
2025-08-19T18:21:02.827Z,1755627662.827 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:02.827Z,1755627662.827 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:02.828Z,1755627662.828 [DAT](INFO): direction in FSK: [0.935049,0.302013,0.185667]
2025-08-19T18:21:02.829Z,1755627662.829 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:02.829Z,1755627662.829 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:02.832Z,1755627662.832 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:02.832Z,1755627662.832 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:03.099Z,1755627663.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.199997 m,
      deltaT: 3.530121 s,
      deltaX: -2.300003 m,
      approachRate: -0.651537 m/s,
      rangeRepo size: 4

2025-08-19T18:21:03.101Z,1755627663.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.199997 m,
      bearing: 201.633145 deg,
      lat: 36.779406 deg,
      lon: -121.859543 deg,
      deltaT: 3.530121 s,
      deltaX: -2.300003 m,
      approachRate: -0.651537 m/s,
      posRepo size: 4

2025-08-19T18:21:03.106Z,1755627663.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m.
2025-08-19T18:21:03.108Z,1755627663.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.199997 m,
      nav range: 100.868958 m,
      bearing: 201.633145 deg,
      approach rate: 2567.958008 m/s,
      LOS rate: 0.084377 deg/s,
      cmd heading: 185.027666 deg,
      new cmd heading: 185.159663 deg.

2025-08-19T18:21:03.384Z,1755627663.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:03.386Z,1755627663.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m.
2025-08-19T18:21:03.388Z,1755627663.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.199997 m,
      nav range: 100.669144 m,
      bearing: 201.658565 deg,
      approach rate: -0.684575 m/s,
      LOS rate: 0.087263 deg/s,
      cmd heading: 185.159667 deg,
      new cmd heading: 185.236077 deg.

2025-08-19T18:21:03.566Z,1755627663.566 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:03.566Z,1755627663.566 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:03.567Z,1755627663.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:03.782Z,1755627663.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m.
2025-08-19T18:21:03.785Z,1755627663.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.199997 m,
      nav range: 100.414474 m,
      bearing: 201.690929 deg,
      approach rate: -0.642155 m/s,
      LOS rate: 0.081816 deg/s,
      cmd heading: 185.236083 deg,
      new cmd heading: 185.333423 deg.

2025-08-19T18:21:03.819Z,1755627663.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991536
2025-08-19T18:21:04.070Z,1755627664.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243254
2025-08-19T18:21:04.236Z,1755627664.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m.
2025-08-19T18:21:04.239Z,1755627664.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.199997 m,
      nav range: 100.123962 m,
      bearing: 201.732300 deg,
      approach rate: -0.639856 m/s,
      LOS rate: 0.091384 deg/s,
      cmd heading: 185.333427 deg,
      new cmd heading: 185.457899 deg.

2025-08-19T18:21:04.323Z,1755627664.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496000
2025-08-19T18:21:04.575Z,1755627664.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747422
2025-08-19T18:21:04.591Z,1755627664.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m.
2025-08-19T18:21:04.610Z,1755627664.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.199997 m,
      nav range: 99.896660 m,
      bearing: 201.764751 deg,
      approach rate: -0.640357 m/s,
      LOS rate: 0.091628 deg/s,
      cmd heading: 185.457900 deg,
      new cmd heading: 185.555473 deg.

2025-08-19T18:21:04.828Z,1755627664.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001176
2025-08-19T18:21:05.079Z,1755627665.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251283
2025-08-19T18:21:05.119Z,1755627665.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m.
2025-08-19T18:21:05.122Z,1755627665.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.199997 m,
      nav range: 99.565399 m,
      bearing: 201.811272 deg,
      approach rate: -0.627950 m/s,
      LOS rate: 0.088481 deg/s,
      cmd heading: 185.555476 deg,
      new cmd heading: 185.695504 deg.

2025-08-19T18:21:05.331Z,1755627665.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503924
2025-08-19T18:21:05.582Z,1755627665.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755070
2025-08-19T18:21:05.598Z,1755627665.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:05.600Z,1755627665.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m.
2025-08-19T18:21:05.602Z,1755627665.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.199997 m,
      nav range: 99.263565 m,
      bearing: 201.853940 deg,
      approach rate: -0.627646 m/s,
      LOS rate: 0.088995 deg/s,
      cmd heading: 185.695509 deg,
      new cmd heading: 185.823901 deg.

2025-08-19T18:21:05.835Z,1755627665.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007627
2025-08-19T18:21:06.087Z,1755627666.087 [DAT](INFO): DAT read: Rx Time:18:21:03.9119

2025-08-19T18:21:06.087Z,1755627666.087 [DAT](INFO): Rx dataTimestamp_ set to:1755627666.086763
2025-08-19T18:21:06.088Z,1755627666.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260416
2025-08-19T18:21:06.100Z,1755627666.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m.
2025-08-19T18:21:06.103Z,1755627666.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.199997 m,
      nav range: 98.941414 m,
      bearing: 201.900735 deg,
      approach rate: -0.643193 m/s,
      LOS rate: 0.093735 deg/s,
      cmd heading: 185.823902 deg,
      new cmd heading: 185.964746 deg.

2025-08-19T18:21:06.340Z,1755627666.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512627
2025-08-19T18:21:06.561Z,1755627666.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.20 m.
2025-08-19T18:21:06.568Z,1755627666.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.199997 m,
      nav range: 98.651520 m,
      bearing: 201.942902 deg,
      approach rate: -0.629650 m/s,
      LOS rate: 0.091854 deg/s,
      cmd heading: 185.964741 deg,
      new cmd heading: 186.091611 deg.

2025-08-19T18:21:06.596Z,1755627666.596 [DAT](INFO): DAT read: 18:21:03.9119 LVL= 26208, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.38,-1.164,-3.094,-1.632,-1.635, PHS= 0.573,-1.414,-0.041, RAW= 132.4,  10.0, CAL= 132.2,  11.2, ROT=  17.8, -11.2

2025-08-19T18:21:06.597Z,1755627666.597 [DAT](INFO): got valid direction response:
 18:21:03.9119 LVL= 26208, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.38,-1.164,-3.094,-1.632,-1.635, PHS= 0.573,-1.414,-0.041, RAW= 132.4,  10.0, CAL= 132.2,  11.2, ROT=  17.8, -11.2

2025-08-19T18:21:06.598Z,1755627666.598 [DAT](INFO): DAT read: Bearing 340.6,  26.4 (Local)

2025-08-19T18:21:06.599Z,1755627666.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.6,  26.4 (Local)

2025-08-19T18:21:06.600Z,1755627666.600 [DAT](INFO): DAT read: Range 11 to 50 : 103.8 m  (Round-trip  138.4 ms) speed  0.4 m/s

2025-08-19T18:21:06.601Z,1755627666.601 [DAT](INFO): DAT read: user:916>

2025-08-19T18:21:06.602Z,1755627666.602 [DAT](INFO): DAT read: Tx time:18:21:05.0193

2025-08-19T18:21:06.602Z,1755627666.602 [DAT](INFO): Ping request sent.
2025-08-19T18:21:06.602Z,1755627666.602 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:06.602Z,1755627666.602 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:06.603Z,1755627666.603 [DAT](INFO): direction in FSK: [0.933996,0.299873,0.194234]
2025-08-19T18:21:06.604Z,1755627666.604 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:06.604Z,1755627666.604 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:06.632Z,1755627666.632 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:06.633Z,1755627666.633 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:07.009Z,1755627667.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.800003 m,
      deltaT: 3.781860 s,
      deltaX: -2.399994 m,
      approachRate: -0.634607 m/s,
      rangeRepo size: 4

2025-08-19T18:21:07.016Z,1755627667.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.800003 m,
      bearing: 201.790697 deg,
      lat: 36.779408 deg,
      lon: -121.859538 deg,
      deltaT: 3.781860 s,
      deltaX: -2.399994 m,
      approachRate: -0.634607 m/s,
      posRepo size: 4

2025-08-19T18:21:07.017Z,1755627667.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m.
2025-08-19T18:21:07.031Z,1755627667.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.800003 m,
      nav range: 97.995827 m,
      bearing: 201.790697 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.091854 deg/s,
      cmd heading: 186.091605 deg,
      new cmd heading: 186.214946 deg.

2025-08-19T18:21:07.417Z,1755627667.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m.
2025-08-19T18:21:07.420Z,1755627667.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.800003 m,
      nav range: 97.707359 m,
      bearing: 201.831523 deg,
      approach rate: -0.705969 m/s,
      LOS rate: 0.100209 deg/s,
      cmd heading: 186.214944 deg,
      new cmd heading: 186.337784 deg.

2025-08-19T18:21:07.788Z,1755627667.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:07.790Z,1755627667.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m.
2025-08-19T18:21:07.793Z,1755627667.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.800003 m,
      nav range: 97.470001 m,
      bearing: 201.865125 deg,
      approach rate: -0.636163 m/s,
      LOS rate: 0.090278 deg/s,
      cmd heading: 186.337779 deg,
      new cmd heading: 186.438829 deg.

2025-08-19T18:21:07.851Z,1755627667.851 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:07.851Z,1755627667.851 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:07.852Z,1755627667.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:08.102Z,1755627668.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500222
2025-08-19T18:21:08.256Z,1755627668.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m.
2025-08-19T18:21:08.263Z,1755627668.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.800003 m,
      nav range: 97.179886 m,
      bearing: 201.906569 deg,
      approach rate: -0.622579 m/s,
      LOS rate: 0.089203 deg/s,
      cmd heading: 186.438824 deg,
      new cmd heading: 186.563528 deg.

2025-08-19T18:21:08.355Z,1755627668.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752324
2025-08-19T18:21:08.602Z,1755627668.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m.
2025-08-19T18:21:08.604Z,1755627668.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.800003 m,
      nav range: 96.947220 m,
      bearing: 201.939781 deg,
      approach rate: -0.673929 m/s,
      LOS rate: 0.096431 deg/s,
      cmd heading: 186.563530 deg,
      new cmd heading: 186.663405 deg.

2025-08-19T18:21:08.607Z,1755627668.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004381
2025-08-19T18:21:08.859Z,1755627668.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256616
2025-08-19T18:21:09.079Z,1755627669.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m.
2025-08-19T18:21:09.082Z,1755627669.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.800003 m,
      nav range: 96.645554 m,
      bearing: 201.981591 deg,
      approach rate: -0.631756 m/s,
      LOS rate: 0.087833 deg/s,
      cmd heading: 186.663401 deg,
      new cmd heading: 186.789222 deg.

2025-08-19T18:21:09.111Z,1755627669.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508401
2025-08-19T18:21:09.362Z,1755627669.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760289
2025-08-19T18:21:09.436Z,1755627669.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m.
2025-08-19T18:21:09.443Z,1755627669.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.800003 m,
      nav range: 96.430031 m,
      bearing: 202.011225 deg,
      approach rate: -0.603837 m/s,
      LOS rate: 0.083210 deg/s,
      cmd heading: 186.789227 deg,
      new cmd heading: 186.878325 deg.

2025-08-19T18:21:09.614Z,1755627669.614 [DAT](INFO): DAT read: Rx Time:18:21:07.5586

2025-08-19T18:21:09.615Z,1755627669.615 [DAT](INFO): Rx dataTimestamp_ set to:1755627669.614637
2025-08-19T18:21:09.615Z,1755627669.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013333
2025-08-19T18:21:09.824Z,1755627669.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:09.827Z,1755627669.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.80 m.
2025-08-19T18:21:09.829Z,1755627669.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.800003 m,
      nav range: 96.173180 m,
      bearing: 202.046273 deg,
      approach rate: -0.657149 m/s,
      LOS rate: 0.089910 deg/s,
      cmd heading: 186.878320 deg,
      new cmd heading: 186.983746 deg.

2025-08-19T18:21:09.867Z,1755627669.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264431
2025-08-19T18:21:10.125Z,1755627670.125 [DAT](INFO): DAT read: 18:21:07.5586 LVL= 23264, 32401, 28962, 32755, AGC= 64, IDX= 405,-0.39, 1.612,-0.357, 1.166, 1.119, PHS= 0.595,-1.431, 0.004, RAW= 133.5,   9.3, CAL= 133.3,  10.4, ROT=  16.7, -10.4

2025-08-19T18:21:10.126Z,1755627670.126 [DAT](INFO): got valid direction response:
 18:21:07.5586 LVL= 23264, 32401, 28962, 32755, AGC= 64, IDX= 405,-0.39, 1.612,-0.357, 1.166, 1.119, PHS= 0.595,-1.431, 0.004, RAW= 133.5,   9.3, CAL= 133.3,  10.4, ROT=  16.7, -10.4

2025-08-19T18:21:10.127Z,1755627670.127 [DAT](INFO): DAT read: Bearing 340.2,  26.5 (Local)

2025-08-19T18:21:10.128Z,1755627670.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.2,  26.5 (Local)

2025-08-19T18:21:10.130Z,1755627670.130 [DAT](INFO): DAT read: Range 11 to 50 : 101.4 m  (Round-trip  135.2 ms) speed  0.7 m/s

2025-08-19T18:21:10.131Z,1755627670.131 [DAT](INFO): DAT read: user:917>

2025-08-19T18:21:10.132Z,1755627670.132 [DAT](INFO): DAT read: Tx time:18:21:08.6693

2025-08-19T18:21:10.132Z,1755627670.132 [DAT](INFO): Ping request sent.
2025-08-19T18:21:10.132Z,1755627670.132 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:10.133Z,1755627670.133 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:10.134Z,1755627670.134 [DAT](INFO): direction in FSK: [0.942087,0.282640,0.180519]
2025-08-19T18:21:10.134Z,1755627670.134 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:10.134Z,1755627670.134 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:10.137Z,1755627670.137 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:10.137Z,1755627670.137 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:10.334Z,1755627670.334 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:21:10.340Z,1755627670.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.400002 m,
      deltaT: 3.528147 s,
      deltaX: -2.400002 m,
      approachRate: -0.680244 m/s,
      rangeRepo size: 4

2025-08-19T18:21:10.346Z,1755627670.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.400002 m,
      bearing: 201.968584 deg,
      lat: 36.779408 deg,
      lon: -121.859536 deg,
      deltaT: 3.528147 s,
      deltaX: -2.400002 m,
      approachRate: -0.680244 m/s,
      posRepo size: 4

2025-08-19T18:21:10.347Z,1755627670.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m.
2025-08-19T18:21:10.354Z,1755627670.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.400002 m,
      nav range: 95.748383 m,
      bearing: 201.968584 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.089910 deg/s,
      cmd heading: 186.983750 deg,
      new cmd heading: 187.122053 deg.

2025-08-19T18:21:10.683Z,1755627670.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m.
2025-08-19T18:21:10.686Z,1755627670.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.400002 m,
      nav range: 95.518204 m,
      bearing: 201.996687 deg,
      approach rate: -0.669960 m/s,
      LOS rate: 0.081994 deg/s,
      cmd heading: 187.122048 deg,
      new cmd heading: 187.206561 deg.

2025-08-19T18:21:11.111Z,1755627671.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m.
2025-08-19T18:21:11.114Z,1755627671.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.400002 m,
      nav range: 95.247932 m,
      bearing: 202.029408 deg,
      approach rate: -0.631865 m/s,
      LOS rate: 0.076714 deg/s,
      cmd heading: 187.206565 deg,
      new cmd heading: 187.305005 deg.

2025-08-19T18:21:11.338Z,1755627671.338 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:21:11.478Z,1755627671.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m.
2025-08-19T18:21:11.481Z,1755627671.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.400002 m,
      nav range: 95.016182 m,
      bearing: 202.057379 deg,
      approach rate: -0.630792 m/s,
      LOS rate: 0.076319 deg/s,
      cmd heading: 187.305002 deg,
      new cmd heading: 187.389120 deg.

2025-08-19T18:21:11.883Z,1755627671.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:11.885Z,1755627671.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m.
2025-08-19T18:21:11.888Z,1755627671.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.400002 m,
      nav range: 94.760048 m,
      bearing: 202.088116 deg,
      approach rate: -0.629738 m/s,
      LOS rate: 0.075777 deg/s,
      cmd heading: 187.389122 deg,
      new cmd heading: 187.481584 deg.

2025-08-19T18:21:12.135Z,1755627672.135 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:12.135Z,1755627672.135 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:12.135Z,1755627672.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:12.317Z,1755627672.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m.
2025-08-19T18:21:12.320Z,1755627672.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.400002 m,
      nav range: 94.485268 m,
      bearing: 202.118927 deg,
      approach rate: -0.635580 m/s,
      LOS rate: 0.071475 deg/s,
      cmd heading: 187.481589 deg,
      new cmd heading: 187.574291 deg.

2025-08-19T18:21:12.387Z,1755627672.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254455
2025-08-19T18:21:12.638Z,1755627672.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506185
2025-08-19T18:21:12.700Z,1755627672.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m.
2025-08-19T18:21:12.703Z,1755627672.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.400002 m,
      nav range: 94.242508 m,
      bearing: 202.146052 deg,
      approach rate: -0.633985 m/s,
      LOS rate: 0.071021 deg/s,
      cmd heading: 187.574289 deg,
      new cmd heading: 187.655873 deg.

2025-08-19T18:21:12.891Z,1755627672.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758753
2025-08-19T18:21:13.141Z,1755627673.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m.
2025-08-19T18:21:13.143Z,1755627673.143 [DAT](INFO): DAT read: Rx Time:18:21:11.2054

2025-08-19T18:21:13.143Z,1755627673.143 [DAT](INFO): Rx dataTimestamp_ set to:1755627673.142776
2025-08-19T18:21:13.144Z,1755627673.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011389
2025-08-19T18:21:13.147Z,1755627673.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.400002 m,
      nav range: 93.960091 m,
      bearing: 202.177466 deg,
      approach rate: -0.642620 m/s,
      LOS rate: 0.071693 deg/s,
      cmd heading: 187.655868 deg,
      new cmd heading: 187.750391 deg.

2025-08-19T18:21:13.396Z,1755627673.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264110
2025-08-19T18:21:13.499Z,1755627673.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.40 m.
2025-08-19T18:21:13.523Z,1755627673.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.400002 m,
      nav range: 93.726288 m,
      bearing: 202.203381 deg,
      approach rate: -0.650035 m/s,
      LOS rate: 0.072233 deg/s,
      cmd heading: 187.750385 deg,
      new cmd heading: 187.828326 deg.

2025-08-19T18:21:13.647Z,1755627673.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514246
2025-08-19T18:21:13.905Z,1755627673.905 [DAT](INFO): DAT read: 18:21:11.2054 LVL= 25072, 32753, 31730, 32755, AGC= 64, IDX= 404, 0.24, 2.515, 0.619, 2.136, 2.036, PHS= 0.582,-1.372, 0.056, RAW= 134.9,   8.4, CAL= 134.8,   9.5, ROT=  15.2,  -9.5

2025-08-19T18:21:13.906Z,1755627673.906 [DAT](INFO): got valid direction response:
 18:21:11.2054 LVL= 25072, 32753, 31730, 32755, AGC= 64, IDX= 404, 0.24, 2.515, 0.619, 2.136, 2.036, PHS= 0.582,-1.372, 0.056, RAW= 134.9,   8.4, CAL= 134.8,   9.5, ROT=  15.2,  -9.5

2025-08-19T18:21:13.907Z,1755627673.907 [DAT](INFO): DAT read: Bearing 340.3,  26.5 (Local)

2025-08-19T18:21:13.907Z,1755627673.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.3,  26.5 (Local)

2025-08-19T18:21:13.909Z,1755627673.909 [DAT](INFO): DAT read: Range 11 to 50 : 99.0 m  (Round-trip  132.0 ms) speed  0.5 m/s

2025-08-19T18:21:13.910Z,1755627673.910 [DAT](INFO): DAT read: user:918>

2025-08-19T18:21:13.910Z,1755627673.910 [DAT](INFO): DAT read: Tx time:18:21:12.3193

2025-08-19T18:21:13.911Z,1755627673.911 [DAT](INFO): Ping request sent.
2025-08-19T18:21:13.911Z,1755627673.911 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:13.911Z,1755627673.911 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:13.912Z,1755627673.912 [DAT](INFO): direction in FSK: [0.951782,0.258593,0.165048]
2025-08-19T18:21:13.912Z,1755627673.912 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:13.912Z,1755627673.912 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:13.932Z,1755627673.932 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:13.932Z,1755627673.932 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:13.945Z,1755627673.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.000000 m,
      deltaT: 3.780411 s,
      deltaX: -2.400002 m,
      approachRate: -0.634852 m/s,
      rangeRepo size: 4

2025-08-19T18:21:13.951Z,1755627673.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.000000 m,
      bearing: 202.220537 deg,
      lat: 36.779408 deg,
      lon: -121.859535 deg,
      deltaT: 3.780411 s,
      deltaX: -2.400002 m,
      approachRate: -0.634852 m/s,
      posRepo size: 4

2025-08-19T18:21:13.952Z,1755627673.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-08-19T18:21:13.967Z,1755627673.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 93.441048 m,
      bearing: 202.220537 deg,
      approach rate: 180220955058280336315492104929 m/s,
      LOS rate: 0.072233 deg/s,
      cmd heading: 187.828331 deg,
      new cmd heading: 187.924745 deg.

2025-08-19T18:21:14.403Z,1755627674.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-08-19T18:21:14.410Z,1755627674.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 93.132309 m,
      bearing: 202.256830 deg,
      approach rate: -0.681036 m/s,
      LOS rate: 0.080323 deg/s,
      cmd heading: 187.924746 deg,
      new cmd heading: 188.033985 deg.

2025-08-19T18:21:14.785Z,1755627674.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:14.787Z,1755627674.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-08-19T18:21:14.790Z,1755627674.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 92.870842 m,
      bearing: 202.286911 deg,
      approach rate: -0.671397 m/s,
      LOS rate: 0.077458 deg/s,
      cmd heading: 188.033988 deg,
      new cmd heading: 188.124483 deg.

2025-08-19T18:21:14.906Z,1755627674.906 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:14.906Z,1755627674.906 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:14.907Z,1755627674.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:15.158Z,1755627675.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247746
2025-08-19T18:21:15.249Z,1755627675.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-08-19T18:21:15.255Z,1755627675.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 92.581505 m,
      bearing: 202.319645 deg,
      approach rate: -0.626907 m/s,
      LOS rate: 0.071147 deg/s,
      cmd heading: 188.124488 deg,
      new cmd heading: 188.222998 deg.

2025-08-19T18:21:15.410Z,1755627675.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499733
2025-08-19T18:21:15.596Z,1755627675.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-08-19T18:21:15.599Z,1755627675.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 92.350304 m,
      bearing: 202.345453 deg,
      approach rate: -0.665731 m/s,
      LOS rate: 0.074499 deg/s,
      cmd heading: 188.222993 deg,
      new cmd heading: 188.300611 deg.

2025-08-19T18:21:15.663Z,1755627675.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751826
2025-08-19T18:21:15.915Z,1755627675.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003953
2025-08-19T18:21:16.016Z,1755627676.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-08-19T18:21:16.021Z,1755627676.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 92.085243 m,
      bearing: 202.374605 deg,
      approach rate: -0.630827 m/s,
      LOS rate: 0.069579 deg/s,
      cmd heading: 188.300611 deg,
      new cmd heading: 188.388318 deg.

2025-08-19T18:21:16.167Z,1755627676.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255992
2025-08-19T18:21:16.419Z,1755627676.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507996
2025-08-19T18:21:16.431Z,1755627676.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-08-19T18:21:16.433Z,1755627676.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 91.810555 m,
      bearing: 202.404461 deg,
      approach rate: -0.662480 m/s,
      LOS rate: 0.072222 deg/s,
      cmd heading: 188.388324 deg,
      new cmd heading: 188.478162 deg.

2025-08-19T18:21:16.670Z,1755627676.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759757
2025-08-19T18:21:16.815Z,1755627676.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:16.818Z,1755627676.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-08-19T18:21:16.820Z,1755627676.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 91.559258 m,
      bearing: 202.431269 deg,
      approach rate: -0.649821 m/s,
      LOS rate: 0.069511 deg/s,
      cmd heading: 188.478169 deg,
      new cmd heading: 188.558812 deg.

2025-08-19T18:21:16.923Z,1755627676.923 [DAT](INFO): DAT read: Rx Time:18:21:14.8522

2025-08-19T18:21:16.923Z,1755627676.923 [DAT](INFO): Rx dataTimestamp_ set to:1755627676.922710
2025-08-19T18:21:16.924Z,1755627676.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012894
2025-08-19T18:21:17.174Z,1755627677.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263743
2025-08-19T18:21:17.256Z,1755627677.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.00 m.
2025-08-19T18:21:17.259Z,1755627677.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.000000 m,
      nav range: 91.278046 m,
      bearing: 202.459663 deg,
      approach rate: -0.641300 m/s,
      LOS rate: 0.064951 deg/s,
      cmd heading: 188.558806 deg,
      new cmd heading: 188.644249 deg.

2025-08-19T18:21:17.432Z,1755627677.432 [DAT](INFO): DAT read: 18:21:14.8522 LVL= 23792, 30177, 28818, 32755, AGC= 64, IDX= 404,-0.32, 0.241,-1.649,-0.105,-0.247, PHS= 0.590,-1.356, 0.098, RAW= 135.9,   7.7, CAL= 135.8,   8.7, ROT=  14.2,  -8.7

2025-08-19T18:21:17.434Z,1755627677.434 [DAT](INFO): got valid direction response:
 18:21:14.8522 LVL= 23792, 30177, 28818, 32755, AGC= 64, IDX= 404,-0.32, 0.241,-1.649,-0.105,-0.247, PHS= 0.590,-1.356, 0.098, RAW= 135.9,   7.7, CAL= 135.8,   8.7, ROT=  14.2,  -8.7

2025-08-19T18:21:17.435Z,1755627677.435 [DAT](INFO): DAT read: Bearing 340.9,  26.2 (Local)

2025-08-19T18:21:17.435Z,1755627677.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.9,  26.2 (Local)

2025-08-19T18:21:17.436Z,1755627677.436 [DAT](INFO): DAT read: Range 11 to 50 : 96.6 m  (Round-trip  128.9 ms) speed  0.6 m/s

2025-08-19T18:21:17.437Z,1755627677.437 [DAT](INFO): DAT read: user:919>

2025-08-19T18:21:17.438Z,1755627677.438 [DAT](INFO): DAT read: Tx time:18:21:15.9692

2025-08-19T18:21:17.438Z,1755627677.438 [DAT](INFO): Ping request sent.
2025-08-19T18:21:17.438Z,1755627677.438 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:17.439Z,1755627677.439 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:17.440Z,1755627677.440 [DAT](INFO): direction in FSK: [0.958291,0.242485,0.151261]
2025-08-19T18:21:17.440Z,1755627677.440 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:17.440Z,1755627677.440 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:17.443Z,1755627677.443 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:17.443Z,1755627677.443 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:17.648Z,1755627677.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.599998 m,
      deltaT: 3.527561 s,
      deltaX: -2.400002 m,
      approachRate: -0.680357 m/s,
      rangeRepo size: 4

2025-08-19T18:21:17.654Z,1755627677.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.599998 m,
      bearing: 201.607070 deg,
      lat: 36.779408 deg,
      lon: -121.859518 deg,
      deltaT: 3.527561 s,
      deltaX: -2.400002 m,
      approachRate: -0.680357 m/s,
      posRepo size: 4

2025-08-19T18:21:17.654Z,1755627677.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-19T18:21:17.657Z,1755627677.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 90.477852 m,
      bearing: 201.607070 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.064951 deg/s,
      cmd heading: 188.644251 deg,
      new cmd heading: 188.720444 deg.

2025-08-19T18:21:18.058Z,1755627678.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-19T18:21:18.060Z,1755627678.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 90.208733 m,
      bearing: 201.630799 deg,
      approach rate: -0.661859 m/s,
      LOS rate: 0.058533 deg/s,
      cmd heading: 188.720449 deg,
      new cmd heading: 188.791849 deg.

2025-08-19T18:21:18.468Z,1755627678.468 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +64,  +670,  

2025-08-19T18:21:18.520Z,1755627678.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-19T18:21:18.536Z,1755627678.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 89.908089 m,
      bearing: 201.656875 deg,
      approach rate: -0.644668 m/s,
      LOS rate: 0.056102 deg/s,
      cmd heading: 188.791852 deg,
      new cmd heading: 188.870342 deg.

2025-08-19T18:21:18.915Z,1755627678.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:18.918Z,1755627678.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-19T18:21:18.920Z,1755627678.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 89.658180 m,
      bearing: 201.677826 deg,
      approach rate: -0.628403 m/s,
      LOS rate: 0.052828 deg/s,
      cmd heading: 188.870344 deg,
      new cmd heading: 188.933372 deg.

2025-08-19T18:21:18.938Z,1755627678.938 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:18.938Z,1755627678.938 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:18.939Z,1755627678.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:19.192Z,1755627679.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753025
2025-08-19T18:21:19.324Z,1755627679.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-19T18:21:19.327Z,1755627679.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 89.383553 m,
      bearing: 201.703888 deg,
      approach rate: -0.675596 m/s,
      LOS rate: 0.064311 deg/s,
      cmd heading: 188.933373 deg,
      new cmd heading: 189.011800 deg.

2025-08-19T18:21:19.443Z,1755627679.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004619
2025-08-19T18:21:19.695Z,1755627679.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256063
2025-08-19T18:21:19.712Z,1755627679.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-19T18:21:19.715Z,1755627679.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 89.131905 m,
      bearing: 201.727687 deg,
      approach rate: -0.649064 m/s,
      LOS rate: 0.061556 deg/s,
      cmd heading: 189.011798 deg,
      new cmd heading: 189.083395 deg.

2025-08-19T18:21:19.948Z,1755627679.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509001
2025-08-19T18:21:20.113Z,1755627680.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-19T18:21:20.116Z,1755627680.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 88.870689 m,
      bearing: 201.752417 deg,
      approach rate: -0.651044 m/s,
      LOS rate: 0.061818 deg/s,
      cmd heading: 189.083392 deg,
      new cmd heading: 189.157801 deg.

2025-08-19T18:21:20.202Z,1755627680.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762684
2025-08-19T18:21:20.451Z,1755627680.451 [DAT](INFO): DAT read: Rx Time:18:21:18.4989

2025-08-19T18:21:20.451Z,1755627680.451 [DAT](INFO): Rx dataTimestamp_ set to:1755627680.450709
2025-08-19T18:21:20.452Z,1755627680.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013062
2025-08-19T18:21:20.626Z,1755627680.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-19T18:21:20.628Z,1755627680.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 88.562599 m,
      bearing: 201.781673 deg,
      approach rate: -0.601078 m/s,
      LOS rate: 0.057276 deg/s,
      cmd heading: 189.157800 deg,
      new cmd heading: 189.245873 deg.

2025-08-19T18:21:20.703Z,1755627680.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264423
2025-08-19T18:21:20.941Z,1755627680.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:20.943Z,1755627680.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.60 m.
2025-08-19T18:21:20.946Z,1755627680.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.599998 m,
      nav range: 88.334404 m,
      bearing: 201.803434 deg,
      approach rate: -0.718936 m/s,
      LOS rate: 0.068736 deg/s,
      cmd heading: 189.245868 deg,
      new cmd heading: 189.311320 deg.

2025-08-19T18:21:20.955Z,1755627680.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516260
2025-08-19T18:21:21.213Z,1755627681.213 [DAT](INFO): DAT read: 18:21:18.4989 LVL= 24000, 32753, 31842, 32755, AGC= 62, IDX= 402,-0.00,-0.666,-2.546,-0.977,-1.143, PHS= 0.580,-1.357, 0.123, RAW= 136.9,   7.5, CAL= 136.8,   8.5, ROT=  13.2,  -8.5

2025-08-19T18:21:21.215Z,1755627681.215 [DAT](INFO): got valid direction response:
 18:21:18.4989 LVL= 24000, 32753, 31842, 32755, AGC= 62, IDX= 402,-0.00,-0.666,-2.546,-0.977,-1.143, PHS= 0.580,-1.357, 0.123, RAW= 136.9,   7.5, CAL= 136.8,   8.5, ROT=  13.2,  -8.5

2025-08-19T18:21:21.215Z,1755627681.215 [DAT](INFO): DAT read: Bearing 342.0,  24.8 (Local)

2025-08-19T18:21:21.216Z,1755627681.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.0,  24.8 (Local)

2025-08-19T18:21:21.217Z,1755627681.217 [DAT](INFO): DAT read: Range 11 to 50 : 94.1 m  (Round-trip  125.5 ms) speed  0.5 m/s

2025-08-19T18:21:21.218Z,1755627681.218 [DAT](INFO): DAT read: user:920>

2025-08-19T18:21:21.219Z,1755627681.219 [DAT](INFO): DAT read: Tx time:18:21:19.6192

2025-08-19T18:21:21.219Z,1755627681.219 [DAT](INFO): Ping request sent.
2025-08-19T18:21:21.219Z,1755627681.219 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:21.219Z,1755627681.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:21.220Z,1755627681.220 [DAT](INFO): direction in FSK: [0.962885,0.225843,0.147809]
2025-08-19T18:21:21.221Z,1755627681.221 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:21.221Z,1755627681.221 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:21.225Z,1755627681.225 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:21.225Z,1755627681.225 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:21.433Z,1755627681.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.099998 m,
      deltaT: 3.780916 s,
      deltaX: -2.500000 m,
      approachRate: -0.661215 m/s,
      rangeRepo size: 4

2025-08-19T18:21:21.439Z,1755627681.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.099998 m,
      bearing: 201.586512 deg,
      lat: 36.779408 deg,
      lon: -121.859514 deg,
      deltaT: 3.780916 s,
      deltaX: -2.500000 m,
      approachRate: -0.661215 m/s,
      posRepo size: 4

2025-08-19T18:21:21.440Z,1755627681.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-08-19T18:21:21.446Z,1755627681.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.099998 m,
      nav range: 87.881859 m,
      bearing: 201.586512 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.068736 deg/s,
      cmd heading: 189.311315 deg,
      new cmd heading: 189.412158 deg.

2025-08-19T18:21:21.763Z,1755627681.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-08-19T18:21:21.765Z,1755627681.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.099998 m,
      nav range: 87.671196 m,
      bearing: 201.606220 deg,
      approach rate: -0.638918 m/s,
      LOS rate: 0.059916 deg/s,
      cmd heading: 189.412156 deg,
      new cmd heading: 189.471422 deg.

2025-08-19T18:21:22.150Z,1755627682.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-08-19T18:21:22.152Z,1755627682.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.099998 m,
      nav range: 87.413445 m,
      bearing: 201.630485 deg,
      approach rate: -0.664777 m/s,
      LOS rate: 0.062766 deg/s,
      cmd heading: 189.471428 deg,
      new cmd heading: 189.544436 deg.

2025-08-19T18:21:22.593Z,1755627682.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-08-19T18:21:22.596Z,1755627682.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.099998 m,
      nav range: 87.136230 m,
      bearing: 201.657530 deg,
      approach rate: -0.625259 m/s,
      LOS rate: 0.061194 deg/s,
      cmd heading: 189.544443 deg,
      new cmd heading: 189.625836 deg.

2025-08-19T18:21:22.960Z,1755627682.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:22.962Z,1755627682.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-08-19T18:21:22.965Z,1755627682.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.099998 m,
      nav range: 86.905708 m,
      bearing: 201.680009 deg,
      approach rate: -0.624258 m/s,
      LOS rate: 0.061035 deg/s,
      cmd heading: 189.625832 deg,
      new cmd heading: 189.693447 deg.

2025-08-19T18:21:22.984Z,1755627682.984 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:22.984Z,1755627682.984 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:22.984Z,1755627682.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:23.237Z,1755627683.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017716
2025-08-19T18:21:23.358Z,1755627683.358 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,
2025-08-19T18:21:23.373Z,1755627683.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-08-19T18:21:23.376Z,1755627683.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.099998 m,
      nav range: 86.648682 m,
      bearing: 201.704926 deg,
      approach rate: -0.625753 m/s,
      LOS rate: 0.060844 deg/s,
      cmd heading: 189.693450 deg,
      new cmd heading: 189.768425 deg.

2025-08-19T18:21:23.488Z,1755627683.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268831
2025-08-19T18:21:23.738Z,1755627683.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519343
2025-08-19T18:21:23.767Z,1755627683.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-08-19T18:21:23.770Z,1755627683.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.099998 m,
      nav range: 86.402260 m,
      bearing: 201.728818 deg,
      approach rate: -0.624715 m/s,
      LOS rate: 0.060742 deg/s,
      cmd heading: 189.768419 deg,
      new cmd heading: 189.840298 deg.

2025-08-19T18:21:23.992Z,1755627683.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772581
2025-08-19T18:21:24.201Z,1755627684.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-08-19T18:21:24.212Z,1755627684.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.099998 m,
      nav range: 86.136627 m,
      bearing: 201.754368 deg,
      approach rate: -0.613876 m/s,
      LOS rate: 0.059228 deg/s,
      cmd heading: 189.840300 deg,
      new cmd heading: 189.917186 deg.

2025-08-19T18:21:24.245Z,1755627684.245 [DAT](INFO): DAT read: Rx Time:18:21:22.1457

2025-08-19T18:21:24.247Z,1755627684.247 [DAT](INFO): Rx dataTimestamp_ set to:1755627684.245744
2025-08-19T18:21:24.249Z,1755627684.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029026
2025-08-19T18:21:24.495Z,1755627684.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275713
2025-08-19T18:21:24.684Z,1755627684.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.10 m.
2025-08-19T18:21:24.699Z,1755627684.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.099998 m,
      nav range: 85.836861 m,
      bearing: 201.785612 deg,
      approach rate: -0.618849 m/s,
      LOS rate: 0.064726 deg/s,
      cmd heading: 189.917180 deg,
      new cmd heading: 190.011239 deg.

2025-08-19T18:21:24.753Z,1755627684.753 [DAT](INFO): DAT read: 18:21:22.1457 LVL= 24944, 32753, 28898, 32755, AGC= 63, IDX= 401,-0.10, 2.350, 0.434, 2.040, 1.861, PHS= 0.591,-1.382, 0.135, RAW= 137.2,   7.4, CAL= 137.1,   8.3, ROT=  12.9,  -8.3

2025-08-19T18:21:24.755Z,1755627684.755 [DAT](INFO): got valid direction response:
 18:21:22.1457 LVL= 24944, 32753, 28898, 32755, AGC= 63, IDX= 401,-0.10, 2.350, 0.434, 2.040, 1.861, PHS= 0.591,-1.382, 0.135, RAW= 137.2,   7.4, CAL= 137.1,   8.3, ROT=  12.9,  -8.3

2025-08-19T18:21:24.756Z,1755627684.756 [DAT](INFO): DAT read: Bearing 342.0,  24.9 (Local)

2025-08-19T18:21:24.757Z,1755627684.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.0,  24.9 (Local)

2025-08-19T18:21:24.759Z,1755627684.759 [DAT](INFO): DAT read: Range 11 to 50 : 91.7 m  (Round-trip  122.3 ms) speed  0.6 m/s

2025-08-19T18:21:24.760Z,1755627684.760 [DAT](INFO): DAT read: user:921>

2025-08-19T18:21:24.761Z,1755627684.761 [DAT](INFO): DAT read: Tx time:18:21:23.2692

2025-08-19T18:21:24.761Z,1755627684.761 [DAT](INFO): Ping request sent.
2025-08-19T18:21:24.761Z,1755627684.761 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:24.762Z,1755627684.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:24.764Z,1755627684.764 [DAT](INFO): direction in FSK: [0.964551,0.220912,0.144356]
2025-08-19T18:21:24.764Z,1755627684.764 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:24.765Z,1755627684.765 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:24.778Z,1755627684.778 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:24.778Z,1755627684.778 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:25.060Z,1755627685.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.699997 m,
      deltaT: 3.538969 s,
      deltaX: -2.400002 m,
      approachRate: -0.678164 m/s,
      rangeRepo size: 4

2025-08-19T18:21:25.062Z,1755627685.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.699997 m,
      bearing: 201.734463 deg,
      lat: 36.779405 deg,
      lon: -121.859514 deg,
      deltaT: 3.538969 s,
      deltaX: -2.400002 m,
      approachRate: -0.678164 m/s,
      posRepo size: 4

2025-08-19T18:21:25.063Z,1755627685.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.70 m.
2025-08-19T18:21:25.066Z,1755627685.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.699997 m,
      nav range: 85.880089 m,
      bearing: 201.734463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.064726 deg/s,
      cmd heading: 190.011246 deg,
      new cmd heading: 190.084052 deg.

2025-08-19T18:21:25.476Z,1755627685.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:25.485Z,1755627685.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.70 m.
2025-08-19T18:21:25.503Z,1755627685.503 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:25.504Z,1755627685.504 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:25.504Z,1755627685.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:25.507Z,1755627685.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.699997 m,
      nav range: 85.618629 m,
      bearing: 201.757761 deg,
      approach rate: -0.615295 m/s,
      LOS rate: 0.054994 deg/s,
      cmd heading: 190.084055 deg,
      new cmd heading: 190.154162 deg.

2025-08-19T18:21:25.755Z,1755627685.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993960
2025-08-19T18:21:25.871Z,1755627685.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.70 m.
2025-08-19T18:21:25.874Z,1755627685.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.699997 m,
      nav range: 85.352577 m,
      bearing: 201.781076 deg,
      approach rate: -0.687134 m/s,
      LOS rate: 0.060406 deg/s,
      cmd heading: 190.154160 deg,
      new cmd heading: 190.224326 deg.

2025-08-19T18:21:26.007Z,1755627686.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245897
2025-08-19T18:21:26.261Z,1755627686.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499270
2025-08-19T18:21:26.355Z,1755627686.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.70 m.
2025-08-19T18:21:26.357Z,1755627686.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.699997 m,
      nav range: 85.043762 m,
      bearing: 201.801482 deg,
      approach rate: -0.639081 m/s,
      LOS rate: 0.042381 deg/s,
      cmd heading: 190.224320 deg,
      new cmd heading: 190.285758 deg.

2025-08-19T18:21:26.511Z,1755627686.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750202
2025-08-19T18:21:26.679Z,1755627686.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.70 m.
2025-08-19T18:21:26.682Z,1755627686.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.699997 m,
      nav range: 84.836533 m,
      bearing: 201.814730 deg,
      approach rate: -0.639631 m/s,
      LOS rate: 0.040992 deg/s,
      cmd heading: 190.285764 deg,
      new cmd heading: 190.325607 deg.

2025-08-19T18:21:26.763Z,1755627686.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001334
2025-08-19T18:21:27.015Z,1755627687.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253322
2025-08-19T18:21:27.093Z,1755627687.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.70 m.
2025-08-19T18:21:27.096Z,1755627687.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.699997 m,
      nav range: 84.571579 m,
      bearing: 201.830974 deg,
      approach rate: -0.639628 m/s,
      LOS rate: 0.039339 deg/s,
      cmd heading: 190.325612 deg,
      new cmd heading: 190.374498 deg.

2025-08-19T18:21:27.269Z,1755627687.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507562
2025-08-19T18:21:27.519Z,1755627687.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757349
2025-08-19T18:21:27.531Z,1755627687.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:27.533Z,1755627687.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.70 m.
2025-08-19T18:21:27.540Z,1755627687.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.699997 m,
      nav range: 84.287758 m,
      bearing: 201.848276 deg,
      approach rate: -0.644837 m/s,
      LOS rate: 0.039441 deg/s,
      cmd heading: 190.374502 deg,
      new cmd heading: 190.426582 deg.

2025-08-19T18:21:27.772Z,1755627687.772 [DAT](INFO): DAT read: Rx Time:18:21:25.7925

2025-08-19T18:21:27.773Z,1755627687.773 [DAT](INFO): Rx dataTimestamp_ set to:1755627687.772235
2025-08-19T18:21:27.774Z,1755627687.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012327
2025-08-19T18:21:27.898Z,1755627687.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.70 m.
2025-08-19T18:21:27.901Z,1755627687.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.699997 m,
      nav range: 84.049759 m,
      bearing: 201.862554 deg,
      approach rate: -0.653289 m/s,
      LOS rate: 0.039303 deg/s,
      cmd heading: 190.426576 deg,
      new cmd heading: 190.469531 deg.

2025-08-19T18:21:28.022Z,1755627688.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261273
2025-08-19T18:21:28.297Z,1755627688.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534777
2025-08-19T18:21:28.388Z,1755627688.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.70 m.
2025-08-19T18:21:28.391Z,1755627688.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.699997 m,
      nav range: 83.730415 m,
      bearing: 201.882520 deg,
      approach rate: -0.650703 m/s,
      LOS rate: 0.040838 deg/s,
      cmd heading: 190.469538 deg,
      new cmd heading: 190.529663 deg.

2025-08-19T18:21:28.393Z,1755627688.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 61.494381 m.
2025-08-19T18:21:28.552Z,1755627688.552 [DAT](INFO): DAT read: 18:21:25.7925 LVL= 26096, 31793, 28626, 32755, AGC= 65, IDX= 417,-0.12, 0.285,-1.627, 0.022,-0.198, PHS= 0.585,-1.384, 0.177, RAW= 138.7,   7.0, CAL= 138.4,   7.8, ROT=  11.6,  -7.8

2025-08-19T18:21:28.553Z,1755627688.553 [DAT](INFO): got valid direction response:
 18:21:25.7925 LVL= 26096, 31793, 28626, 32755, AGC= 65, IDX= 417,-0.12, 0.285,-1.627, 0.022,-0.198, PHS= 0.585,-1.384, 0.177, RAW= 138.7,   7.0, CAL= 138.4,   7.8, ROT=  11.6,  -7.8

2025-08-19T18:21:28.554Z,1755627688.554 [DAT](INFO): DAT read: Bearing 342.7,  23.9 (Local)

2025-08-19T18:21:28.555Z,1755627688.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.7,  23.9 (Local)

2025-08-19T18:21:28.556Z,1755627688.556 [DAT](INFO): DAT read: Range 11 to 50 : 89.4 m  (Round-trip  119.2 ms) speed  0.5 m/s

2025-08-19T18:21:28.557Z,1755627688.557 [DAT](INFO): DAT read: user:922>

2025-08-19T18:21:28.558Z,1755627688.558 [DAT](INFO): DAT read: Tx time:18:21:26.9192

2025-08-19T18:21:28.558Z,1755627688.558 [DAT](INFO): Ping request sent.
2025-08-19T18:21:28.558Z,1755627688.558 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:28.558Z,1755627688.558 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:28.559Z,1755627688.559 [DAT](INFO): direction in FSK: [0.970512,0.199218,0.135716]
2025-08-19T18:21:28.559Z,1755627688.559 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:28.560Z,1755627688.560 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:28.563Z,1755627688.563 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:28.563Z,1755627688.563 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:28.761Z,1755627688.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.400002 m,
      deltaT: 3.799862 s,
      deltaX: -2.299995 m,
      approachRate: -0.605284 m/s,
      rangeRepo size: 4

2025-08-19T18:21:28.767Z,1755627688.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.400002 m,
      bearing: 201.872253 deg,
      lat: 36.779404 deg,
      lon: -121.859514 deg,
      deltaT: 3.799862 s,
      deltaX: -2.299995 m,
      approachRate: -0.605284 m/s,
      posRepo size: 4

2025-08-19T18:21:28.768Z,1755627688.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m.
2025-08-19T18:21:28.775Z,1755627688.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.400002 m,
      nav range: 83.587601 m,
      bearing: 201.872253 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.040838 deg/s,
      cmd heading: 190.529657 deg,
      new cmd heading: 190.575254 deg.

2025-08-19T18:21:29.135Z,1755627689.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m.
2025-08-19T18:21:29.138Z,1755627689.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.400002 m,
      nav range: 83.333534 m,
      bearing: 201.887710 deg,
      approach rate: -0.678151 m/s,
      LOS rate: 0.041385 deg/s,
      cmd heading: 190.575255 deg,
      new cmd heading: 190.621769 deg.

2025-08-19T18:21:29.566Z,1755627689.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:29.568Z,1755627689.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m.
2025-08-19T18:21:29.571Z,1755627689.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.400002 m,
      nav range: 83.049622 m,
      bearing: 201.901389 deg,
      approach rate: -0.654833 m/s,
      LOS rate: 0.031657 deg/s,
      cmd heading: 190.621769 deg,
      new cmd heading: 190.662944 deg.

2025-08-19T18:21:29.806Z,1755627689.806 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:29.806Z,1755627689.806 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:29.806Z,1755627689.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:29.961Z,1755627689.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m.
2025-08-19T18:21:29.966Z,1755627689.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.400002 m,
      nav range: 82.797249 m,
      bearing: 201.913447 deg,
      approach rate: -0.642665 m/s,
      LOS rate: 0.030800 deg/s,
      cmd heading: 190.662941 deg,
      new cmd heading: 190.699226 deg.

2025-08-19T18:21:30.059Z,1755627690.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500637
2025-08-19T18:21:30.313Z,1755627690.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754637
2025-08-19T18:21:30.442Z,1755627690.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m.
2025-08-19T18:21:30.444Z,1755627690.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.400002 m,
      nav range: 82.486389 m,
      bearing: 201.928772 deg,
      approach rate: -0.652814 m/s,
      LOS rate: 0.032303 deg/s,
      cmd heading: 190.699223 deg,
      new cmd heading: 190.745370 deg.

2025-08-19T18:21:30.562Z,1755627690.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004374
2025-08-19T18:21:30.747Z,1755627690.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m.
2025-08-19T18:21:30.750Z,1755627690.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.400002 m,
      nav range: 82.265633 m,
      bearing: 201.939693 deg,
      approach rate: -0.713284 m/s,
      LOS rate: 0.035384 deg/s,
      cmd heading: 190.745368 deg,
      new cmd heading: 190.778221 deg.

2025-08-19T18:21:30.815Z,1755627690.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256714
2025-08-19T18:21:31.067Z,1755627691.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509087
2025-08-19T18:21:31.219Z,1755627691.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m.
2025-08-19T18:21:31.221Z,1755627691.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.400002 m,
      nav range: 81.965172 m,
      bearing: 201.954552 deg,
      approach rate: -0.636955 m/s,
      LOS rate: 0.031615 deg/s,
      cmd heading: 190.778221 deg,
      new cmd heading: 190.822961 deg.

2025-08-19T18:21:31.321Z,1755627691.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762896
2025-08-19T18:21:31.571Z,1755627691.571 [DAT](INFO): DAT read: Rx Time:18:21:29.4392

2025-08-19T18:21:31.571Z,1755627691.571 [DAT](INFO): Rx dataTimestamp_ set to:1755627691.570744
2025-08-19T18:21:31.572Z,1755627691.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013634
2025-08-19T18:21:31.616Z,1755627691.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:31.651Z,1755627691.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m.
2025-08-19T18:21:31.657Z,1755627691.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.400002 m,
      nav range: 81.690956 m,
      bearing: 201.965862 deg,
      approach rate: -0.634585 m/s,
      LOS rate: 0.026261 deg/s,
      cmd heading: 190.822959 deg,
      new cmd heading: 190.857002 deg.

2025-08-19T18:21:31.822Z,1755627691.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264448
2025-08-19T18:21:32.037Z,1755627692.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.40 m.
2025-08-19T18:21:32.040Z,1755627692.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.400002 m,
      nav range: 81.418922 m,
      bearing: 201.977158 deg,
      approach rate: -0.703659 m/s,
      LOS rate: 0.029315 deg/s,
      cmd heading: 190.857001 deg,
      new cmd heading: 190.891000 deg.

2025-08-19T18:21:32.080Z,1755627692.080 [DAT](INFO): DAT read: 18:21:29.4392 LVL= 24336, 30849, 28594, 32755, AGC= 64, IDX= 415, 0.07,-0.464,-2.337,-0.697,-0.937, PHS= 0.576,-1.355, 0.196, RAW= 139.3,   6.6, CAL= 139.1,   7.5, ROT=  10.9,  -7.5

2025-08-19T18:21:32.081Z,1755627692.081 [DAT](INFO): got valid direction response:
 18:21:29.4392 LVL= 24336, 30849, 28594, 32755, AGC= 64, IDX= 415, 0.07,-0.464,-2.337,-0.697,-0.937, PHS= 0.576,-1.355, 0.196, RAW= 139.3,   6.6, CAL= 139.1,   7.5, ROT=  10.9,  -7.5

2025-08-19T18:21:32.082Z,1755627692.082 [DAT](INFO): DAT read: Bearing 343.0,  22.9 (Local)

2025-08-19T18:21:32.083Z,1755627692.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.0,  22.9 (Local)

2025-08-19T18:21:32.084Z,1755627692.084 [DAT](INFO): DAT read: Range 11 to 50 : 86.9 m  (Round-trip  115.9 ms) speed  0.6 m/s

2025-08-19T18:21:32.085Z,1755627692.085 [DAT](INFO): DAT read: user:923>

2025-08-19T18:21:32.086Z,1755627692.086 [DAT](INFO): DAT read: Tx time:18:21:30.5692

2025-08-19T18:21:32.086Z,1755627692.086 [DAT](INFO): Ping request sent.
2025-08-19T18:21:32.086Z,1755627692.086 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:32.086Z,1755627692.086 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:32.087Z,1755627692.087 [DAT](INFO): direction in FSK: [0.973558,0.187478,0.130526]
2025-08-19T18:21:32.088Z,1755627692.088 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:32.088Z,1755627692.088 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:32.094Z,1755627692.094 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:32.095Z,1755627692.095 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:32.596Z,1755627692.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.900002 m,
      deltaT: 3.528035 s,
      deltaX: -2.500000 m,
      approachRate: -0.708610 m/s,
      rangeRepo size: 4

2025-08-19T18:21:32.602Z,1755627692.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.900002 m,
      bearing: 201.952252 deg,
      lat: 36.779403 deg,
      lon: -121.859514 deg,
      deltaT: 3.528035 s,
      deltaX: -2.500000 m,
      approachRate: -0.708610 m/s,
      posRepo size: 4

2025-08-19T18:21:32.603Z,1755627692.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.90 m.
2025-08-19T18:21:32.612Z,1755627692.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.900002 m,
      nav range: 81.221802 m,
      bearing: 201.952252 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029315 deg/s,
      cmd heading: 190.891001 deg,
      new cmd heading: 190.940090 deg.

2025-08-19T18:21:32.963Z,1755627692.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.90 m.
2025-08-19T18:21:32.980Z,1755627692.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.900002 m,
      nav range: 80.973213 m,
      bearing: 201.965820 deg,
      approach rate: -0.675681 m/s,
      LOS rate: 0.036991 deg/s,
      cmd heading: 190.940097 deg,
      new cmd heading: 190.980924 deg.

2025-08-19T18:21:33.440Z,1755627693.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.90 m.
2025-08-19T18:21:33.447Z,1755627693.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.900002 m,
      nav range: 80.663429 m,
      bearing: 201.983428 deg,
      approach rate: -0.649482 m/s,
      LOS rate: 0.037058 deg/s,
      cmd heading: 190.980927 deg,
      new cmd heading: 191.033955 deg.

2025-08-19T18:21:33.797Z,1755627693.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:33.799Z,1755627693.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.90 m.
2025-08-19T18:21:33.802Z,1755627693.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.900002 m,
      nav range: 80.415100 m,
      bearing: 201.997705 deg,
      approach rate: -0.691574 m/s,
      LOS rate: 0.039883 deg/s,
      cmd heading: 191.033957 deg,
      new cmd heading: 191.076921 deg.

2025-08-19T18:21:33.838Z,1755627693.838 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:33.838Z,1755627693.838 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:33.839Z,1755627693.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:34.090Z,1755627694.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004223
2025-08-19T18:21:34.268Z,1755627694.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.90 m.
2025-08-19T18:21:34.271Z,1755627694.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.900002 m,
      nav range: 80.107643 m,
      bearing: 202.015576 deg,
      approach rate: -0.656487 m/s,
      LOS rate: 0.038304 deg/s,
      cmd heading: 191.076919 deg,
      new cmd heading: 191.130737 deg.

2025-08-19T18:21:34.343Z,1755627694.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257117
2025-08-19T18:21:34.594Z,1755627694.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508231
2025-08-19T18:21:34.707Z,1755627694.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.90 m.
2025-08-19T18:21:34.710Z,1755627694.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.900002 m,
      nav range: 79.822762 m,
      bearing: 202.032644 deg,
      approach rate: -0.648037 m/s,
      LOS rate: 0.038964 deg/s,
      cmd heading: 191.130741 deg,
      new cmd heading: 191.182128 deg.

2025-08-19T18:21:34.847Z,1755627694.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760384
2025-08-19T18:21:35.101Z,1755627695.101 [DAT](INFO): DAT read: Rx Time:18:21:33.0859

2025-08-19T18:21:35.102Z,1755627695.102 [DAT](INFO): Rx dataTimestamp_ set to:1755627695.100959
2025-08-19T18:21:35.103Z,1755627695.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016378
2025-08-19T18:21:35.247Z,1755627695.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.90 m.
2025-08-19T18:21:35.257Z,1755627695.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.900002 m,
      nav range: 79.477905 m,
      bearing: 202.053216 deg,
      approach rate: -0.639228 m/s,
      LOS rate: 0.038298 deg/s,
      cmd heading: 191.182131 deg,
      new cmd heading: 191.244115 deg.

2025-08-19T18:21:35.353Z,1755627695.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266624
2025-08-19T18:21:35.632Z,1755627695.632 [DAT](INFO): DAT read: 18:21:33.0859 LVL= 25072, 32753, 29106, 32755, AGC= 65, IDX= 413, 0.31,-1.431, 2.927,-1.674,-1.912, PHS= 0.583,-1.399, 0.193, RAW= 139.3,   6.9, CAL= 139.0,   7.7, ROT=  11.0,  -7.7

2025-08-19T18:21:35.637Z,1755627695.637 [DAT](INFO): got valid direction response:
 18:21:33.0859 LVL= 25072, 32753, 29106, 32755, AGC= 65, IDX= 413, 0.31,-1.431, 2.927,-1.674,-1.912, PHS= 0.583,-1.399, 0.193, RAW= 139.3,   6.9, CAL= 139.0,   7.7, ROT=  11.0,  -7.7

2025-08-19T18:21:35.639Z,1755627695.639 [DAT](INFO): DAT read: Bearing 343.2,  22.2 (Local)

2025-08-19T18:21:35.639Z,1755627695.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.2,  22.2 (Local)

2025-08-19T18:21:35.641Z,1755627695.641 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m  (Round-trip  112.5 ms) speed  0.7 m/s

2025-08-19T18:21:35.646Z,1755627695.646 [DAT](INFO): DAT read: user:924>

2025-08-19T18:21:35.647Z,1755627695.647 [DAT](INFO): DAT read: Tx time:18:21:34.1692

2025-08-19T18:21:35.647Z,1755627695.647 [DAT](INFO): Ping request sent.
2025-08-19T18:21:35.647Z,1755627695.647 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:35.647Z,1755627695.647 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:35.648Z,1755627695.648 [DAT](INFO): direction in FSK: [0.972776,0.189089,0.133986]
2025-08-19T18:21:35.649Z,1755627695.649 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:35.649Z,1755627695.649 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:35.656Z,1755627695.656 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:35.656Z,1755627695.656 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:35.816Z,1755627695.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.300003 m,
      deltaT: 3.529400 s,
      deltaX: -2.599998 m,
      approachRate: -0.736669 m/s,
      rangeRepo size: 4

2025-08-19T18:21:35.822Z,1755627695.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.300003 m,
      bearing: 201.995808 deg,
      lat: 36.779400 deg,
      lon: -121.859514 deg,
      deltaT: 3.529400 s,
      deltaX: -2.599998 m,
      approachRate: -0.736669 m/s,
      posRepo size: 4

2025-08-19T18:21:35.823Z,1755627695.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-19T18:21:35.830Z,1755627695.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 79.382057 m,
      bearing: 201.995808 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038298 deg/s,
      cmd heading: 191.244108 deg,
      new cmd heading: 191.309415 deg.

2025-08-19T18:21:36.156Z,1755627696.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:36.158Z,1755627696.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-19T18:21:36.161Z,1755627696.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 79.147148 m,
      bearing: 202.009113 deg,
      approach rate: -0.684952 m/s,
      LOS rate: 0.038908 deg/s,
      cmd heading: 191.309419 deg,
      new cmd heading: 191.349450 deg.

2025-08-19T18:21:36.358Z,1755627696.358 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:36.358Z,1755627696.358 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:36.359Z,1755627696.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:36.582Z,1755627696.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-19T18:21:36.585Z,1755627696.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 78.867981 m,
      bearing: 202.026718 deg,
      approach rate: -0.658371 m/s,
      LOS rate: 0.041666 deg/s,
      cmd heading: 191.349443 deg,
      new cmd heading: 191.402447 deg.

2025-08-19T18:21:36.610Z,1755627696.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963092
2025-08-19T18:21:36.862Z,1755627696.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215229
2025-08-19T18:21:36.968Z,1755627696.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-19T18:21:36.973Z,1755627696.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 78.616249 m,
      bearing: 202.042004 deg,
      approach rate: -0.653562 m/s,
      LOS rate: 0.039813 deg/s,
      cmd heading: 191.402446 deg,
      new cmd heading: 191.448450 deg.

2025-08-19T18:21:37.115Z,1755627697.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467386
2025-08-19T18:21:37.370Z,1755627697.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722037
2025-08-19T18:21:37.386Z,1755627697.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-19T18:21:37.405Z,1755627697.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 78.351318 m,
      bearing: 202.057460 deg,
      approach rate: -0.641396 m/s,
      LOS rate: 0.037546 deg/s,
      cmd heading: 191.448454 deg,
      new cmd heading: 191.494980 deg.

2025-08-19T18:21:37.620Z,1755627697.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972635
2025-08-19T18:21:37.871Z,1755627697.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223365
2025-08-19T18:21:37.935Z,1755627697.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-19T18:21:37.938Z,1755627697.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 77.982071 m,
      bearing: 202.076193 deg,
      approach rate: -0.665298 m/s,
      LOS rate: 0.033912 deg/s,
      cmd heading: 191.494981 deg,
      new cmd heading: 191.551445 deg.

2025-08-19T18:21:38.122Z,1755627698.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475194
2025-08-19T18:21:38.304Z,1755627698.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:38.323Z,1755627698.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-19T18:21:38.326Z,1755627698.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 77.741302 m,
      bearing: 202.088130 deg,
      approach rate: -0.621723 m/s,
      LOS rate: 0.030921 deg/s,
      cmd heading: 191.551439 deg,
      new cmd heading: 191.587363 deg.

2025-08-19T18:21:38.375Z,1755627698.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727504
2025-08-19T18:21:38.627Z,1755627698.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979276
2025-08-19T18:21:38.744Z,1755627698.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-19T18:21:38.747Z,1755627698.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 77.450226 m,
      bearing: 202.104679 deg,
      approach rate: -0.691036 m/s,
      LOS rate: 0.039436 deg/s,
      cmd heading: 191.587366 deg,
      new cmd heading: 191.637200 deg.

2025-08-19T18:21:38.879Z,1755627698.879 [DAT](INFO): DAT read: Rx Time:18:21:36.6828

2025-08-19T18:21:38.879Z,1755627698.879 [DAT](INFO): Rx dataTimestamp_ set to:1755627698.878830
2025-08-19T18:21:38.880Z,1755627698.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232493
2025-08-19T18:21:39.119Z,1755627699.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-19T18:21:39.122Z,1755627699.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 77.200523 m,
      bearing: 202.118690 deg,
      approach rate: -0.666186 m/s,
      LOS rate: 0.037499 deg/s,
      cmd heading: 191.637199 deg,
      new cmd heading: 191.679366 deg.

2025-08-19T18:21:39.131Z,1755627699.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483333
2025-08-19T18:21:39.388Z,1755627699.388 [DAT](INFO): DAT read: 18:21:36.6828 LVL= 24608, 31585, 27570, 32755, AGC= 63, IDX= 413, 0.15, 3.039, 1.140, 2.841, 2.618, PHS= 0.523,-1.433, 0.179, RAW= 140.5,   8.1, CAL= 140.1,   9.0, ROT=   9.9,  -9.0

2025-08-19T18:21:39.389Z,1755627699.389 [DAT](INFO): got valid direction response:
 18:21:36.6828 LVL= 24608, 31585, 27570, 32755, AGC= 63, IDX= 413, 0.15, 3.039, 1.140, 2.841, 2.618, PHS= 0.523,-1.433, 0.179, RAW= 140.5,   8.1, CAL= 140.1,   9.0, ROT=   9.9,  -9.0

2025-08-19T18:21:39.390Z,1755627699.390 [DAT](INFO): DAT read: Bearing 345.3,  17.8 (Local)

2025-08-19T18:21:39.391Z,1755627699.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,  17.8 (Local)

2025-08-19T18:21:39.392Z,1755627699.392 [DAT](INFO): DAT read: Range 11 to 50 : 82.0 m  (Round-trip  109.4 ms) speed  0.8 m/s

2025-08-19T18:21:39.393Z,1755627699.393 [DAT](INFO): DAT read: user:925>

2025-08-19T18:21:39.395Z,1755627699.395 [DAT](INFO): DAT read: Tx time:18:21:37.7692

2025-08-19T18:21:39.396Z,1755627699.396 [DAT](INFO): Ping request sent.
2025-08-19T18:21:39.396Z,1755627699.396 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:39.398Z,1755627699.398 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:39.399Z,1755627699.399 [DAT](INFO): direction in FSK: [0.972981,0.169812,0.156434]
2025-08-19T18:21:39.399Z,1755627699.399 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:39.400Z,1755627699.400 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:39.403Z,1755627699.403 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:39.403Z,1755627699.403 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:39.616Z,1755627699.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.000000 m,
      deltaT: 3.778596 s,
      deltaX: -2.300003 m,
      approachRate: -0.608693 m/s,
      rangeRepo size: 4

2025-08-19T18:21:39.623Z,1755627699.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.000000 m,
      bearing: 202.049706 deg,
      lat: 36.779395 deg,
      lon: -121.859515 deg,
      deltaT: 3.778596 s,
      deltaX: -2.300003 m,
      approachRate: -0.608693 m/s,
      posRepo size: 4

2025-08-19T18:21:39.623Z,1755627699.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m.
2025-08-19T18:21:39.630Z,1755627699.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.000000 m,
      nav range: 77.452713 m,
      bearing: 202.049706 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037499 deg/s,
      cmd heading: 191.679369 deg,
      new cmd heading: 191.735282 deg.

2025-08-19T18:21:39.951Z,1755627699.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m.
2025-08-19T18:21:39.969Z,1755627699.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.000000 m,
      nav range: 77.222710 m,
      bearing: 202.062168 deg,
      approach rate: -0.687014 m/s,
      LOS rate: 0.037336 deg/s,
      cmd heading: 191.735281 deg,
      new cmd heading: 191.772779 deg.

2025-08-19T18:21:40.356Z,1755627700.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:40.358Z,1755627700.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m.
2025-08-19T18:21:40.361Z,1755627700.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.000000 m,
      nav range: 76.958923 m,
      bearing: 202.076876 deg,
      approach rate: -0.647266 m/s,
      LOS rate: 0.036212 deg/s,
      cmd heading: 191.772779 deg,
      new cmd heading: 191.817052 deg.

2025-08-19T18:21:40.390Z,1755627700.390 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:40.390Z,1755627700.390 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:40.391Z,1755627700.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:40.643Z,1755627700.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247044
2025-08-19T18:21:40.786Z,1755627700.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m.
2025-08-19T18:21:40.788Z,1755627700.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.000000 m,
      nav range: 76.676918 m,
      bearing: 202.091430 deg,
      approach rate: -0.659768 m/s,
      LOS rate: 0.034176 deg/s,
      cmd heading: 191.817052 deg,
      new cmd heading: 191.860876 deg.

2025-08-19T18:21:40.895Z,1755627700.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498935
2025-08-19T18:21:41.147Z,1755627701.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750799
2025-08-19T18:21:41.167Z,1755627701.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m.
2025-08-19T18:21:41.171Z,1755627701.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.000000 m,
      nav range: 76.427017 m,
      bearing: 202.104933 deg,
      approach rate: -0.655309 m/s,
      LOS rate: 0.035524 deg/s,
      cmd heading: 191.860874 deg,
      new cmd heading: 191.901515 deg.

2025-08-19T18:21:41.398Z,1755627701.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002676
2025-08-19T18:21:41.469Z,1755627701.469 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:21:41.595Z,1755627701.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m.
2025-08-19T18:21:41.598Z,1755627701.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.000000 m,
      nav range: 76.148811 m,
      bearing: 202.124408 deg,
      approach rate: -0.649809 m/s,
      LOS rate: 0.045655 deg/s,
      cmd heading: 191.901514 deg,
      new cmd heading: 191.960153 deg.

2025-08-19T18:21:41.652Z,1755627701.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255506
2025-08-19T18:21:41.903Z,1755627701.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506885
2025-08-19T18:21:41.992Z,1755627701.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m.
2025-08-19T18:21:41.995Z,1755627701.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.000000 m,
      nav range: 75.894234 m,
      bearing: 202.143043 deg,
      approach rate: -0.640885 m/s,
      LOS rate: 0.047069 deg/s,
      cmd heading: 191.960158 deg,
      new cmd heading: 192.016250 deg.

2025-08-19T18:21:42.154Z,1755627702.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758660
2025-08-19T18:21:42.388Z,1755627702.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:42.390Z,1755627702.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m.
2025-08-19T18:21:42.393Z,1755627702.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.000000 m,
      nav range: 75.634895 m,
      bearing: 202.162593 deg,
      approach rate: -0.651455 m/s,
      LOS rate: 0.049277 deg/s,
      cmd heading: 192.016248 deg,
      new cmd heading: 192.075098 deg.

2025-08-19T18:21:42.407Z,1755627702.407 [DAT](INFO): DAT read: Rx Time:18:21:40.2796

2025-08-19T18:21:42.407Z,1755627702.407 [DAT](INFO): Rx dataTimestamp_ set to:1755627702.406763
2025-08-19T18:21:42.408Z,1755627702.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011911
2025-08-19T18:21:42.472Z,1755627702.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:21:42.658Z,1755627702.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262681
2025-08-19T18:21:42.859Z,1755627702.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.00 m.
2025-08-19T18:21:42.862Z,1755627702.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.000000 m,
      nav range: 75.319695 m,
      bearing: 202.183704 deg,
      approach rate: -0.672424 m/s,
      LOS rate: 0.045226 deg/s,
      cmd heading: 192.075096 deg,
      new cmd heading: 192.138696 deg.

2025-08-19T18:21:42.919Z,1755627702.919 [DAT](INFO): DAT read: 18:21:40.2796 LVL= 28560, 32753, 32754, 32755, AGC= 63, IDX= 413, 0.01, 1.252,-0.656, 1.007, 0.900, PHS= 0.455,-1.510, 0.063, RAW= 139.1,  11.0, CAL= 138.6,  12.0, ROT=  11.4, -12.0

2025-08-19T18:21:42.921Z,1755627702.921 [DAT](INFO): got valid direction response:
 18:21:40.2796 LVL= 28560, 32753, 32754, 32755, AGC= 63, IDX= 413, 0.01, 1.252,-0.656, 1.007, 0.900, PHS= 0.455,-1.510, 0.063, RAW= 139.1,  11.0, CAL= 138.6,  12.0, ROT=  11.4, -12.0

2025-08-19T18:21:42.922Z,1755627702.922 [DAT](INFO): DAT read: Bearing 348.0,  16.2 (Local)

2025-08-19T18:21:42.922Z,1755627702.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.0,  16.2 (Local)

2025-08-19T18:21:42.924Z,1755627702.924 [DAT](INFO): DAT read: Range 11 to 50 : 79.7 m  (Round-trip  106.3 ms) speed  0.5 m/s

2025-08-19T18:21:42.924Z,1755627702.924 [DAT](INFO): DAT read: user:926>

2025-08-19T18:21:42.925Z,1755627702.925 [DAT](INFO): DAT read: Tx time:18:21:41.3692

2025-08-19T18:21:42.925Z,1755627702.925 [DAT](INFO): Ping request sent.
2025-08-19T18:21:42.926Z,1755627702.926 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:42.926Z,1755627702.926 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:42.927Z,1755627702.927 [DAT](INFO): direction in FSK: [0.958850,0.193338,0.207912]
2025-08-19T18:21:42.927Z,1755627702.927 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:42.927Z,1755627702.927 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:42.931Z,1755627702.931 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:42.932Z,1755627702.932 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:43.267Z,1755627703.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.699997 m,
      deltaT: 3.528456 s,
      deltaX: -2.300003 m,
      approachRate: -0.651844 m/s,
      rangeRepo size: 4

2025-08-19T18:21:43.269Z,1755627703.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.699997 m,
      bearing: 202.147262 deg,
      lat: 36.779394 deg,
      lon: -121.859515 deg,
      deltaT: 3.528456 s,
      deltaX: -2.300003 m,
      approachRate: -0.651844 m/s,
      posRepo size: 4

2025-08-19T18:21:43.274Z,1755627703.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m.
2025-08-19T18:21:43.276Z,1755627703.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.699997 m,
      nav range: 75.231911 m,
      bearing: 202.147262 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.045226 deg/s,
      cmd heading: 192.138699 deg,
      new cmd heading: 192.193939 deg.

2025-08-19T18:21:43.655Z,1755627703.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m.
2025-08-19T18:21:43.661Z,1755627703.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.699997 m,
      nav range: 74.979691 m,
      bearing: 202.163835 deg,
      approach rate: -0.649403 m/s,
      LOS rate: 0.042815 deg/s,
      cmd heading: 192.193942 deg,
      new cmd heading: 192.243828 deg.

2025-08-19T18:21:44.021Z,1755627704.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m.
2025-08-19T18:21:44.023Z,1755627704.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.699997 m,
      nav range: 74.726013 m,
      bearing: 202.180522 deg,
      approach rate: -0.693026 m/s,
      LOS rate: 0.045742 deg/s,
      cmd heading: 192.243829 deg,
      new cmd heading: 192.294060 deg.

2025-08-19T18:21:44.420Z,1755627704.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:44.422Z,1755627704.422 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:44.422Z,1755627704.422 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:44.423Z,1755627704.423 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:44.425Z,1755627704.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m.
2025-08-19T18:21:44.428Z,1755627704.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.699997 m,
      nav range: 74.462692 m,
      bearing: 202.197690 deg,
      approach rate: -0.650861 m/s,
      LOS rate: 0.042586 deg/s,
      cmd heading: 192.294059 deg,
      new cmd heading: 192.345746 deg.

2025-08-19T18:21:44.675Z,1755627704.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748864
2025-08-19T18:21:44.888Z,1755627704.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m.
2025-08-19T18:21:44.897Z,1755627704.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.699997 m,
      nav range: 74.189156 m,
      bearing: 202.213562 deg,
      approach rate: -0.591739 m/s,
      LOS rate: 0.034463 deg/s,
      cmd heading: 192.345750 deg,
      new cmd heading: 192.393543 deg.

2025-08-19T18:21:44.926Z,1755627704.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000807
2025-08-19T18:21:45.180Z,1755627705.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254433
2025-08-19T18:21:45.249Z,1755627705.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m.
2025-08-19T18:21:45.252Z,1755627705.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.699997 m,
      nav range: 73.922974 m,
      bearing: 202.228529 deg,
      approach rate: -0.736261 m/s,
      LOS rate: 0.041548 deg/s,
      cmd heading: 192.393547 deg,
      new cmd heading: 192.438610 deg.

2025-08-19T18:21:45.430Z,1755627705.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504808
2025-08-19T18:21:45.666Z,1755627705.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m.
2025-08-19T18:21:45.668Z,1755627705.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.699997 m,
      nav range: 73.651917 m,
      bearing: 202.243331 deg,
      approach rate: -0.650747 m/s,
      LOS rate: 0.035667 deg/s,
      cmd heading: 192.438613 deg,
      new cmd heading: 192.483182 deg.

2025-08-19T18:21:45.683Z,1755627705.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756885
2025-08-19T18:21:45.934Z,1755627705.934 [DAT](INFO): DAT read: Rx Time:18:21:43.8764

2025-08-19T18:21:45.935Z,1755627705.935 [DAT](INFO): Rx dataTimestamp_ set to:1755627705.934651
2025-08-19T18:21:45.935Z,1755627705.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009896
2025-08-19T18:21:46.042Z,1755627706.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.70 m.
2025-08-19T18:21:46.045Z,1755627706.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.699997 m,
      nav range: 73.402527 m,
      bearing: 202.256320 deg,
      approach rate: -0.662999 m/s,
      LOS rate: 0.034647 deg/s,
      cmd heading: 192.483187 deg,
      new cmd heading: 192.522285 deg.

2025-08-19T18:21:46.187Z,1755627706.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261650
2025-08-19T18:21:46.445Z,1755627706.445 [DAT](INFO): DAT read: 18:21:43.8764 LVL= 27632, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.06,-0.626,-2.535,-0.890,-0.948, PHS= 0.424,-1.542, 0.015, RAW= 138.6,  12.2, CAL= 138.0,  13.3, ROT=  12.0, -13.3

2025-08-19T18:21:46.446Z,1755627706.446 [DAT](INFO): got valid direction response:
 18:21:43.8764 LVL= 27632, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.06,-0.626,-2.535,-0.890,-0.948, PHS= 0.424,-1.542, 0.015, RAW= 138.6,  12.2, CAL= 138.0,  13.3, ROT=  12.0, -13.3

2025-08-19T18:21:46.448Z,1755627706.448 [DAT](INFO): DAT read: Bearing 349.5,  13.8 (Local)

2025-08-19T18:21:46.449Z,1755627706.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.5,  13.8 (Local)

2025-08-19T18:21:46.452Z,1755627706.452 [DAT](INFO): DAT read: Range 11 to 50 : 77.3 m  (Round-trip  103.1 ms) speed  0.6 m/s

2025-08-19T18:21:46.454Z,1755627706.454 [DAT](INFO): DAT read: user:927>

2025-08-19T18:21:46.455Z,1755627706.455 [DAT](INFO): DAT read: Tx time:18:21:44.9692

2025-08-19T18:21:46.456Z,1755627706.456 [DAT](INFO): Ping request sent.
2025-08-19T18:21:46.456Z,1755627706.456 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:46.456Z,1755627706.456 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:46.463Z,1755627706.463 [DAT](INFO): direction in FSK: [0.951913,0.202335,0.230050]
2025-08-19T18:21:46.463Z,1755627706.463 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:46.463Z,1755627706.463 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:46.502Z,1755627706.502 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:46.502Z,1755627706.502 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:46.523Z,1755627706.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.300003 m,
      deltaT: 3.527630 s,
      deltaX: -2.399994 m,
      approachRate: -0.680342 m/s,
      rangeRepo size: 4

2025-08-19T18:21:46.525Z,1755627706.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.300003 m,
      bearing: 202.029413 deg,
      lat: 36.779386 deg,
      lon: -121.859515 deg,
      deltaT: 3.527630 s,
      deltaX: -2.399994 m,
      approachRate: -0.680342 m/s,
      posRepo size: 4

2025-08-19T18:21:46.532Z,1755627706.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.30 m.
2025-08-19T18:21:46.550Z,1755627706.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.300003 m,
      nav range: 73.975067 m,
      bearing: 202.029413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034647 deg/s,
      cmd heading: 192.522283 deg,
      new cmd heading: 192.572256 deg.

2025-08-19T18:21:46.944Z,1755627706.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.30 m.
2025-08-19T18:21:46.950Z,1755627706.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.300003 m,
      nav range: 73.649590 m,
      bearing: 202.041808 deg,
      approach rate: -0.772011 m/s,
      LOS rate: 0.029529 deg/s,
      cmd heading: 192.572252 deg,
      new cmd heading: 192.609601 deg.

2025-08-19T18:21:47.317Z,1755627707.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:47.323Z,1755627707.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.30 m.
2025-08-19T18:21:47.330Z,1755627707.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.300003 m,
      nav range: 73.410637 m,
      bearing: 202.050694 deg,
      approach rate: -0.630479 m/s,
      LOS rate: 0.023523 deg/s,
      cmd heading: 192.609600 deg,
      new cmd heading: 192.636346 deg.

2025-08-19T18:21:47.447Z,1755627707.447 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:47.448Z,1755627707.448 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:47.448Z,1755627707.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:47.698Z,1755627707.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242466
2025-08-19T18:21:47.772Z,1755627707.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.30 m.
2025-08-19T18:21:47.779Z,1755627707.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.300003 m,
      nav range: 73.103287 m,
      bearing: 202.061787 deg,
      approach rate: -0.685257 m/s,
      LOS rate: 0.024836 deg/s,
      cmd heading: 192.636347 deg,
      new cmd heading: 192.669765 deg.

2025-08-19T18:21:47.952Z,1755627707.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495710
2025-08-19T18:21:48.204Z,1755627708.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747709
2025-08-19T18:21:48.240Z,1755627708.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.30 m.
2025-08-19T18:21:48.246Z,1755627708.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.300003 m,
      nav range: 72.786110 m,
      bearing: 202.072960 deg,
      approach rate: -0.676863 m/s,
      LOS rate: 0.023947 deg/s,
      cmd heading: 192.669760 deg,
      new cmd heading: 192.703424 deg.

2025-08-19T18:21:48.456Z,1755627708.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999691
2025-08-19T18:21:48.707Z,1755627708.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250514
2025-08-19T18:21:48.777Z,1755627708.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.30 m.
2025-08-19T18:21:48.784Z,1755627708.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.300003 m,
      nav range: 72.434753 m,
      bearing: 202.086025 deg,
      approach rate: -0.654754 m/s,
      LOS rate: 0.024466 deg/s,
      cmd heading: 192.703419 deg,
      new cmd heading: 192.742806 deg.

2025-08-19T18:21:48.959Z,1755627708.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503048
2025-08-19T18:21:49.211Z,1755627709.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754533
2025-08-19T18:21:49.244Z,1755627709.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.30 m.
2025-08-19T18:21:49.247Z,1755627709.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.300003 m,
      nav range: 72.123528 m,
      bearing: 202.097757 deg,
      approach rate: -0.665937 m/s,
      LOS rate: 0.025212 deg/s,
      cmd heading: 192.742802 deg,
      new cmd heading: 192.778150 deg.

2025-08-19T18:21:49.464Z,1755627709.464 [DAT](INFO): DAT read: Rx Time:18:21:47.4734

2025-08-19T18:21:49.465Z,1755627709.465 [DAT](INFO): Rx dataTimestamp_ set to:1755627709.464265
2025-08-19T18:21:49.465Z,1755627709.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009122
2025-08-19T18:21:49.683Z,1755627709.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:49.685Z,1755627709.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.30 m.
2025-08-19T18:21:49.687Z,1755627709.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.300003 m,
      nav range: 71.833420 m,
      bearing: 202.108068 deg,
      approach rate: -0.658655 m/s,
      LOS rate: 0.023504 deg/s,
      cmd heading: 192.778155 deg,
      new cmd heading: 192.809212 deg.

2025-08-19T18:21:49.716Z,1755627709.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260257
2025-08-19T18:21:49.970Z,1755627709.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513227
2025-08-19T18:21:50.054Z,1755627710.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.30 m.
2025-08-19T18:21:50.057Z,1755627710.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.300003 m,
      nav range: 71.597076 m,
      bearing: 202.116472 deg,
      approach rate: -0.647342 m/s,
      LOS rate: 0.023096 deg/s,
      cmd heading: 192.809219 deg,
      new cmd heading: 192.834515 deg.

2025-08-19T18:21:50.224Z,1755627710.224 [DAT](INFO): DAT read: 18:21:47.4734 LVL= 28448, 32753, 32754, 32755, AGC= 69, IDX= 413, 0.07,-0.969,-2.912,-1.291,-1.294, PHS= 0.427,-1.573,-0.041, RAW= 137.1,  13.0, CAL= 136.4,  14.1, ROT=  13.6, -14.1

2025-08-19T18:21:50.225Z,1755627710.225 [DAT](INFO): got valid direction response:
 18:21:47.4734 LVL= 28448, 32753, 32754, 32755, AGC= 69, IDX= 413, 0.07,-0.969,-2.912,-1.291,-1.294, PHS= 0.427,-1.573,-0.041, RAW= 137.1,  13.0, CAL= 136.4,  14.1, ROT=  13.6, -14.1

2025-08-19T18:21:50.226Z,1755627710.226 [DAT](INFO): DAT read: Bearing 350.6,  12.7 (Local)

2025-08-19T18:21:50.227Z,1755627710.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  12.7 (Local)

2025-08-19T18:21:50.228Z,1755627710.228 [DAT](INFO): DAT read: Range 11 to 50 : 75.0 m  (Round-trip  100.0 ms) speed  0.7 m/s

2025-08-19T18:21:50.229Z,1755627710.229 [DAT](INFO): DAT read: user:928>

2025-08-19T18:21:50.229Z,1755627710.229 [DAT](INFO): DAT read: Tx time:18:21:48.5692

2025-08-19T18:21:50.230Z,1755627710.230 [DAT](INFO): Ping request sent.
2025-08-19T18:21:50.230Z,1755627710.230 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:50.230Z,1755627710.230 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:50.231Z,1755627710.231 [DAT](INFO): direction in FSK: [0.942678,0.228058,0.243615]
2025-08-19T18:21:50.231Z,1755627710.231 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:50.232Z,1755627710.232 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:50.235Z,1755627710.235 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:50.235Z,1755627710.235 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:50.490Z,1755627710.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.000000 m,
      deltaT: 3.779804 s,
      deltaX: -2.300003 m,
      approachRate: -0.608498 m/s,
      rangeRepo size: 4

2025-08-19T18:21:50.492Z,1755627710.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.000000 m,
      bearing: 203.486443 deg,
      lat: 36.779383 deg,
      lon: -121.859538 deg,
      deltaT: 3.779804 s,
      deltaX: -2.300003 m,
      approachRate: -0.608498 m/s,
      posRepo size: 4

2025-08-19T18:21:50.493Z,1755627710.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m.
2025-08-19T18:21:50.496Z,1755627710.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.000000 m,
      nav range: 72.377861 m,
      bearing: 203.486443 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023096 deg/s,
      cmd heading: 192.834518 deg,
      new cmd heading: 192.864976 deg.

2025-08-19T18:21:50.874Z,1755627710.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m.
2025-08-19T18:21:50.877Z,1755627710.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.000000 m,
      nav range: 72.113434 m,
      bearing: 203.501230 deg,
      approach rate: -0.687088 m/s,
      LOS rate: 0.038564 deg/s,
      cmd heading: 192.864980 deg,
      new cmd heading: 192.909505 deg.

2025-08-19T18:21:51.262Z,1755627711.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m.
2025-08-19T18:21:51.265Z,1755627711.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.000000 m,
      nav range: 71.858994 m,
      bearing: 203.514962 deg,
      approach rate: -0.655835 m/s,
      LOS rate: 0.035519 deg/s,
      cmd heading: 192.909500 deg,
      new cmd heading: 192.950840 deg.

2025-08-19T18:21:51.704Z,1755627711.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:51.706Z,1755627711.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m.
2025-08-19T18:21:51.709Z,1755627711.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.000000 m,
      nav range: 71.568245 m,
      bearing: 203.529080 deg,
      approach rate: -0.655031 m/s,
      LOS rate: 0.031938 deg/s,
      cmd heading: 192.950836 deg,
      new cmd heading: 192.993364 deg.

2025-08-19T18:21:51.730Z,1755627711.730 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:51.730Z,1755627711.730 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:51.731Z,1755627711.731 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:51.983Z,1755627711.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752926
2025-08-19T18:21:52.078Z,1755627712.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m.
2025-08-19T18:21:52.080Z,1755627712.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.000000 m,
      nav range: 71.334709 m,
      bearing: 203.540097 deg,
      approach rate: -0.629144 m/s,
      LOS rate: 0.029776 deg/s,
      cmd heading: 192.993361 deg,
      new cmd heading: 193.026519 deg.

2025-08-19T18:21:52.235Z,1755627712.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004569
2025-08-19T18:21:52.483Z,1755627712.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m.
2025-08-19T18:21:52.487Z,1755627712.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256635
2025-08-19T18:21:52.485Z,1755627712.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.000000 m,
      nav range: 71.058311 m,
      bearing: 203.552780 deg,
      approach rate: -0.681930 m/s,
      LOS rate: 0.031414 deg/s,
      cmd heading: 193.026514 deg,
      new cmd heading: 193.064712 deg.

2025-08-19T18:21:52.738Z,1755627712.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508541
2025-08-19T18:21:52.924Z,1755627712.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m.
2025-08-19T18:21:52.931Z,1755627712.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.000000 m,
      nav range: 70.786911 m,
      bearing: 203.564965 deg,
      approach rate: -0.614994 m/s,
      LOS rate: 0.027716 deg/s,
      cmd heading: 193.064709 deg,
      new cmd heading: 193.101402 deg.

2025-08-19T18:21:52.994Z,1755627712.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763589
2025-08-19T18:21:53.242Z,1755627713.242 [DAT](INFO): DAT read: Rx Time:18:21:51.0701

2025-08-19T18:21:53.243Z,1755627713.243 [DAT](INFO): Rx dataTimestamp_ set to:1755627713.242562
2025-08-19T18:21:53.243Z,1755627713.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013511
2025-08-19T18:21:53.296Z,1755627713.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m.
2025-08-19T18:21:53.299Z,1755627713.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.000000 m,
      nav range: 70.524429 m,
      bearing: 203.576266 deg,
      approach rate: -0.704672 m/s,
      LOS rate: 0.030454 deg/s,
      cmd heading: 193.101401 deg,
      new cmd heading: 193.135432 deg.

2025-08-19T18:21:53.495Z,1755627713.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264594
2025-08-19T18:21:53.736Z,1755627713.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:53.738Z,1755627713.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.00 m.
2025-08-19T18:21:53.741Z,1755627713.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.000000 m,
      nav range: 70.236465 m,
      bearing: 203.595051 deg,
      approach rate: -0.651447 m/s,
      LOS rate: 0.042670 deg/s,
      cmd heading: 193.135429 deg,
      new cmd heading: 193.192014 deg.

2025-08-19T18:21:53.752Z,1755627713.752 [DAT](INFO): DAT read: 18:21:51.0701 LVL= 29616, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.14, 1.538,-0.469, 1.070, 1.163, PHS= 0.476,-1.588,-0.138, RAW= 133.2,  13.5, CAL= 132.4,  14.6, ROT=  17.6, -14.6

2025-08-19T18:21:53.753Z,1755627713.753 [DAT](INFO): got valid direction response:
 18:21:51.0701 LVL= 29616, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.14, 1.538,-0.469, 1.070, 1.163, PHS= 0.476,-1.588,-0.138, RAW= 133.2,  13.5, CAL= 132.4,  14.6, ROT=  17.6, -14.6

2025-08-19T18:21:53.754Z,1755627713.754 [DAT](INFO): DAT read: Bearing 352.0,  14.0 (Local)

2025-08-19T18:21:53.755Z,1755627713.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.0,  14.0 (Local)

2025-08-19T18:21:53.756Z,1755627713.756 [DAT](INFO): DAT read: Range 11 to 50 : 72.6 m  (Round-trip  96.8 ms) speed  0.6 m/s

2025-08-19T18:21:53.757Z,1755627713.757 [DAT](INFO): DAT read: user:929>

2025-08-19T18:21:53.770Z,1755627713.770 [DAT](INFO): DAT read: Tx time:18:21:52.1691

2025-08-19T18:21:53.770Z,1755627713.770 [DAT](INFO): Ping request sent.
2025-08-19T18:21:53.770Z,1755627713.770 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:53.771Z,1755627713.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:53.772Z,1755627713.772 [DAT](INFO): direction in FSK: [0.922411,0.292606,0.252069]
2025-08-19T18:21:53.772Z,1755627713.772 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:53.772Z,1755627713.772 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:53.780Z,1755627713.780 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:53.780Z,1755627713.780 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:54.166Z,1755627714.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.599998 m,
      deltaT: 3.528226 s,
      deltaX: -2.400002 m,
      approachRate: -0.680229 m/s,
      rangeRepo size: 4

2025-08-19T18:21:54.174Z,1755627714.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.599998 m,
      bearing: 203.816807 deg,
      lat: 36.779385 deg,
      lon: -121.859540 deg,
      deltaT: 3.528226 s,
      deltaX: -2.400002 m,
      approachRate: -0.680229 m/s,
      posRepo size: 4

2025-08-19T18:21:54.175Z,1755627714.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m.
2025-08-19T18:21:54.183Z,1755627714.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.599998 m,
      nav range: 69.827499 m,
      bearing: 203.816807 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042670 deg/s,
      cmd heading: 193.192010 deg,
      new cmd heading: 193.246092 deg.

2025-08-19T18:21:54.554Z,1755627714.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m.
2025-08-19T18:21:54.556Z,1755627714.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.599998 m,
      nav range: 69.560249 m,
      bearing: 203.834843 deg,
      approach rate: -0.680536 m/s,
      LOS rate: 0.046105 deg/s,
      cmd heading: 193.246091 deg,
      new cmd heading: 193.300408 deg.

2025-08-19T18:21:55.015Z,1755627715.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m.
2025-08-19T18:21:55.022Z,1755627715.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.599998 m,
      nav range: 69.275284 m,
      bearing: 203.856594 deg,
      approach rate: -0.617860 m/s,
      LOS rate: 0.047355 deg/s,
      cmd heading: 193.300405 deg,
      new cmd heading: 193.365927 deg.

2025-08-19T18:21:55.498Z,1755627715.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m.
2025-08-19T18:21:55.501Z,1755627715.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.599998 m,
      nav range: 68.950272 m,
      bearing: 203.881661 deg,
      approach rate: -0.673012 m/s,
      LOS rate: 0.052151 deg/s,
      cmd heading: 193.365920 deg,
      new cmd heading: 193.441474 deg.

2025-08-19T18:21:55.908Z,1755627715.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:55.931Z,1755627715.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m.
2025-08-19T18:21:55.940Z,1755627715.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.599998 m,
      nav range: 68.679298 m,
      bearing: 203.896992 deg,
      approach rate: -0.626225 m/s,
      LOS rate: 0.035572 deg/s,
      cmd heading: 193.441476 deg,
      new cmd heading: 193.487652 deg.

2025-08-19T18:21:56.014Z,1755627716.014 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:56.015Z,1755627716.015 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:56.015Z,1755627716.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:56.266Z,1755627716.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496029
2025-08-19T18:21:56.398Z,1755627716.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m.
2025-08-19T18:21:56.401Z,1755627716.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.599998 m,
      nav range: 68.360023 m,
      bearing: 203.915213 deg,
      approach rate: -0.682637 m/s,
      LOS rate: 0.039140 deg/s,
      cmd heading: 193.487648 deg,
      new cmd heading: 193.542566 deg.

2025-08-19T18:21:56.523Z,1755627716.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752064
2025-08-19T18:21:56.771Z,1755627716.771 [DAT](INFO): DAT read: Rx Time:18:21:54.6669

2025-08-19T18:21:56.771Z,1755627716.771 [DAT](INFO): Rx dataTimestamp_ set to:1755627716.770820
2025-08-19T18:21:56.772Z,1755627716.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001372
2025-08-19T18:21:56.805Z,1755627716.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m.
2025-08-19T18:21:56.808Z,1755627716.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.599998 m,
      nav range: 68.093269 m,
      bearing: 203.928325 deg,
      approach rate: -0.656078 m/s,
      LOS rate: 0.032376 deg/s,
      cmd heading: 193.542563 deg,
      new cmd heading: 193.582053 deg.

2025-08-19T18:21:57.025Z,1755627717.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255167
2025-08-19T18:21:57.240Z,1755627717.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.60 m.
2025-08-19T18:21:57.243Z,1755627717.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.599998 m,
      nav range: 67.809921 m,
      bearing: 203.942367 deg,
      approach rate: -0.650652 m/s,
      LOS rate: 0.032377 deg/s,
      cmd heading: 193.582055 deg,
      new cmd heading: 193.624354 deg.

2025-08-19T18:21:57.307Z,1755627717.307 [DAT](INFO): DAT read: 18:21:54.6669 LVL= 26928, 32753, 29970, 32755, AGC= 69, IDX= 412, 0.21,-0.068,-2.088,-0.678,-0.467, PHS= 0.501,-1.576,-0.255, RAW= 128.9,  14.5, CAL= 128.3,  15.6, ROT=  21.7, -15.6

2025-08-19T18:21:57.308Z,1755627717.308 [DAT](INFO): got valid direction response:
 18:21:54.6669 LVL= 26928, 32753, 29970, 32755, AGC= 69, IDX= 412, 0.21,-0.068,-2.088,-0.678,-0.467, PHS= 0.501,-1.576,-0.255, RAW= 128.9,  14.5, CAL= 128.3,  15.6, ROT=  21.7, -15.6

2025-08-19T18:21:57.309Z,1755627717.309 [DAT](INFO): DAT read: Bearing 353.6,  15.8 (Local)

2025-08-19T18:21:57.350Z,1755627717.350 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  15.8 (Local)

2025-08-19T18:21:57.352Z,1755627717.352 [DAT](INFO): DAT read: Range 11 to 50 : 70.2 m  (Round-trip  93.7 ms) speed  0.4 m/s

2025-08-19T18:21:57.353Z,1755627717.353 [DAT](INFO): DAT read: user:930>

2025-08-19T18:21:57.354Z,1755627717.354 [DAT](INFO): DAT read: Tx time:18:21:55.7691

2025-08-19T18:21:57.354Z,1755627717.354 [DAT](INFO): Ping request sent.
2025-08-19T18:21:57.354Z,1755627717.354 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:21:57.354Z,1755627717.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:21:57.355Z,1755627717.355 [DAT](INFO): direction in FSK: [0.894906,0.356126,0.268920]
2025-08-19T18:21:57.356Z,1755627717.356 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:57.356Z,1755627717.356 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:57.359Z,1755627717.359 [DAT](INFO): publishing transmit ping time
2025-08-19T18:21:57.359Z,1755627717.359 [DAT](INFO): publishing direction and range info
2025-08-19T18:21:57.598Z,1755627717.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.199997 m,
      deltaT: 3.528344 s,
      deltaX: -2.400002 m,
      approachRate: -0.680206 m/s,
      rangeRepo size: 4

2025-08-19T18:21:57.601Z,1755627717.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.199997 m,
      bearing: 205.710368 deg,
      lat: 36.779386 deg,
      lon: -121.859565 deg,
      deltaT: 3.528344 s,
      deltaX: -2.400002 m,
      approachRate: -0.680206 m/s,
      posRepo size: 4

2025-08-19T18:21:57.601Z,1755627717.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.20 m.
2025-08-19T18:21:57.604Z,1755627717.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.199997 m,
      nav range: 68.448036 m,
      bearing: 205.710368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032377 deg/s,
      cmd heading: 193.624361 deg,
      new cmd heading: 193.659082 deg.

2025-08-19T18:21:58.012Z,1755627718.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:21:58.014Z,1755627718.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.20 m.
2025-08-19T18:21:58.017Z,1755627718.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.199997 m,
      nav range: 68.176849 m,
      bearing: 205.728342 deg,
      approach rate: -0.650834 m/s,
      LOS rate: 0.043308 deg/s,
      cmd heading: 193.659086 deg,
      new cmd heading: 193.713222 deg.

2025-08-19T18:21:58.030Z,1755627718.030 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:21:58.030Z,1755627718.030 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:21:58.031Z,1755627718.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:21:58.283Z,1755627718.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.928375
2025-08-19T18:21:58.407Z,1755627718.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.20 m.
2025-08-19T18:21:58.410Z,1755627718.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.199997 m,
      nav range: 67.925369 m,
      bearing: 205.745049 deg,
      approach rate: -0.640960 m/s,
      LOS rate: 0.042739 deg/s,
      cmd heading: 193.713222 deg,
      new cmd heading: 193.763527 deg.

2025-08-19T18:21:58.534Z,1755627718.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.180277
2025-08-19T18:21:58.787Z,1755627718.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.432420
2025-08-19T18:21:58.848Z,1755627718.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.20 m.
2025-08-19T18:21:58.854Z,1755627718.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.199997 m,
      nav range: 67.648026 m,
      bearing: 205.761800 deg,
      approach rate: -0.629060 m/s,
      LOS rate: 0.038149 deg/s,
      cmd heading: 193.763533 deg,
      new cmd heading: 193.813992 deg.

2025-08-19T18:21:59.038Z,1755627719.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684354
2025-08-19T18:21:59.221Z,1755627719.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.20 m.
2025-08-19T18:21:59.223Z,1755627719.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.199997 m,
      nav range: 67.391296 m,
      bearing: 205.777610 deg,
      approach rate: -0.688210 m/s,
      LOS rate: 0.042544 deg/s,
      cmd heading: 193.813994 deg,
      new cmd heading: 193.861606 deg.

2025-08-19T18:21:59.291Z,1755627719.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.936453
2025-08-19T18:21:59.542Z,1755627719.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188289
2025-08-19T18:21:59.691Z,1755627719.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.20 m.
2025-08-19T18:21:59.702Z,1755627719.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.199997 m,
      nav range: 67.094360 m,
      bearing: 205.796378 deg,
      approach rate: -0.630606 m/s,
      LOS rate: 0.040034 deg/s,
      cmd heading: 193.861601 deg,
      new cmd heading: 193.918153 deg.

2025-08-19T18:21:59.795Z,1755627719.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440635
2025-08-19T18:22:00.046Z,1755627720.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.692239
2025-08-19T18:22:00.247Z,1755627720.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:00.249Z,1755627720.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.20 m.
2025-08-19T18:22:00.252Z,1755627720.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.199997 m,
      nav range: 66.723137 m,
      bearing: 205.818234 deg,
      approach rate: -0.665555 m/s,
      LOS rate: 0.039403 deg/s,
      cmd heading: 193.918155 deg,
      new cmd heading: 193.984087 deg.

2025-08-19T18:22:00.299Z,1755627720.299 [DAT](INFO): DAT read: Rx Time:18:21:58.2640

2025-08-19T18:22:00.299Z,1755627720.299 [DAT](INFO): Rx dataTimestamp_ set to:1755627720.299139
2025-08-19T18:22:00.300Z,1755627720.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945898
2025-08-19T18:22:00.550Z,1755627720.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196327
2025-08-19T18:22:00.655Z,1755627720.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.20 m.
2025-08-19T18:22:00.658Z,1755627720.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.199997 m,
      nav range: 66.472801 m,
      bearing: 205.833584 deg,
      approach rate: -0.617046 m/s,
      LOS rate: 0.037978 deg/s,
      cmd heading: 193.984093 deg,
      new cmd heading: 194.030317 deg.

2025-08-19T18:22:00.812Z,1755627720.812 [DAT](INFO): DAT read: 18:21:58.2640 LVL= 25792, 32593, 31554, 32755, AGC= 70, IDX= 414,-0.47,-0.902,-2.979,-1.678,-1.430, PHS= 0.630,-1.504,-0.292, RAW= 124.5,  12.5, CAL= 124.7,  13.7, ROT=  25.3, -13.7

2025-08-19T18:22:00.813Z,1755627720.813 [DAT](INFO): got valid direction response:
 18:21:58.2640 LVL= 25792, 32593, 31554, 32755, AGC= 70, IDX= 414,-0.47,-0.902,-2.979,-1.678,-1.430, PHS= 0.630,-1.504,-0.292, RAW= 124.5,  12.5, CAL= 124.7,  13.7, ROT=  25.3, -13.7

2025-08-19T18:22:00.814Z,1755627720.814 [DAT](INFO): DAT read: Bearing 351.5,  18.2 (Local)

2025-08-19T18:22:00.814Z,1755627720.814 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.5,  18.2 (Local)

2025-08-19T18:22:00.816Z,1755627720.816 [DAT](INFO): DAT read: Range 11 to 50 : 68.1 m  (Round-trip  90.8 ms) speed  0.5 m/s

2025-08-19T18:22:00.816Z,1755627720.816 [DAT](INFO): DAT read: user:931>

2025-08-19T18:22:00.817Z,1755627720.817 [DAT](INFO): DAT read: Tx time:18:21:59.3691

2025-08-19T18:22:00.821Z,1755627720.821 [DAT](INFO): Ping request sent.
2025-08-19T18:22:00.822Z,1755627720.822 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:00.822Z,1755627720.822 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:00.823Z,1755627720.823 [DAT](INFO): direction in FSK: [0.878361,0.415199,0.236838]
2025-08-19T18:22:00.823Z,1755627720.823 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:00.826Z,1755627720.826 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:00.828Z,1755627720.828 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:00.829Z,1755627720.829 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:01.088Z,1755627721.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.099998 m,
      deltaT: 3.529247 s,
      deltaX: -2.099998 m,
      approachRate: -0.595027 m/s,
      rangeRepo size: 4

2025-08-19T18:22:01.095Z,1755627721.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.099998 m,
      bearing: 210.554163 deg,
      lat: 36.779404 deg,
      lon: -121.859622 deg,
      deltaT: 3.529247 s,
      deltaX: -2.099998 m,
      approachRate: -0.595027 m/s,
      posRepo size: 4

2025-08-19T18:22:01.095Z,1755627721.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m.
2025-08-19T18:22:01.102Z,1755627721.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.099998 m,
      nav range: 66.761826 m,
      bearing: 210.554163 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037978 deg/s,
      cmd heading: 194.030320 deg,
      new cmd heading: 194.079634 deg.

2025-08-19T18:22:01.487Z,1755627721.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m.
2025-08-19T18:22:01.494Z,1755627721.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.099998 m,
      nav range: 66.496193 m,
      bearing: 210.591525 deg,
      approach rate: -0.665461 m/s,
      LOS rate: 0.093972 deg/s,
      cmd heading: 194.079634 deg,
      new cmd heading: 194.192166 deg.

2025-08-19T18:22:01.892Z,1755627721.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m.
2025-08-19T18:22:01.895Z,1755627721.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.099998 m,
      nav range: 66.227798 m,
      bearing: 210.625346 deg,
      approach rate: -0.662766 m/s,
      LOS rate: 0.083857 deg/s,
      cmd heading: 194.192168 deg,
      new cmd heading: 194.294044 deg.

2025-08-19T18:22:02.291Z,1755627722.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:02.293Z,1755627722.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m.
2025-08-19T18:22:02.308Z,1755627722.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.099998 m,
      nav range: 65.997841 m,
      bearing: 210.654652 deg,
      approach rate: -0.573137 m/s,
      LOS rate: 0.073295 deg/s,
      cmd heading: 194.294047 deg,
      new cmd heading: 194.382270 deg.

2025-08-19T18:22:02.314Z,1755627722.314 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:02.314Z,1755627722.314 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:02.315Z,1755627722.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:02.566Z,1755627722.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744858
2025-08-19T18:22:02.655Z,1755627722.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m.
2025-08-19T18:22:02.658Z,1755627722.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.099998 m,
      nav range: 65.736488 m,
      bearing: 210.687756 deg,
      approach rate: -0.722337 m/s,
      LOS rate: 0.091858 deg/s,
      cmd heading: 194.382266 deg,
      new cmd heading: 194.481973 deg.

2025-08-19T18:22:02.822Z,1755627722.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999584
2025-08-19T18:22:03.074Z,1755627723.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252242
2025-08-19T18:22:03.100Z,1755627723.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m.
2025-08-19T18:22:03.103Z,1755627723.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.099998 m,
      nav range: 65.453583 m,
      bearing: 210.726773 deg,
      approach rate: -0.636125 m/s,
      LOS rate: 0.088111 deg/s,
      cmd heading: 194.481973 deg,
      new cmd heading: 194.599531 deg.

2025-08-19T18:22:03.331Z,1755627723.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509416
2025-08-19T18:22:03.499Z,1755627723.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m.
2025-08-19T18:22:03.502Z,1755627723.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.099998 m,
      nav range: 65.199066 m,
      bearing: 210.761386 deg,
      approach rate: -0.636602 m/s,
      LOS rate: 0.086912 deg/s,
      cmd heading: 194.599534 deg,
      new cmd heading: 194.703778 deg.

2025-08-19T18:22:03.583Z,1755627723.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761093
2025-08-19T18:22:03.836Z,1755627723.836 [DAT](INFO): DAT read: Rx Time:18:22:01.8609

2025-08-19T18:22:03.836Z,1755627723.836 [DAT](INFO): Rx dataTimestamp_ set to:1755627723.835979
2025-08-19T18:22:03.837Z,1755627723.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015291
2025-08-19T18:22:03.980Z,1755627723.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m.
2025-08-19T18:22:03.983Z,1755627723.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.099998 m,
      nav range: 64.895821 m,
      bearing: 210.802222 deg,
      approach rate: -0.631312 m/s,
      LOS rate: 0.085411 deg/s,
      cmd heading: 194.703777 deg,
      new cmd heading: 194.826857 deg.

2025-08-19T18:22:04.087Z,1755627724.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264943
2025-08-19T18:22:04.304Z,1755627724.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:04.306Z,1755627724.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.10 m.
2025-08-19T18:22:04.309Z,1755627724.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.099998 m,
      nav range: 64.690094 m,
      bearing: 210.829743 deg,
      approach rate: -0.631191 m/s,
      LOS rate: 0.084706 deg/s,
      cmd heading: 194.826857 deg,
      new cmd heading: 194.909682 deg.

2025-08-19T18:22:04.358Z,1755627724.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535597
2025-08-19T18:22:04.613Z,1755627724.613 [DAT](INFO): DAT read: 18:22:01.8609 LVL= 17744, 30353, 22962, 32755, AGC= 68, IDX= 414,-0.46,-2.782, 1.438, 2.690, 2.972, PHS= 0.631,-1.488,-0.326, RAW= 123.2,  12.8, CAL= 123.5,  14.0, ROT=  26.5, -14.0

2025-08-19T18:22:04.614Z,1755627724.614 [DAT](INFO): got valid direction response:
 18:22:01.8609 LVL= 17744, 30353, 22962, 32755, AGC= 68, IDX= 414,-0.46,-2.782, 1.438, 2.690, 2.972, PHS= 0.631,-1.488,-0.326, RAW= 123.2,  12.8, CAL= 123.5,  14.0, ROT=  26.5, -14.0

2025-08-19T18:22:04.615Z,1755627724.615 [DAT](INFO): DAT read: Bearing 352.2,  19.2 (Local)

2025-08-19T18:22:04.615Z,1755627724.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2,  19.2 (Local)

2025-08-19T18:22:04.616Z,1755627724.616 [DAT](INFO): DAT read: Range 11 to 50 : 65.7 m  (Round-trip  87.6 ms) speed  0.6 m/s

2025-08-19T18:22:04.619Z,1755627724.619 [DAT](INFO): DAT read: user:932>

2025-08-19T18:22:04.623Z,1755627724.623 [DAT](INFO): DAT read: Tx time:18:22:02.9691

2025-08-19T18:22:04.624Z,1755627724.624 [DAT](INFO): Ping request sent.
2025-08-19T18:22:04.624Z,1755627724.624 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:04.626Z,1755627724.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:04.627Z,1755627724.627 [DAT](INFO): direction in FSK: [0.868351,0.432944,0.241922]
2025-08-19T18:22:04.627Z,1755627724.627 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:04.627Z,1755627724.627 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:04.630Z,1755627724.630 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:04.631Z,1755627724.631 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:04.816Z,1755627724.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.699997 m,
      deltaT: 3.802272 s,
      deltaX: -2.400002 m,
      approachRate: -0.631202 m/s,
      rangeRepo size: 4

2025-08-19T18:22:04.832Z,1755627724.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.699997 m,
      bearing: 215.293708 deg,
      lat: 36.779428 deg,
      lon: -121.859669 deg,
      deltaT: 3.802272 s,
      deltaX: -2.400002 m,
      approachRate: -0.631202 m/s,
      posRepo size: 4

2025-08-19T18:22:04.840Z,1755627724.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-19T18:22:04.866Z,1755627724.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 64.504318 m,
      bearing: 215.293708 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.084706 deg/s,
      cmd heading: 194.909680 deg,
      new cmd heading: 195.034703 deg.

2025-08-19T18:22:05.288Z,1755627725.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-19T18:22:05.291Z,1755627725.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 64.190491 m,
      bearing: 215.362340 deg,
      approach rate: -0.640019 m/s,
      LOS rate: 0.140652 deg/s,
      cmd heading: 195.034699 deg,
      new cmd heading: 195.241601 deg.

2025-08-19T18:22:05.691Z,1755627725.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-19T18:22:05.694Z,1755627725.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 63.949192 m,
      bearing: 215.414746 deg,
      approach rate: -0.599540 m/s,
      LOS rate: 0.130701 deg/s,
      cmd heading: 195.241599 deg,
      new cmd heading: 195.399410 deg.

2025-08-19T18:22:06.115Z,1755627726.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-19T18:22:06.119Z,1755627726.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 63.673607 m,
      bearing: 215.476966 deg,
      approach rate: -0.649835 m/s,
      LOS rate: 0.147352 deg/s,
      cmd heading: 195.399404 deg,
      new cmd heading: 195.586873 deg.

2025-08-19T18:22:06.492Z,1755627726.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:06.499Z,1755627726.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-19T18:22:06.506Z,1755627726.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 63.438126 m,
      bearing: 215.529008 deg,
      approach rate: -0.613247 m/s,
      LOS rate: 0.136031 deg/s,
      cmd heading: 195.586879 deg,
      new cmd heading: 195.743582 deg.

2025-08-19T18:22:06.623Z,1755627726.623 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:06.623Z,1755627726.623 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:06.623Z,1755627726.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:06.877Z,1755627726.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252937
2025-08-19T18:22:06.975Z,1755627726.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-19T18:22:06.978Z,1755627726.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 63.135864 m,
      bearing: 215.599842 deg,
      approach rate: -0.635022 m/s,
      LOS rate: 0.149528 deg/s,
      cmd heading: 195.743577 deg,
      new cmd heading: 195.957097 deg.

2025-08-19T18:22:07.126Z,1755627727.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502589
2025-08-19T18:22:07.301Z,1755627727.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-19T18:22:07.304Z,1755627727.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 62.932018 m,
      bearing: 215.647689 deg,
      approach rate: -0.624417 m/s,
      LOS rate: 0.147037 deg/s,
      cmd heading: 195.957103 deg,
      new cmd heading: 196.101107 deg.

2025-08-19T18:22:07.380Z,1755627727.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755588
2025-08-19T18:22:07.630Z,1755627727.630 [DAT](INFO): DAT read: Rx Time:18:22:05.4578

2025-08-19T18:22:07.631Z,1755627727.631 [DAT](INFO): Rx dataTimestamp_ set to:1755627727.630611
2025-08-19T18:22:07.631Z,1755627727.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007625
2025-08-19T18:22:07.722Z,1755627727.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-19T18:22:07.724Z,1755627727.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 62.674683 m,
      bearing: 215.708549 deg,
      approach rate: -0.612149 m/s,
      LOS rate: 0.145368 deg/s,
      cmd heading: 196.101110 deg,
      new cmd heading: 196.284440 deg.

2025-08-19T18:22:07.885Z,1755627727.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260616
2025-08-19T18:22:08.123Z,1755627728.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-19T18:22:08.126Z,1755627728.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 62.419857 m,
      bearing: 215.765256 deg,
      approach rate: -0.634562 m/s,
      LOS rate: 0.141787 deg/s,
      cmd heading: 196.284446 deg,
      new cmd heading: 196.455261 deg.

2025-08-19T18:22:08.142Z,1755627728.142 [DAT](INFO): DAT read: 18:22:05.4578 LVL= 31136, 32753, 32402, 32755, AGC= 68, IDX= 414,-0.10, 2.599, 0.532, 1.805, 2.046, PHS= 0.654,-1.470,-0.286, RAW= 123.8,  11.9, CAL= 124.1,  13.1, ROT=  25.9, -13.1

2025-08-19T18:22:08.143Z,1755627728.143 [DAT](INFO): got valid direction response:
 18:22:05.4578 LVL= 31136, 32753, 32402, 32755, AGC= 68, IDX= 414,-0.10, 2.599, 0.532, 1.805, 2.046, PHS= 0.654,-1.470,-0.286, RAW= 123.8,  11.9, CAL= 124.1,  13.1, ROT=  25.9, -13.1

2025-08-19T18:22:08.144Z,1755627728.144 [DAT](INFO): DAT read: Bearing 351.7,  18.7 (Local)

2025-08-19T18:22:08.144Z,1755627728.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.7,  18.7 (Local)

2025-08-19T18:22:08.146Z,1755627728.146 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m  (Round-trip  84.5 ms) speed  0.6 m/s

2025-08-19T18:22:08.146Z,1755627728.146 [DAT](INFO): DAT read: user:933>

2025-08-19T18:22:08.147Z,1755627728.147 [DAT](INFO): DAT read: Tx time:18:22:06.5707

2025-08-19T18:22:08.147Z,1755627728.147 [DAT](INFO): Ping request sent.
2025-08-19T18:22:08.148Z,1755627728.148 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:08.148Z,1755627728.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:08.149Z,1755627728.149 [DAT](INFO): direction in FSK: [0.876148,0.425434,0.226651]
2025-08-19T18:22:08.157Z,1755627728.157 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:08.158Z,1755627728.158 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:08.161Z,1755627728.161 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:08.161Z,1755627728.161 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:08.515Z,1755627728.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.299999 m,
      deltaT: 3.529700 s,
      deltaX: -2.399998 m,
      approachRate: -0.679944 m/s,
      rangeRepo size: 4

2025-08-19T18:22:08.517Z,1755627728.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.299999 m,
      bearing: 218.752501 deg,
      lat: 36.779440 deg,
      lon: -121.859703 deg,
      deltaT: 3.529700 s,
      deltaX: -2.399998 m,
      approachRate: -0.679944 m/s,
      posRepo size: 4

2025-08-19T18:22:08.518Z,1755627728.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-19T18:22:08.521Z,1755627728.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.299999 m,
      nav range: 62.839378 m,
      bearing: 218.752501 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.141787 deg/s,
      cmd heading: 196.455256 deg,
      new cmd heading: 196.621453 deg.

2025-08-19T18:22:08.991Z,1755627728.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:08.993Z,1755627728.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-19T18:22:08.996Z,1755627728.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.299999 m,
      nav range: 62.551022 m,
      bearing: 218.835383 deg,
      approach rate: -0.601810 m/s,
      LOS rate: 0.173774 deg/s,
      cmd heading: 196.621448 deg,
      new cmd heading: 196.871238 deg.

2025-08-19T18:22:09.143Z,1755627729.143 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:09.143Z,1755627729.143 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:09.143Z,1755627729.143 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:09.395Z,1755627729.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246897
2025-08-19T18:22:09.502Z,1755627729.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-19T18:22:09.505Z,1755627729.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.299999 m,
      nav range: 62.249142 m,
      bearing: 218.922875 deg,
      approach rate: -0.593268 m/s,
      LOS rate: 0.172776 deg/s,
      cmd heading: 196.871242 deg,
      new cmd heading: 197.134987 deg.

2025-08-19T18:22:09.646Z,1755627729.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498838
2025-08-19T18:22:09.904Z,1755627729.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755649
2025-08-19T18:22:09.921Z,1755627729.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-19T18:22:09.937Z,1755627729.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.299999 m,
      nav range: 62.033493 m,
      bearing: 218.986186 deg,
      approach rate: -0.516894 m/s,
      LOS rate: 0.152280 deg/s,
      cmd heading: 197.134983 deg,
      new cmd heading: 197.325576 deg.

2025-08-19T18:22:10.155Z,1755627730.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007716
2025-08-19T18:22:10.408Z,1755627730.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260279
2025-08-19T18:22:10.419Z,1755627730.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-19T18:22:10.424Z,1755627730.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.299999 m,
      nav range: 61.698963 m,
      bearing: 219.086987 deg,
      approach rate: -0.669817 m/s,
      LOS rate: 0.202923 deg/s,
      cmd heading: 197.325572 deg,
      new cmd heading: 197.629610 deg.

2025-08-19T18:22:10.658Z,1755627730.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510741
2025-08-19T18:22:10.784Z,1755627730.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-19T18:22:10.787Z,1755627730.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.299999 m,
      nav range: 61.471722 m,
      bearing: 219.156562 deg,
      approach rate: -0.621342 m/s,
      LOS rate: 0.190942 deg/s,
      cmd heading: 197.629611 deg,
      new cmd heading: 197.839108 deg.

2025-08-19T18:22:10.914Z,1755627730.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766261
2025-08-19T18:22:11.164Z,1755627731.164 [DAT](INFO): DAT read: Rx Time:18:22:09.0563

2025-08-19T18:22:11.165Z,1755627731.165 [DAT](INFO): Rx dataTimestamp_ set to:1755627731.164035
2025-08-19T18:22:11.166Z,1755627731.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017596
2025-08-19T18:22:11.240Z,1755627731.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:11.258Z,1755627731.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-19T18:22:11.261Z,1755627731.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.299999 m,
      nav range: 61.191254 m,
      bearing: 219.241257 deg,
      approach rate: -0.612883 m/s,
      LOS rate: 0.185924 deg/s,
      cmd heading: 197.839107 deg,
      new cmd heading: 198.094354 deg.

2025-08-19T18:22:11.416Z,1755627731.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268062
2025-08-19T18:22:11.613Z,1755627731.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.30 m.
2025-08-19T18:22:11.616Z,1755627731.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.299999 m,
      nav range: 60.963001 m,
      bearing: 219.310901 deg,
      approach rate: -0.614823 m/s,
      LOS rate: 0.188297 deg/s,
      cmd heading: 198.094351 deg,
      new cmd heading: 198.304065 deg.

2025-08-19T18:22:11.674Z,1755627731.674 [DAT](INFO): DAT read: 18:22:09.0563 LVL= 25408, 32753, 29746, 32755, AGC= 68, IDX= 414, 0.26,-2.599, 1.554, 2.857, 3.089, PHS= 0.697,-1.490,-0.275, RAW= 123.7,  11.3, CAL= 124.1,  12.5, ROT=  25.9, -12.5

2025-08-19T18:22:11.676Z,1755627731.676 [DAT](INFO): got valid direction response:
 18:22:09.0563 LVL= 25408, 32753, 29746, 32755, AGC= 68, IDX= 414, 0.26,-2.599, 1.554, 2.857, 3.089, PHS= 0.697,-1.490,-0.275, RAW= 123.7,  11.3, CAL= 124.1,  12.5, ROT=  25.9, -12.5

2025-08-19T18:22:11.677Z,1755627731.677 [DAT](INFO): DAT read: Bearing 351.0,  19.3 (Local)

2025-08-19T18:22:11.678Z,1755627731.678 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.0,  19.3 (Local)

2025-08-19T18:22:11.680Z,1755627731.680 [DAT](INFO): DAT read: Range 11 to 50 : 61.1 m  (Round-trip  81.5 ms) speed  0.5 m/s

2025-08-19T18:22:11.681Z,1755627731.681 [DAT](INFO): DAT read: user:934>

2025-08-19T18:22:11.683Z,1755627731.683 [DAT](INFO): DAT read: Tx time:18:22:10.1691

2025-08-19T18:22:11.683Z,1755627731.683 [DAT](INFO): Ping request sent.
2025-08-19T18:22:11.683Z,1755627731.683 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:11.684Z,1755627731.684 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:11.690Z,1755627731.690 [DAT](INFO): direction in FSK: [0.878235,0.426448,0.216440]
2025-08-19T18:22:11.691Z,1755627731.691 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:11.691Z,1755627731.691 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:11.703Z,1755627731.703 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:11.704Z,1755627731.704 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:12.049Z,1755627732.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.099998 m,
      deltaT: 3.530453 s,
      deltaX: -2.200001 m,
      approachRate: -0.623150 m/s,
      rangeRepo size: 4

2025-08-19T18:22:12.055Z,1755627732.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.099998 m,
      bearing: 219.717952 deg,
      lat: 36.779443 deg,
      lon: -121.859705 deg,
      deltaT: 3.530453 s,
      deltaX: -2.200001 m,
      approachRate: -0.623150 m/s,
      posRepo size: 4

2025-08-19T18:22:12.056Z,1755627732.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-19T18:22:12.063Z,1755627732.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 60.567631 m,
      bearing: 219.717952 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.188297 deg/s,
      cmd heading: 198.304065 deg,
      new cmd heading: 198.549826 deg.

2025-08-19T18:22:12.424Z,1755627732.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-19T18:22:12.430Z,1755627732.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 60.336441 m,
      bearing: 219.790505 deg,
      approach rate: -0.618786 m/s,
      LOS rate: 0.194935 deg/s,
      cmd heading: 198.549829 deg,
      new cmd heading: 198.768321 deg.

2025-08-19T18:22:12.590Z,1755627732.590 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:22:12.851Z,1755627732.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-19T18:22:12.855Z,1755627732.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 60.072426 m,
      bearing: 219.873320 deg,
      approach rate: -0.614989 m/s,
      LOS rate: 0.193756 deg/s,
      cmd heading: 198.768327 deg,
      new cmd heading: 199.017864 deg.

2025-08-19T18:22:13.283Z,1755627733.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:13.285Z,1755627733.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-19T18:22:13.288Z,1755627733.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 59.785671 m,
      bearing: 219.968766 deg,
      approach rate: -0.660281 m/s,
      LOS rate: 0.220827 deg/s,
      cmd heading: 199.017861 deg,
      new cmd heading: 199.305569 deg.

2025-08-19T18:22:13.431Z,1755627733.431 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:13.432Z,1755627733.432 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:13.432Z,1755627733.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:13.594Z,1755627733.594 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:22:13.682Z,1755627733.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999112
2025-08-19T18:22:13.750Z,1755627733.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-19T18:22:13.753Z,1755627733.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 59.504570 m,
      bearing: 220.063277 deg,
      approach rate: -0.626848 m/s,
      LOS rate: 0.211753 deg/s,
      cmd heading: 199.305576 deg,
      new cmd heading: 199.590446 deg.

2025-08-19T18:22:13.938Z,1755627733.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253822
2025-08-19T18:22:14.144Z,1755627734.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-19T18:22:14.148Z,1755627734.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 59.250854 m,
      bearing: 220.145914 deg,
      approach rate: -0.618956 m/s,
      LOS rate: 0.202459 deg/s,
      cmd heading: 199.590449 deg,
      new cmd heading: 199.839417 deg.

2025-08-19T18:22:14.188Z,1755627734.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503767
2025-08-19T18:22:14.438Z,1755627734.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754977
2025-08-19T18:22:14.629Z,1755627734.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-19T18:22:14.632Z,1755627734.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 58.942532 m,
      bearing: 220.244370 deg,
      approach rate: -0.635606 m/s,
      LOS rate: 0.204029 deg/s,
      cmd heading: 199.839423 deg,
      new cmd heading: 200.136334 deg.

2025-08-19T18:22:14.691Z,1755627734.691 [DAT](INFO): DAT read: Rx Time:18:22:12.6516

2025-08-19T18:22:14.692Z,1755627734.692 [DAT](INFO): Rx dataTimestamp_ set to:1755627734.691639
2025-08-19T18:22:14.693Z,1755627734.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009451
2025-08-19T18:22:14.943Z,1755627734.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259987
2025-08-19T18:22:15.069Z,1755627735.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.10 m.
2025-08-19T18:22:15.091Z,1755627735.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.099998 m,
      nav range: 58.665462 m,
      bearing: 220.332731 deg,
      approach rate: -0.629783 m/s,
      LOS rate: 0.201794 deg/s,
      cmd heading: 200.136332 deg,
      new cmd heading: 200.402664 deg.

2025-08-19T18:22:15.204Z,1755627735.204 [DAT](INFO): DAT read: 18:22:12.6516 LVL= 29360, 32753, 29218, 32755, AGC= 68, IDX= 415,-0.28,-0.614,-2.618,-1.319,-1.095, PHS= 0.584,-1.477,-0.267, RAW= 125.7,  12.9, CAL= 125.7,  14.1, ROT=  24.3, -14.1

2025-08-19T18:22:15.206Z,1755627735.206 [DAT](INFO): got valid direction response:
 18:22:12.6516 LVL= 29360, 32753, 29218, 32755, AGC= 68, IDX= 415,-0.28,-0.614,-2.618,-1.319,-1.095, PHS= 0.584,-1.477,-0.267, RAW= 125.7,  12.9, CAL= 125.7,  14.1, ROT=  24.3, -14.1

2025-08-19T18:22:15.207Z,1755627735.207 [DAT](INFO): DAT read: Bearing 353.8,  19.2 (Local)

2025-08-19T18:22:15.208Z,1755627735.208 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,  19.2 (Local)

2025-08-19T18:22:15.216Z,1755627735.216 [DAT](INFO): DAT read: Range 11 to 50 : 58.8 m  (Round-trip  78.4 ms) speed  0.7 m/s

2025-08-19T18:22:15.222Z,1755627735.222 [DAT](INFO): DAT read: user:935>

2025-08-19T18:22:15.223Z,1755627735.223 [DAT](INFO): DAT read: Tx time:18:22:13.7691

2025-08-19T18:22:15.223Z,1755627735.223 [DAT](INFO): Ping request sent.
2025-08-19T18:22:15.223Z,1755627735.223 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:15.224Z,1755627735.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:15.224Z,1755627735.224 [DAT](INFO): direction in FSK: [0.883945,0.399116,0.243615]
2025-08-19T18:22:15.225Z,1755627735.225 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:15.225Z,1755627735.225 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:15.241Z,1755627735.241 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:15.241Z,1755627735.241 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:15.483Z,1755627735.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.799999 m,
      deltaT: 3.528260 s,
      deltaX: -2.299999 m,
      approachRate: -0.651879 m/s,
      rangeRepo size: 4

2025-08-19T18:22:15.485Z,1755627735.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.799999 m,
      bearing: 220.549997 deg,
      lat: 36.779445 deg,
      lon: -121.859705 deg,
      deltaT: 3.528260 s,
      deltaX: -2.299999 m,
      approachRate: -0.651879 m/s,
      posRepo size: 4

2025-08-19T18:22:15.486Z,1755627735.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-19T18:22:15.486Z,1755627735.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-19T18:22:15.489Z,1755627735.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.799999 m,
      nav range: 58.248192 m,
      bearing: 220.549997 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.201794 deg/s,
      cmd heading: 200.402668 deg,
      new cmd heading: 200.652956 deg.

2025-08-19T18:22:15.526Z,1755627735.526 [DockingStepper](INFO): Changing to mode: 2
2025-08-19T18:22:15.867Z,1755627735.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:15.869Z,1755627735.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-19T18:22:15.870Z,1755627735.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-19T18:22:15.873Z,1755627735.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.799999 m,
      nav range: 57.997028 m,
      bearing: 220.629813 deg,
      approach rate: -0.649243 m/s,
      LOS rate: 0.207213 deg/s,
      cmd heading: 200.652953 deg,
      new cmd heading: 200.893437 deg.

2025-08-19T18:22:15.954Z,1755627735.954 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:15.954Z,1755627735.954 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:15.955Z,1755627735.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:16.203Z,1755627736.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979231
2025-08-19T18:22:16.296Z,1755627736.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-19T18:22:16.296Z,1755627736.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-19T18:22:16.315Z,1755627736.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.799999 m,
      nav range: 57.726250 m,
      bearing: 220.715022 deg,
      approach rate: -0.634103 m/s,
      LOS rate: 0.200477 deg/s,
      cmd heading: 200.893431 deg,
      new cmd heading: 201.150255 deg.

2025-08-19T18:22:16.454Z,1755627736.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231174
2025-08-19T18:22:16.691Z,1755627736.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-19T18:22:16.691Z,1755627736.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-19T18:22:16.707Z,1755627736.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483263
2025-08-19T18:22:16.708Z,1755627736.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.799999 m,
      nav range: 57.486076 m,
      bearing: 220.790404 deg,
      approach rate: -0.608602 m/s,
      LOS rate: 0.191818 deg/s,
      cmd heading: 201.150260 deg,
      new cmd heading: 201.377350 deg.

2025-08-19T18:22:16.959Z,1755627736.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735237
2025-08-19T18:22:17.122Z,1755627737.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-19T18:22:17.126Z,1755627737.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-19T18:22:17.129Z,1755627737.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.799999 m,
      nav range: 57.215866 m,
      bearing: 220.871717 deg,
      approach rate: -0.633067 m/s,
      LOS rate: 0.191406 deg/s,
      cmd heading: 201.377350 deg,
      new cmd heading: 201.622439 deg.

2025-08-19T18:22:17.211Z,1755627737.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987757
2025-08-19T18:22:17.463Z,1755627737.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239245
2025-08-19T18:22:17.486Z,1755627737.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-19T18:22:17.486Z,1755627737.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-19T18:22:17.489Z,1755627737.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.799999 m,
      nav range: 56.975685 m,
      bearing: 220.943688 deg,
      approach rate: -0.652527 m/s,
      LOS rate: 0.196355 deg/s,
      cmd heading: 201.622444 deg,
      new cmd heading: 201.839265 deg.

2025-08-19T18:22:17.715Z,1755627737.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491771
2025-08-19T18:22:17.882Z,1755627737.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:17.884Z,1755627737.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-19T18:22:17.884Z,1755627737.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-19T18:22:17.888Z,1755627737.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.799999 m,
      nav range: 56.720135 m,
      bearing: 221.019965 deg,
      approach rate: -0.641585 m/s,
      LOS rate: 0.192365 deg/s,
      cmd heading: 201.839262 deg,
      new cmd heading: 202.069124 deg.

2025-08-19T18:22:17.969Z,1755627737.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745541
2025-08-19T18:22:18.222Z,1755627738.222 [DAT](INFO): DAT read: Rx Time:18:22:16.2484

2025-08-19T18:22:18.223Z,1755627738.223 [DAT](INFO): Rx dataTimestamp_ set to:1755627738.222242
2025-08-19T18:22:18.223Z,1755627738.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999849
2025-08-19T18:22:18.310Z,1755627738.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-19T18:22:18.311Z,1755627738.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-19T18:22:18.315Z,1755627738.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.799999 m,
      nav range: 56.442005 m,
      bearing: 221.101143 deg,
      approach rate: -0.651948 m/s,
      LOS rate: 0.191222 deg/s,
      cmd heading: 202.069125 deg,
      new cmd heading: 202.313857 deg.

2025-08-19T18:22:18.470Z,1755627738.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247172
2025-08-19T18:22:18.691Z,1755627738.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.80 m.
2025-08-19T18:22:18.692Z,1755627738.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.80 m.
2025-08-19T18:22:18.695Z,1755627738.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.799999 m,
      nav range: 56.193874 m,
      bearing: 221.172954 deg,
      approach rate: -0.651761 m/s,
      LOS rate: 0.189457 deg/s,
      cmd heading: 202.313851 deg,
      new cmd heading: 202.530233 deg.

2025-08-19T18:22:18.726Z,1755627738.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502580
2025-08-19T18:22:18.980Z,1755627738.980 [DAT](INFO): DAT read: 18:22:16.2484 LVL= 27696, 32753, 25554, 32755, AGC= 62, IDX= 414, 0.17, 0.139,-1.787,-0.384,-0.255, PHS= 0.496,-1.486,-0.173, RAW= 130.6,  13.3, CAL= 130.0,  14.4, ROT=  20.0, -14.4

2025-08-19T18:22:18.981Z,1755627738.981 [DAT](INFO): got valid direction response:
 18:22:16.2484 LVL= 27696, 32753, 25554, 32755, AGC= 62, IDX= 414, 0.17, 0.139,-1.787,-0.384,-0.255, PHS= 0.496,-1.486,-0.173, RAW= 130.6,  13.3, CAL= 130.0,  14.4, ROT=  20.0, -14.4

2025-08-19T18:22:18.982Z,1755627738.982 [DAT](INFO): DAT read: Bearing 356.5,  17.6 (Local)

2025-08-19T18:22:18.982Z,1755627738.982 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,  17.6 (Local)

2025-08-19T18:22:18.984Z,1755627738.984 [DAT](INFO): DAT read: Range 11 to 50 : 56.3 m  (Round-trip  75.1 ms) speed  1.0 m/s

2025-08-19T18:22:18.985Z,1755627738.985 [DAT](INFO): DAT read: user:936>

2025-08-19T18:22:18.985Z,1755627738.985 [DAT](INFO): DAT read: Tx time:18:22:17.3691

2025-08-19T18:22:18.986Z,1755627738.986 [DAT](INFO): Ping request sent.
2025-08-19T18:22:18.986Z,1755627738.986 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:18.986Z,1755627738.986 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:18.987Z,1755627738.987 [DAT](INFO): direction in FSK: [0.910170,0.331275,0.248690]
2025-08-19T18:22:18.987Z,1755627738.987 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:18.988Z,1755627738.988 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:18.000Z,1755627739.000 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:18.000Z,1755627739.000 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:19.242Z,1755627739.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.299999 m,
      deltaT: 3.779554 s,
      deltaX: -2.500000 m,
      approachRate: -0.661454 m/s,
      rangeRepo size: 4

2025-08-19T18:22:19.244Z,1755627739.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.299999 m,
      bearing: 221.261448 deg,
      lat: 36.779445 deg,
      lon: -121.859705 deg,
      deltaT: 3.779554 s,
      deltaX: -2.500000 m,
      approachRate: -0.661454 m/s,
      posRepo size: 4

2025-08-19T18:22:19.245Z,1755627739.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-19T18:22:19.250Z,1755627739.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m.
2025-08-19T18:22:19.253Z,1755627739.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.299999 m,
      nav range: 55.870213 m,
      bearing: 221.261448 deg,
      approach rate: -20323944673858027520.000000 m/s,
      LOS rate: 0.189457 deg/s,
      cmd heading: 202.530231 deg,
      new cmd heading: 202.831279 deg.

2025-08-19T18:22:19.587Z,1755627739.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-19T18:22:19.587Z,1755627739.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m.
2025-08-19T18:22:19.590Z,1755627739.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.299999 m,
      nav range: 55.628265 m,
      bearing: 221.326886 deg,
      approach rate: -0.660726 m/s,
      LOS rate: 0.179478 deg/s,
      cmd heading: 202.831278 deg,
      new cmd heading: 203.028444 deg.

2025-08-19T18:22:19.985Z,1755627739.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:19.987Z,1755627739.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-19T18:22:19.988Z,1755627739.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m.
2025-08-19T18:22:19.991Z,1755627739.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.299999 m,
      nav range: 55.376415 m,
      bearing: 221.394027 deg,
      approach rate: -0.629069 m/s,
      LOS rate: 0.168469 deg/s,
      cmd heading: 203.028439 deg,
      new cmd heading: 203.230779 deg.

2025-08-19T18:22:20.234Z,1755627740.234 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:20.234Z,1755627740.234 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:20.235Z,1755627740.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:20.440Z,1755627740.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-19T18:22:20.441Z,1755627740.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m.
2025-08-19T18:22:20.456Z,1755627740.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.299999 m,
      nav range: 55.091820 m,
      bearing: 221.467580 deg,
      approach rate: -0.628010 m/s,
      LOS rate: 0.163146 deg/s,
      cmd heading: 203.230776 deg,
      new cmd heading: 203.452573 deg.

2025-08-19T18:22:20.487Z,1755627740.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500838
2025-08-19T18:22:20.738Z,1755627740.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752525
2025-08-19T18:22:20.819Z,1755627740.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-19T18:22:20.820Z,1755627740.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m.
2025-08-19T18:22:20.823Z,1755627740.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.299999 m,
      nav range: 54.829082 m,
      bearing: 221.534758 deg,
      approach rate: -0.693582 m/s,
      LOS rate: 0.178188 deg/s,
      cmd heading: 203.452580 deg,
      new cmd heading: 203.655078 deg.

2025-08-19T18:22:20.991Z,1755627740.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004685
2025-08-19T18:22:21.240Z,1755627741.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-19T18:22:21.240Z,1755627741.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.30 m.
2025-08-19T18:22:21.240Z,1755627741.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.30 m.
2025-08-19T18:22:21.241Z,1755627741.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-19T18:22:21.254Z,1755627741.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268535
2025-08-19T18:22:21.268Z,1755627741.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.299999 m,
      nav range: 54.562572 m,
      bearing: 221.603621 deg,
      approach rate: -0.634255 m/s,
      LOS rate: 0.164683 deg/s,
      cmd heading: 203.655081 deg,
      new cmd heading: 203.862677 deg.

2025-08-19T18:22:21.507Z,1755627741.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521155
2025-08-19T18:22:21.633Z,1755627741.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-19T18:22:21.636Z,1755627741.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.299999 m,
      nav range: 54.312523 m,
      bearing: 221.668863 deg,
      approach rate: -0.634942 m/s,
      LOS rate: 0.166430 deg/s,
      cmd heading: 203.862678 deg,
      new cmd heading: 204.059305 deg.

2025-08-19T18:22:21.637Z,1755627741.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.561507 target range: 56.299999 and range: 56.30 m.
2025-08-19T18:22:21.758Z,1755627741.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772600
2025-08-19T18:22:22.010Z,1755627742.010 [DAT](INFO): DAT read: Rx Time:18:22:19.8452

2025-08-19T18:22:22.011Z,1755627742.011 [DAT](INFO): Rx dataTimestamp_ set to:1755627742.010639
2025-08-19T18:22:22.011Z,1755627742.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025636
2025-08-19T18:22:22.067Z,1755627742.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:22.092Z,1755627742.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-19T18:22:22.107Z,1755627742.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.299999 m,
      nav range: 54.063850 m,
      bearing: 221.729958 deg,
      approach rate: -0.542978 m/s,
      LOS rate: 0.134015 deg/s,
      cmd heading: 204.059305 deg,
      new cmd heading: 204.243433 deg.

2025-08-19T18:22:22.108Z,1755627742.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564720 target range: 56.299999 and range: 56.30 m.
2025-08-19T18:22:22.262Z,1755627742.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276533
2025-08-19T18:22:22.455Z,1755627742.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.30 m.
2025-08-19T18:22:22.458Z,1755627742.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.299999 m,
      nav range: 53.785992 m,
      bearing: 221.796886 deg,
      approach rate: -0.764268 m/s,
      LOS rate: 0.185039 deg/s,
      cmd heading: 204.243434 deg,
      new cmd heading: 204.445252 deg.

2025-08-19T18:22:22.459Z,1755627742.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.568243 target range: 56.299999 and range: 56.30 m.
2025-08-19T18:22:22.522Z,1755627742.522 [DAT](INFO): DAT read: 18:22:19.8452 LVL= 26240, 29489, 24290, 32323, AGC= 60, IDX= 413, 0.01, 2.969, 1.088, 2.759, 2.632, PHS= 0.439,-1.499, 0.084, RAW= 140.1,  10.9, CAL= 139.5,  11.9, ROT=  10.5, -11.9

2025-08-19T18:22:22.523Z,1755627742.523 [DAT](INFO): got valid direction response:
 18:22:19.8452 LVL= 26240, 29489, 24290, 32323, AGC= 60, IDX= 413, 0.01, 2.969, 1.088, 2.759, 2.632, PHS= 0.439,-1.499, 0.084, RAW= 140.1,  10.9, CAL= 139.5,  11.9, ROT=  10.5, -11.9

2025-08-19T18:22:22.524Z,1755627742.524 [DAT](INFO): DAT read: Bearing 357.2,  10.3 (Local)

2025-08-19T18:22:22.524Z,1755627742.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,  10.3 (Local)

2025-08-19T18:22:22.526Z,1755627742.526 [DAT](INFO): DAT read: Range 11 to 50 : 53.9 m  (Round-trip  71.9 ms) speed  0.5 m/s

2025-08-19T18:22:22.527Z,1755627742.527 [DAT](INFO): DAT read: user:937>

2025-08-19T18:22:22.528Z,1755627742.528 [DAT](INFO): DAT read: Tx time:18:22:20.9691

2025-08-19T18:22:22.529Z,1755627742.529 [DAT](INFO): Ping request sent.
2025-08-19T18:22:22.529Z,1755627742.529 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:22.535Z,1755627742.535 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:22.537Z,1755627742.537 [DAT](INFO): direction in FSK: [0.962124,0.178319,0.206204]
2025-08-19T18:22:22.537Z,1755627742.537 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:22.542Z,1755627742.542 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:22.572Z,1755627742.572 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:22.572Z,1755627742.572 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:22.855Z,1755627742.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.900002 m,
      deltaT: 3.541535 s,
      deltaX: -2.399998 m,
      approachRate: -0.677672 m/s,
      rangeRepo size: 4

2025-08-19T18:22:22.861Z,1755627742.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.900002 m,
      bearing: 220.972078 deg,
      lat: 36.779443 deg,
      lon: -121.859694 deg,
      deltaT: 3.541535 s,
      deltaX: -2.399998 m,
      approachRate: -0.677672 m/s,
      posRepo size: 4

2025-08-19T18:22:22.862Z,1755627742.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-19T18:22:22.865Z,1755627742.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.900002 m,
      nav range: 53.101929 m,
      bearing: 220.972078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.185039 deg/s,
      cmd heading: 204.445252 deg,
      new cmd heading: 204.667102 deg.

2025-08-19T18:22:22.870Z,1755627742.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.572115 target range: 53.900002 and range: 53.90 m.
2025-08-19T18:22:23.299Z,1755627743.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-19T18:22:23.306Z,1755627743.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.900002 m,
      nav range: 52.824966 m,
      bearing: 221.038607 deg,
      approach rate: -0.623345 m/s,
      LOS rate: 0.150520 deg/s,
      cmd heading: 204.667097 deg,
      new cmd heading: 204.867731 deg.

2025-08-19T18:22:23.307Z,1755627743.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.575616 target range: 53.900002 and range: 53.90 m.
2025-08-19T18:22:23.656Z,1755627743.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-19T18:22:23.659Z,1755627743.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.900002 m,
      nav range: 52.594490 m,
      bearing: 221.093035 deg,
      approach rate: -0.645384 m/s,
      LOS rate: 0.153078 deg/s,
      cmd heading: 204.867727 deg,
      new cmd heading: 205.031725 deg.

2025-08-19T18:22:23.660Z,1755627743.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.578479 target range: 53.900002 and range: 53.90 m.
2025-08-19T18:22:24.128Z,1755627744.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:24.136Z,1755627744.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-19T18:22:24.144Z,1755627744.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.900002 m,
      nav range: 52.327843 m,
      bearing: 221.154868 deg,
      approach rate: -0.555108 m/s,
      LOS rate: 0.129380 deg/s,
      cmd heading: 205.031719 deg,
      new cmd heading: 205.218162 deg.

2025-08-19T18:22:24.145Z,1755627744.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581733 target range: 53.900002 and range: 53.90 m.
2025-08-19T18:22:24.282Z,1755627744.282 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:24.282Z,1755627744.282 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:24.283Z,1755627744.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:24.521Z,1755627744.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-19T18:22:24.524Z,1755627744.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.900002 m,
      nav range: 52.053467 m,
      bearing: 221.221722 deg,
      approach rate: -0.713825 m/s,
      LOS rate: 0.174845 deg/s,
      cmd heading: 205.218156 deg,
      new cmd heading: 205.419773 deg.

2025-08-19T18:22:24.525Z,1755627744.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585251 target range: 53.900002 and range: 53.90 m.
2025-08-19T18:22:24.535Z,1755627744.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005893
2025-08-19T18:22:24.787Z,1755627744.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257645
2025-08-19T18:22:24.910Z,1755627744.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-19T18:22:24.915Z,1755627744.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.900002 m,
      nav range: 51.813046 m,
      bearing: 221.279235 deg,
      approach rate: -0.618492 m/s,
      LOS rate: 0.148643 deg/s,
      cmd heading: 205.419770 deg,
      new cmd heading: 205.593111 deg.

2025-08-19T18:22:24.916Z,1755627744.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.588277 target range: 53.900002 and range: 53.90 m.
2025-08-19T18:22:25.039Z,1755627745.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509945
2025-08-19T18:22:25.291Z,1755627745.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761633
2025-08-19T18:22:25.332Z,1755627745.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-19T18:22:25.335Z,1755627745.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.900002 m,
      nav range: 51.545547 m,
      bearing: 221.340029 deg,
      approach rate: -0.633406 m/s,
      LOS rate: 0.144701 deg/s,
      cmd heading: 205.593106 deg,
      new cmd heading: 205.776434 deg.

2025-08-19T18:22:25.336Z,1755627745.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.591476 target range: 53.900002 and range: 53.90 m.
2025-08-19T18:22:25.542Z,1755627745.542 [DAT](INFO): DAT read: Rx Time:18:22:23.4420

2025-08-19T18:22:25.543Z,1755627745.543 [DAT](INFO): Rx dataTimestamp_ set to:1755627745.542637
2025-08-19T18:22:25.543Z,1755627745.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014609
2025-08-19T18:22:25.706Z,1755627745.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.90 m.
2025-08-19T18:22:25.709Z,1755627745.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.900002 m,
      nav range: 51.313175 m,
      bearing: 221.391952 deg,
      approach rate: -0.621261 m/s,
      LOS rate: 0.139446 deg/s,
      cmd heading: 205.776429 deg,
      new cmd heading: 205.932900 deg.

2025-08-19T18:22:25.710Z,1755627745.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594207 target range: 53.900002 and range: 53.90 m.
2025-08-19T18:22:25.795Z,1755627745.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265666
2025-08-19T18:22:26.053Z,1755627746.053 [DAT](INFO): DAT read: 18:22:23.4420 LVL= 24848, 31985, 22962, 32755, AGC= 61, IDX= 414,-0.15, 1.126,-0.548, 1.288, 0.904, PHS= 0.324,-1.407, 0.339, RAW= 150.4,   8.6, CAL= 150.0,   9.3, ROT=   0.0,  -9.3

2025-08-19T18:22:26.054Z,1755627746.054 [DAT](INFO): got valid direction response:
 18:22:23.4420 LVL= 24848, 31985, 22962, 32755, AGC= 61, IDX= 414,-0.15, 1.126,-0.548, 1.288, 0.904, PHS= 0.324,-1.407, 0.339, RAW= 150.4,   8.6, CAL= 150.0,   9.3, ROT=   0.0,  -9.3

2025-08-19T18:22:26.055Z,1755627746.055 [DAT](INFO): DAT read: Bearing 358.2,   1.9 (Local)

2025-08-19T18:22:26.055Z,1755627746.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,   1.9 (Local)

2025-08-19T18:22:26.057Z,1755627746.057 [DAT](INFO): DAT read: Range 11 to 50 : 51.6 m  (Round-trip  68.9 ms) speed  0.5 m/s

2025-08-19T18:22:26.061Z,1755627746.061 [DAT](INFO): DAT read: user:938>

2025-08-19T18:22:26.067Z,1755627746.067 [DAT](INFO): DAT read: Tx time:18:22:24.5690

2025-08-19T18:22:26.067Z,1755627746.067 [DAT](INFO): Ping request sent.
2025-08-19T18:22:26.067Z,1755627746.067 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:26.067Z,1755627746.067 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:26.068Z,1755627746.068 [DAT](INFO): direction in FSK: [0.986856,0.000000,0.161604]
2025-08-19T18:22:26.069Z,1755627746.069 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:26.069Z,1755627746.069 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:26.072Z,1755627746.072 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:26.072Z,1755627746.072 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:26.336Z,1755627746.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.599998 m,
      deltaT: 3.530610 s,
      deltaX: -2.300003 m,
      approachRate: -0.651446 m/s,
      rangeRepo size: 4

2025-08-19T18:22:26.342Z,1755627746.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.599998 m,
      bearing: 218.573638 deg,
      lat: 36.779434 deg,
      lon: -121.859667 deg,
      deltaT: 3.530610 s,
      deltaX: -2.300003 m,
      approachRate: -0.651446 m/s,
      posRepo size: 4

2025-08-19T18:22:26.343Z,1755627746.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-19T18:22:26.350Z,1755627746.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 50.135738 m,
      bearing: 218.573638 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.139446 deg/s,
      cmd heading: 205.932895 deg,
      new cmd heading: 206.196190 deg.

2025-08-19T18:22:26.351Z,1755627746.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.598802 target range: 51.599998 and range: 51.60 m.
2025-08-19T18:22:26.830Z,1755627746.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:26.832Z,1755627746.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-19T18:22:26.835Z,1755627746.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 49.811329 m,
      bearing: 218.620049 deg,
      approach rate: -0.652389 m/s,
      LOS rate: 0.093940 deg/s,
      cmd heading: 206.196185 deg,
      new cmd heading: 206.336324 deg.

2025-08-19T18:22:26.836Z,1755627746.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.601248 target range: 51.599998 and range: 51.60 m.
2025-08-19T18:22:27.054Z,1755627747.054 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:27.054Z,1755627747.054 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:27.055Z,1755627747.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:27.307Z,1755627747.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239416
2025-08-19T18:22:27.372Z,1755627747.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-19T18:22:27.380Z,1755627747.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 49.479275 m,
      bearing: 218.664087 deg,
      approach rate: -0.615765 m/s,
      LOS rate: 0.082212 deg/s,
      cmd heading: 206.336327 deg,
      new cmd heading: 206.469326 deg.

2025-08-19T18:22:27.384Z,1755627747.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.603570 target range: 51.599998 and range: 51.60 m.
2025-08-19T18:22:27.558Z,1755627747.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491274
2025-08-19T18:22:27.721Z,1755627747.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-19T18:22:27.724Z,1755627747.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 49.256969 m,
      bearing: 218.692780 deg,
      approach rate: -0.636170 m/s,
      LOS rate: 0.082480 deg/s,
      cmd heading: 206.469324 deg,
      new cmd heading: 206.555790 deg.

2025-08-19T18:22:27.725Z,1755627747.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605079 target range: 51.599998 and range: 51.60 m.
2025-08-19T18:22:27.811Z,1755627747.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743492
2025-08-19T18:22:28.062Z,1755627748.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995231
2025-08-19T18:22:28.106Z,1755627748.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-19T18:22:28.108Z,1755627748.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 48.998283 m,
      bearing: 218.725140 deg,
      approach rate: -0.673131 m/s,
      LOS rate: 0.084648 deg/s,
      cmd heading: 206.555794 deg,
      new cmd heading: 206.653386 deg.

2025-08-19T18:22:28.110Z,1755627748.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.606782 target range: 51.599998 and range: 51.60 m.
2025-08-19T18:22:28.314Z,1755627748.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247321
2025-08-19T18:22:28.543Z,1755627748.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-19T18:22:28.546Z,1755627748.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 48.712406 m,
      bearing: 218.761905 deg,
      approach rate: -0.653526 m/s,
      LOS rate: 0.084540 deg/s,
      cmd heading: 206.653384 deg,
      new cmd heading: 206.764327 deg.

2025-08-19T18:22:28.547Z,1755627748.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608718 target range: 51.599998 and range: 51.60 m.
2025-08-19T18:22:28.567Z,1755627748.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499427
2025-08-19T18:22:28.819Z,1755627748.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752309
2025-08-19T18:22:28.942Z,1755627748.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:28.944Z,1755627748.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-19T18:22:28.947Z,1755627748.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 48.450813 m,
      bearing: 218.795930 deg,
      approach rate: -0.651974 m/s,
      LOS rate: 0.085260 deg/s,
      cmd heading: 206.764333 deg,
      new cmd heading: 206.866960 deg.

2025-08-19T18:22:28.948Z,1755627748.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610510 target range: 51.599998 and range: 51.60 m.
2025-08-19T18:22:29.071Z,1755627749.071 [DAT](INFO): DAT read: Rx Time:18:22:27.0390

2025-08-19T18:22:29.071Z,1755627749.071 [DAT](INFO): Rx dataTimestamp_ set to:1755627749.070690
2025-08-19T18:22:29.072Z,1755627749.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004434
2025-08-19T18:22:29.323Z,1755627749.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255468
2025-08-19T18:22:29.359Z,1755627749.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.60 m.
2025-08-19T18:22:29.362Z,1755627749.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.599998 m,
      nav range: 48.181625 m,
      bearing: 218.825587 deg,
      approach rate: -0.648891 m/s,
      LOS rate: 0.071890 deg/s,
      cmd heading: 206.866964 deg,
      new cmd heading: 206.956433 deg.

2025-08-19T18:22:29.363Z,1755627749.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612071 target range: 51.599998 and range: 51.60 m.
2025-08-19T18:22:29.595Z,1755627749.595 [DAT](INFO): DAT read: 18:22:27.0390 LVL= 27296, 32753, 23890, 31379, AGC= 63, IDX= 415, 0.09, 3.129, 1.537,-2.700, 3.052, PHS= 0.179,-1.470, 0.488, RAW= 158.4,   8.8, CAL= 158.2,   9.3, ROT= 351.8,  -9.3

2025-08-19T18:22:29.596Z,1755627749.596 [DAT](INFO): got valid direction response:
 18:22:27.0390 LVL= 27296, 32753, 23890, 31379, AGC= 63, IDX= 415, 0.09, 3.129, 1.537,-2.700, 3.052, PHS= 0.179,-1.470, 0.488, RAW= 158.4,   8.8, CAL= 158.2,   9.3, ROT= 351.8,  -9.3

2025-08-19T18:22:29.597Z,1755627749.597 [DAT](INFO): DAT read: Bearing   1.3,  -4.2 (Local)

2025-08-19T18:22:29.597Z,1755627749.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  -4.2 (Local)

2025-08-19T18:22:29.604Z,1755627749.604 [DAT](INFO): DAT read: Range 11 to 50 : 49.4 m  (Round-trip  65.9 ms) speed  0.6 m/s

2025-08-19T18:22:29.610Z,1755627749.610 [DAT](INFO): DAT read: user:939>

2025-08-19T18:22:29.611Z,1755627749.611 [DAT](INFO): DAT read: Tx time:18:22:28.1690

2025-08-19T18:22:29.612Z,1755627749.612 [DAT](INFO): Ping request sent.
2025-08-19T18:22:29.612Z,1755627749.612 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:29.612Z,1755627749.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:29.618Z,1755627749.618 [DAT](INFO): direction in FSK: [0.976766,-0.140754,0.161604]
2025-08-19T18:22:29.618Z,1755627749.618 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:29.618Z,1755627749.618 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:29.621Z,1755627749.621 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:29.626Z,1755627749.626 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:29.781Z,1755627749.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.400002 m,
      deltaT: 3.527870 s,
      deltaX: -2.199997 m,
      approachRate: -0.623605 m/s,
      rangeRepo size: 4

2025-08-19T18:22:29.799Z,1755627749.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.400002 m,
      bearing: 211.791053 deg,
      lat: 36.779401 deg,
      lon: -121.859614 deg,
      deltaT: 3.527870 s,
      deltaX: -2.199997 m,
      approachRate: -0.623605 m/s,
      posRepo size: 4

2025-08-19T18:22:29.800Z,1755627749.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-19T18:22:29.807Z,1755627749.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 48.201912 m,
      bearing: 211.791053 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.071890 deg/s,
      cmd heading: 206.956439 deg,
      new cmd heading: 207.047244 deg.

2025-08-19T18:22:29.808Z,1755627749.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613656 target range: 49.400002 and range: 49.40 m.
2025-08-19T18:22:30.134Z,1755627750.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-19T18:22:30.137Z,1755627750.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 47.962620 m,
      bearing: 211.780563 deg,
      approach rate: -0.675787 m/s,
      LOS rate: -0.029773 deg/s,
      cmd heading: 207.047240 deg,
      new cmd heading: 207.015613 deg.

2025-08-19T18:22:30.152Z,1755627750.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.613104 target range: 49.400002 and range: 49.40 m.
2025-08-19T18:22:30.634Z,1755627750.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-19T18:22:30.637Z,1755627750.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 47.650318 m,
      bearing: 211.763885 deg,
      approach rate: -0.624507 m/s,
      LOS rate: -0.033570 deg/s,
      cmd heading: 207.015616 deg,
      new cmd heading: 206.965254 deg.

2025-08-19T18:22:30.646Z,1755627750.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.612225 target range: 49.400002 and range: 49.40 m.
2025-08-19T18:22:30.962Z,1755627750.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:30.964Z,1755627750.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-19T18:22:30.968Z,1755627750.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 47.412113 m,
      bearing: 211.750369 deg,
      approach rate: -0.721226 m/s,
      LOS rate: -0.041129 deg/s,
      cmd heading: 206.965250 deg,
      new cmd heading: 206.924498 deg.

2025-08-19T18:22:30.969Z,1755627750.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.611514 target range: 49.400002 and range: 49.40 m.
2025-08-19T18:22:31.087Z,1755627751.087 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:31.087Z,1755627751.087 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:31.087Z,1755627751.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:31.339Z,1755627751.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726874
2025-08-19T18:22:31.431Z,1755627751.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-19T18:22:31.434Z,1755627751.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 47.100468 m,
      bearing: 211.733853 deg,
      approach rate: -0.668006 m/s,
      LOS rate: -0.035636 deg/s,
      cmd heading: 206.924501 deg,
      new cmd heading: 206.874625 deg.

2025-08-19T18:22:31.435Z,1755627751.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.610643 target range: 49.400002 and range: 49.40 m.
2025-08-19T18:22:31.590Z,1755627751.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978794
2025-08-19T18:22:31.798Z,1755627751.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-19T18:22:31.801Z,1755627751.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 46.858433 m,
      bearing: 211.720874 deg,
      approach rate: -0.660033 m/s,
      LOS rate: -0.035576 deg/s,
      cmd heading: 206.874627 deg,
      new cmd heading: 206.835490 deg.

2025-08-19T18:22:31.802Z,1755627751.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.609960 target range: 49.400002 and range: 49.40 m.
2025-08-19T18:22:31.843Z,1755627751.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231058
2025-08-19T18:22:32.095Z,1755627752.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483019
2025-08-19T18:22:32.279Z,1755627752.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-19T18:22:32.295Z,1755627752.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 46.551643 m,
      bearing: 211.702335 deg,
      approach rate: -0.636734 m/s,
      LOS rate: -0.038731 deg/s,
      cmd heading: 206.835490 deg,
      new cmd heading: 206.779507 deg.

2025-08-19T18:22:32.295Z,1755627752.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608983 target range: 49.400002 and range: 49.40 m.
2025-08-19T18:22:32.347Z,1755627752.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735496
2025-08-19T18:22:32.599Z,1755627752.599 [DAT](INFO): DAT read: Rx Time:18:22:30.6359

2025-08-19T18:22:32.599Z,1755627752.599 [DAT](INFO): Rx dataTimestamp_ set to:1755627752.598702
2025-08-19T18:22:32.600Z,1755627752.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987910
2025-08-19T18:22:32.660Z,1755627752.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-19T18:22:32.667Z,1755627752.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 46.293671 m,
      bearing: 211.683884 deg,
      approach rate: -0.678649 m/s,
      LOS rate: -0.048810 deg/s,
      cmd heading: 206.779510 deg,
      new cmd heading: 206.723848 deg.

2025-08-19T18:22:32.668Z,1755627752.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.608012 target range: 49.400002 and range: 49.40 m.
2025-08-19T18:22:32.850Z,1755627752.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238762
2025-08-19T18:22:33.010Z,1755627753.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:33.012Z,1755627753.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.40 m.
2025-08-19T18:22:33.016Z,1755627753.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.400002 m,
      nav range: 46.065693 m,
      bearing: 211.666777 deg,
      approach rate: -0.645994 m/s,
      LOS rate: -0.048715 deg/s,
      cmd heading: 206.723844 deg,
      new cmd heading: 206.672268 deg.

2025-08-19T18:22:33.017Z,1755627753.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.607111 target range: 49.400002 and range: 49.40 m.
2025-08-19T18:22:33.106Z,1755627753.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493437
2025-08-19T18:22:33.368Z,1755627753.368 [DAT](INFO): DAT read: 18:22:30.6359 LVL= 32752, 32753, 27618, 32755, AGC= 65, IDX= 415, 0.32, 2.065, 0.483, 2.515, 1.991, PHS= 0.176,-1.463, 0.480, RAW= 158.4,   9.0, CAL= 158.1,   9.5, ROT= 351.9,  -9.5

2025-08-19T18:22:33.374Z,1755627753.374 [DAT](INFO): got valid direction response:
 18:22:30.6359 LVL= 32752, 32753, 27618, 32755, AGC= 65, IDX= 415, 0.32, 2.065, 0.483, 2.515, 1.991, PHS= 0.176,-1.463, 0.480, RAW= 158.4,   9.0, CAL= 158.1,   9.5, ROT= 351.9,  -9.5

2025-08-19T18:22:33.376Z,1755627753.376 [DAT](INFO): DAT read: Bearing   2.8,  -2.3 (Local)

2025-08-19T18:22:33.377Z,1755627753.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,  -2.3 (Local)

2025-08-19T18:22:33.399Z,1755627753.399 [DAT](INFO): DAT read: Range 11 to 50 : 47.0 m  (Round-trip  62.7 ms) speed  0.7 m/s

2025-08-19T18:22:33.399Z,1755627753.399 [DAT](INFO): DAT read: user:940>

2025-08-19T18:22:33.400Z,1755627753.400 [DAT](INFO): DAT read: Tx time:18:22:31.7190

2025-08-19T18:22:33.400Z,1755627753.400 [DAT](INFO): Ping request sent.
2025-08-19T18:22:33.401Z,1755627753.401 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:33.401Z,1755627753.401 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:33.406Z,1755627753.406 [DAT](INFO): direction in FSK: [0.976446,-0.138969,0.165048]
2025-08-19T18:22:33.406Z,1755627753.406 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:33.407Z,1755627753.407 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:33.451Z,1755627753.451 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:33.451Z,1755627753.451 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:33.517Z,1755627753.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.000000 m,
      deltaT: 3.780048 s,
      deltaX: -2.400002 m,
      approachRate: -0.634913 m/s,
      rangeRepo size: 4

2025-08-19T18:22:33.523Z,1755627753.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.000000 m,
      bearing: 202.939034 deg,
      lat: 36.779369 deg,
      lon: -121.859547 deg,
      deltaT: 3.780048 s,
      deltaX: -2.400002 m,
      approachRate: -0.634913 m/s,
      posRepo size: 4

2025-08-19T18:22:33.524Z,1755627753.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-08-19T18:22:33.531Z,1755627753.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.000000 m,
      nav range: 46.114155 m,
      bearing: 202.939034 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048715 deg/s,
      cmd heading: 206.672263 deg,
      new cmd heading: 206.598642 deg.

2025-08-19T18:22:33.532Z,1755627753.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.605827 target range: 47.000000 and range: 47.00 m.
2025-08-19T18:22:33.887Z,1755627753.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-08-19T18:22:33.893Z,1755627753.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.000000 m,
      nav range: 45.862144 m,
      bearing: 202.869574 deg,
      approach rate: -0.679103 m/s,
      LOS rate: -0.188206 deg/s,
      cmd heading: 206.598647 deg,
      new cmd heading: 206.389122 deg.

2025-08-19T18:22:33.895Z,1755627753.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.602170 target range: 47.000000 and range: 47.00 m.
2025-08-19T18:22:34.347Z,1755627754.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-08-19T18:22:34.354Z,1755627754.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.000000 m,
      nav range: 45.583817 m,
      bearing: 202.789315 deg,
      approach rate: -0.605871 m/s,
      LOS rate: -0.175775 deg/s,
      cmd heading: 206.389124 deg,
      new cmd heading: 206.146880 deg.

2025-08-19T18:22:34.355Z,1755627754.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.597942 target range: 47.000000 and range: 47.00 m.
2025-08-19T18:22:34.712Z,1755627754.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-08-19T18:22:34.719Z,1755627754.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.000000 m,
      nav range: 45.351131 m,
      bearing: 202.721041 deg,
      approach rate: -0.636858 m/s,
      LOS rate: -0.187826 deg/s,
      cmd heading: 206.146884 deg,
      new cmd heading: 205.941011 deg.

2025-08-19T18:22:34.720Z,1755627754.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.594349 target range: 47.000000 and range: 47.00 m.
2025-08-19T18:22:35.102Z,1755627755.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:35.104Z,1755627755.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-08-19T18:22:35.107Z,1755627755.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.000000 m,
      nav range: 45.099663 m,
      bearing: 202.646317 deg,
      approach rate: -0.641636 m/s,
      LOS rate: -0.191724 deg/s,
      cmd heading: 205.941009 deg,
      new cmd heading: 205.715590 deg.

2025-08-19T18:22:35.108Z,1755627755.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.590414 target range: 47.000000 and range: 47.00 m.
2025-08-19T18:22:35.118Z,1755627755.118 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:35.118Z,1755627755.118 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:35.119Z,1755627755.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:35.371Z,1755627755.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970497
2025-08-19T18:22:35.553Z,1755627755.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-08-19T18:22:35.563Z,1755627755.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.000000 m,
      nav range: 44.821785 m,
      bearing: 202.559289 deg,
      approach rate: -0.619035 m/s,
      LOS rate: -0.195077 deg/s,
      cmd heading: 205.715585 deg,
      new cmd heading: 205.452884 deg.

2025-08-19T18:22:35.564Z,1755627755.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.585829 target range: 47.000000 and range: 47.00 m.
2025-08-19T18:22:35.623Z,1755627755.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222250
2025-08-19T18:22:35.876Z,1755627755.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474962
2025-08-19T18:22:35.924Z,1755627755.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-08-19T18:22:35.927Z,1755627755.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.000000 m,
      nav range: 44.564026 m,
      bearing: 202.477673 deg,
      approach rate: -0.694658 m/s,
      LOS rate: -0.221225 deg/s,
      cmd heading: 205.452883 deg,
      new cmd heading: 205.206622 deg.

2025-08-19T18:22:35.928Z,1755627755.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.581531 target range: 47.000000 and range: 47.00 m.
2025-08-19T18:22:36.127Z,1755627756.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726296
2025-08-19T18:22:36.379Z,1755627756.379 [DAT](INFO): DAT read: Rx Time:18:22:34.1829

2025-08-19T18:22:36.380Z,1755627756.380 [DAT](INFO): Rx dataTimestamp_ set to:1755627756.379648
2025-08-19T18:22:36.382Z,1755627756.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980831
2025-08-19T18:22:36.383Z,1755627756.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-08-19T18:22:36.392Z,1755627756.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.000000 m,
      nav range: 44.287964 m,
      bearing: 202.397266 deg,
      approach rate: -0.636425 m/s,
      LOS rate: -0.186525 deg/s,
      cmd heading: 205.206627 deg,
      new cmd heading: 204.963901 deg.

2025-08-19T18:22:36.398Z,1755627756.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.577295 target range: 47.000000 and range: 47.00 m.
2025-08-19T18:22:36.631Z,1755627756.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230495
2025-08-19T18:22:36.760Z,1755627756.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.00 m.
2025-08-19T18:22:36.763Z,1755627756.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.000000 m,
      nav range: 44.032246 m,
      bearing: 202.321748 deg,
      approach rate: -0.636269 m/s,
      LOS rate: -0.188990 deg/s,
      cmd heading: 204.963896 deg,
      new cmd heading: 204.736030 deg.

2025-08-19T18:22:36.764Z,1755627756.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.573318 target range: 47.000000 and range: 47.00 m.
2025-08-19T18:22:36.895Z,1755627756.895 [DAT](INFO): DAT read: 18:22:34.1829 LVL= 25376, 31889, 20978, 32755, AGC= 60, IDX= 416, 0.16, 0.689,-0.880, 1.103, 0.614, PHS= 0.177,-1.449, 0.445, RAW= 157.5,   9.4, CAL= 157.3,  10.0, ROT= 352.7, -10.0

2025-08-19T18:22:36.897Z,1755627756.897 [DAT](INFO): got valid direction response:
 18:22:34.1829 LVL= 25376, 31889, 20978, 32755, AGC= 60, IDX= 416, 0.16, 0.689,-0.880, 1.103, 0.614, PHS= 0.177,-1.449, 0.445, RAW= 157.5,   9.4, CAL= 157.3,  10.0, ROT= 352.7, -10.0

2025-08-19T18:22:36.900Z,1755627756.900 [DAT](INFO): DAT read: Bearing   3.8,   0.2 (Local)

2025-08-19T18:22:36.900Z,1755627756.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,   0.2 (Local)

2025-08-19T18:22:36.903Z,1755627756.903 [DAT](INFO): DAT read: Range 11 to 50 : 44.7 m  (Round-trip  59.7 ms) speed  0.5 m/s

2025-08-19T18:22:36.904Z,1755627756.904 [DAT](INFO): DAT read: user:941>

2025-08-19T18:22:36.905Z,1755627756.905 [DAT](INFO): DAT read: Tx time:18:22:35.2690

2025-08-19T18:22:36.906Z,1755627756.906 [DAT](INFO): Ping request sent.
2025-08-19T18:22:36.906Z,1755627756.906 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:36.906Z,1755627756.906 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:36.908Z,1755627756.908 [DAT](INFO): direction in FSK: [0.976825,-0.125134,0.173648]
2025-08-19T18:22:36.908Z,1755627756.908 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:36.908Z,1755627756.908 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:36.916Z,1755627756.916 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:36.916Z,1755627756.916 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:37.176Z,1755627757.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.700001 m,
      deltaT: 3.528344 s,
      deltaX: -2.299999 m,
      approachRate: -0.651864 m/s,
      rangeRepo size: 4

2025-08-19T18:22:37.179Z,1755627757.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.700001 m,
      bearing: 200.391753 deg,
      lat: 36.779369 deg,
      lon: -121.859530 deg,
      deltaT: 3.528344 s,
      deltaX: -2.299999 m,
      approachRate: -0.651864 m/s,
      posRepo size: 4

2025-08-19T18:22:37.180Z,1755627757.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-19T18:22:37.184Z,1755627757.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 43.226692 m,
      bearing: 200.391753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.188990 deg/s,
      cmd heading: 204.736027 deg,
      new cmd heading: 204.500935 deg.

2025-08-19T18:22:37.205Z,1755627757.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.569215 target range: 44.700001 and range: 44.70 m.
2025-08-19T18:22:37.580Z,1755627757.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:37.583Z,1755627757.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-19T18:22:37.586Z,1755627757.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 42.965179 m,
      bearing: 200.297366 deg,
      approach rate: -0.640402 m/s,
      LOS rate: -0.232546 deg/s,
      cmd heading: 204.500932 deg,
      new cmd heading: 204.216049 deg.

2025-08-19T18:22:37.587Z,1755627757.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.564242 target range: 44.700001 and range: 44.70 m.
2025-08-19T18:22:37.638Z,1755627757.638 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:37.638Z,1755627757.638 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:37.639Z,1755627757.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:37.890Z,1755627757.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984789
2025-08-19T18:22:37.968Z,1755627757.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-19T18:22:37.971Z,1755627757.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 42.724388 m,
      bearing: 200.210042 deg,
      approach rate: -0.624358 m/s,
      LOS rate: -0.227703 deg/s,
      cmd heading: 204.216045 deg,
      new cmd heading: 203.952597 deg.

2025-08-19T18:22:37.972Z,1755627757.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.559644 target range: 44.700001 and range: 44.70 m.
2025-08-19T18:22:38.142Z,1755627758.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236763
2025-08-19T18:22:38.395Z,1755627758.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488884
2025-08-19T18:22:38.414Z,1755627758.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-19T18:22:38.417Z,1755627758.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 42.452000 m,
      bearing: 200.120213 deg,
      approach rate: -0.611098 m/s,
      LOS rate: -0.202821 deg/s,
      cmd heading: 203.952591 deg,
      new cmd heading: 203.681379 deg.

2025-08-19T18:22:38.418Z,1755627758.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.554911 target range: 44.700001 and range: 44.70 m.
2025-08-19T18:22:38.646Z,1755627758.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740715
2025-08-19T18:22:38.776Z,1755627758.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-19T18:22:38.779Z,1755627758.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 42.230694 m,
      bearing: 200.046779 deg,
      approach rate: -0.611531 m/s,
      LOS rate: -0.203985 deg/s,
      cmd heading: 203.681377 deg,
      new cmd heading: 203.459920 deg.

2025-08-19T18:22:38.780Z,1755627758.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.551045 target range: 44.700001 and range: 44.70 m.
2025-08-19T18:22:38.899Z,1755627758.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993384
2025-08-19T18:22:39.151Z,1755627759.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244880
2025-08-19T18:22:39.205Z,1755627759.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-19T18:22:39.208Z,1755627759.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 41.982212 m,
      bearing: 199.964027 deg,
      approach rate: -0.579060 m/s,
      LOS rate: -0.193986 deg/s,
      cmd heading: 203.459915 deg,
      new cmd heading: 203.210192 deg.

2025-08-19T18:22:39.209Z,1755627759.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.546687 target range: 44.700001 and range: 44.70 m.
2025-08-19T18:22:39.402Z,1755627759.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496687
2025-08-19T18:22:39.627Z,1755627759.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:39.629Z,1755627759.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-19T18:22:39.632Z,1755627759.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 41.704552 m,
      bearing: 199.872374 deg,
      approach rate: -0.655000 m/s,
      LOS rate: -0.217647 deg/s,
      cmd heading: 203.210190 deg,
      new cmd heading: 202.933405 deg.

2025-08-19T18:22:39.633Z,1755627759.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.541856 target range: 44.700001 and range: 44.70 m.
2025-08-19T18:22:39.668Z,1755627759.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761554
2025-08-19T18:22:39.918Z,1755627759.918 [DAT](INFO): DAT read: Rx Time:18:22:37.7299

2025-08-19T18:22:39.919Z,1755627759.919 [DAT](INFO): Rx dataTimestamp_ set to:1755627759.918671
2025-08-19T18:22:39.920Z,1755627759.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013873
2025-08-19T18:22:40.002Z,1755627760.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.70 m.
2025-08-19T18:22:40.004Z,1755627760.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.700001 m,
      nav range: 41.482193 m,
      bearing: 199.799102 deg,
      approach rate: -0.623850 m/s,
      LOS rate: -0.206675 deg/s,
      cmd heading: 202.933403 deg,
      new cmd heading: 202.712409 deg.

2025-08-19T18:22:40.010Z,1755627760.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.537999 target range: 44.700001 and range: 44.70 m.
2025-08-19T18:22:40.171Z,1755627760.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265139
2025-08-19T18:22:40.428Z,1755627760.428 [DAT](INFO): DAT read: 18:22:37.7299 LVL= 27344, 31473, 23746, 32755, AGC= 59, IDX= 418,-0.08, 0.072,-1.476, 0.457, 0.003, PHS= 0.172,-1.433, 0.410, RAW= 156.8,   9.8, CAL= 156.7,  10.6, ROT= 353.3, -10.6

2025-08-19T18:22:40.430Z,1755627760.430 [DAT](INFO): got valid direction response:
 18:22:37.7299 LVL= 27344, 31473, 23746, 32755, AGC= 59, IDX= 418,-0.08, 0.072,-1.476, 0.457, 0.003, PHS= 0.172,-1.433, 0.410, RAW= 156.8,   9.8, CAL= 156.7,  10.6, ROT= 353.3, -10.6

2025-08-19T18:22:40.431Z,1755627760.431 [DAT](INFO): DAT read: Bearing   3.6,   1.3 (Local)

2025-08-19T18:22:40.431Z,1755627760.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.6,   1.3 (Local)

2025-08-19T18:22:40.432Z,1755627760.432 [DAT](INFO): DAT read: Range 11 to 50 : 42.6 m  (Round-trip  56.8 ms) speed  0.5 m/s

2025-08-19T18:22:40.433Z,1755627760.433 [DAT](INFO): DAT read: user:942>

2025-08-19T18:22:40.434Z,1755627760.434 [DAT](INFO): DAT read: Tx time:18:22:38.8190

2025-08-19T18:22:40.434Z,1755627760.434 [DAT](INFO): Ping request sent.
2025-08-19T18:22:40.434Z,1755627760.434 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:40.435Z,1755627760.435 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:40.436Z,1755627760.436 [DAT](INFO): direction in FSK: [0.976222,-0.114680,0.183951]
2025-08-19T18:22:40.436Z,1755627760.436 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:40.436Z,1755627760.436 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:40.439Z,1755627760.439 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:40.439Z,1755627760.439 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:40.493Z,1755627760.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.599998 m,
      deltaT: 3.539726 s,
      deltaX: -2.100002 m,
      approachRate: -0.593267 m/s,
      rangeRepo size: 4

2025-08-19T18:22:40.496Z,1755627760.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.599998 m,
      bearing: 199.695224 deg,
      lat: 36.779369 deg,
      lon: -121.859530 deg,
      deltaT: 3.539726 s,
      deltaX: -2.100002 m,
      approachRate: -0.593267 m/s,
      posRepo size: 4

2025-08-19T18:22:40.496Z,1755627760.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.60 m.
2025-08-19T18:22:40.507Z,1755627760.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.599998 m,
      nav range: 41.180794 m,
      bearing: 199.695224 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.206675 deg/s,
      cmd heading: 202.712406 deg,
      new cmd heading: 202.402856 deg.

2025-08-19T18:22:40.508Z,1755627760.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.532596 target range: 42.599998 and range: 42.60 m.
2025-08-19T18:22:40.847Z,1755627760.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.60 m.
2025-08-19T18:22:40.850Z,1755627760.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.599998 m,
      nav range: 40.944183 m,
      bearing: 199.613129 deg,
      approach rate: -0.652652 m/s,
      LOS rate: -0.227753 deg/s,
      cmd heading: 202.402862 deg,
      new cmd heading: 202.155156 deg.

2025-08-19T18:22:40.852Z,1755627760.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.528273 target range: 42.599998 and range: 42.60 m.
2025-08-19T18:22:41.266Z,1755627761.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.60 m.
2025-08-19T18:22:41.269Z,1755627761.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.599998 m,
      nav range: 40.682468 m,
      bearing: 199.521178 deg,
      approach rate: -0.624170 m/s,
      LOS rate: -0.220708 deg/s,
      cmd heading: 202.155158 deg,
      new cmd heading: 201.877531 deg.

2025-08-19T18:22:41.270Z,1755627761.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.523427 target range: 42.599998 and range: 42.60 m.
2025-08-19T18:22:41.690Z,1755627761.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:41.692Z,1755627761.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.60 m.
2025-08-19T18:22:41.695Z,1755627761.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.599998 m,
      nav range: 40.424137 m,
      bearing: 199.425208 deg,
      approach rate: -0.607608 m/s,
      LOS rate: -0.227167 deg/s,
      cmd heading: 201.877524 deg,
      new cmd heading: 201.587779 deg.

2025-08-19T18:22:41.695Z,1755627761.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.518370 target range: 42.599998 and range: 42.60 m.
2025-08-19T18:22:41.934Z,1755627761.934 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:41.934Z,1755627761.934 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:41.935Z,1755627761.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:42.066Z,1755627762.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.60 m.
2025-08-19T18:22:42.068Z,1755627762.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.599998 m,
      nav range: 40.196266 m,
      bearing: 199.340904 deg,
      approach rate: -0.609525 m/s,
      LOS rate: -0.226780 deg/s,
      cmd heading: 201.587774 deg,
      new cmd heading: 201.333430 deg.

2025-08-19T18:22:42.070Z,1755627762.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.513931 target range: 42.599998 and range: 42.60 m.
2025-08-19T18:22:42.187Z,1755627762.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752968
2025-08-19T18:22:42.439Z,1755627762.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004133
2025-08-19T18:22:42.493Z,1755627762.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.60 m.
2025-08-19T18:22:42.496Z,1755627762.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.599998 m,
      nav range: 39.932915 m,
      bearing: 199.237166 deg,
      approach rate: -0.616243 m/s,
      LOS rate: -0.244349 deg/s,
      cmd heading: 201.333432 deg,
      new cmd heading: 201.020166 deg.

2025-08-19T18:22:42.498Z,1755627762.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.508464 target range: 42.599998 and range: 42.60 m.
2025-08-19T18:22:42.690Z,1755627762.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256109
2025-08-19T18:22:42.883Z,1755627762.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.60 m.
2025-08-19T18:22:42.886Z,1755627762.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.599998 m,
      nav range: 39.694965 m,
      bearing: 199.142592 deg,
      approach rate: -0.609656 m/s,
      LOS rate: -0.243762 deg/s,
      cmd heading: 201.020172 deg,
      new cmd heading: 200.734753 deg.

2025-08-19T18:22:42.887Z,1755627762.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.503482 target range: 42.599998 and range: 42.60 m.
2025-08-19T18:22:42.943Z,1755627762.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508250
2025-08-19T18:22:43.195Z,1755627763.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760845
2025-08-19T18:22:43.314Z,1755627763.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.60 m.
2025-08-19T18:22:43.316Z,1755627763.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.599998 m,
      nav range: 39.434219 m,
      bearing: 199.038126 deg,
      approach rate: -0.611622 m/s,
      LOS rate: -0.246663 deg/s,
      cmd heading: 200.734752 deg,
      new cmd heading: 200.419283 deg.

2025-08-19T18:22:43.322Z,1755627763.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.497976 target range: 42.599998 and range: 42.60 m.
2025-08-19T18:22:43.447Z,1755627763.447 [DAT](INFO): DAT read: Rx Time:18:22:41.2769

2025-08-19T18:22:43.447Z,1755627763.447 [DAT](INFO): Rx dataTimestamp_ set to:1755627763.446739
2025-08-19T18:22:43.448Z,1755627763.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013236
2025-08-19T18:22:43.699Z,1755627763.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264218
2025-08-19T18:22:43.712Z,1755627763.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:43.738Z,1755627763.738 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:22:43.739Z,1755627763.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.60 m.
2025-08-19T18:22:43.749Z,1755627763.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.599998 m,
      nav range: 39.176277 m,
      bearing: 198.934724 deg,
      approach rate: -0.599899 m/s,
      LOS rate: -0.242064 deg/s,
      cmd heading: 200.419279 deg,
      new cmd heading: 200.107036 deg.

2025-08-19T18:22:43.757Z,1755627763.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.492527 target range: 42.599998 and range: 42.60 m.
2025-08-19T18:22:43.956Z,1755627763.956 [DAT](INFO): DAT read: 18:22:41.2769 LVL= 26720, 32753, 22002, 32755, AGC= 57, IDX= 403, 0.03,-0.448,-2.026,-0.075,-0.562, PHS= 0.215,-1.420, 0.442, RAW= 156.4,   8.7, CAL= 156.1,   9.2, ROT= 353.9,  -9.2

2025-08-19T18:22:43.958Z,1755627763.958 [DAT](INFO): got valid direction response:
 18:22:41.2769 LVL= 26720, 32753, 22002, 32755, AGC= 57, IDX= 403, 0.03,-0.448,-2.026,-0.075,-0.562, PHS= 0.215,-1.420, 0.442, RAW= 156.4,   8.7, CAL= 156.1,   9.2, ROT= 353.9,  -9.2

2025-08-19T18:22:43.958Z,1755627763.958 [DAT](INFO): DAT read: Bearing   1.1,   2.1 (Local)

2025-08-19T18:22:43.959Z,1755627763.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,   2.1 (Local)

2025-08-19T18:22:43.960Z,1755627763.960 [DAT](INFO): DAT read: Range 11 to 50 : 40.3 m  (Round-trip  53.8 ms) speed  0.5 m/s

2025-08-19T18:22:43.961Z,1755627763.961 [DAT](INFO): DAT read: user:943>

2025-08-19T18:22:43.962Z,1755627763.962 [DAT](INFO): DAT read: Tx time:18:22:42.3690

2025-08-19T18:22:43.962Z,1755627763.962 [DAT](INFO): Ping request sent.
2025-08-19T18:22:43.962Z,1755627763.962 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:43.963Z,1755627763.963 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:43.964Z,1755627763.964 [DAT](INFO): direction in FSK: [0.981547,-0.104897,0.159881]
2025-08-19T18:22:43.964Z,1755627763.964 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:43.964Z,1755627763.964 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:43.967Z,1755627763.967 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:43.967Z,1755627763.967 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:44.181Z,1755627764.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.299999 m,
      deltaT: 3.527814 s,
      deltaX: -2.299999 m,
      approachRate: -0.651962 m/s,
      rangeRepo size: 4

2025-08-19T18:22:44.188Z,1755627764.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.299999 m,
      bearing: 199.054302 deg,
      lat: 36.779374 deg,
      lon: -121.859530 deg,
      deltaT: 3.527814 s,
      deltaX: -2.299999 m,
      approachRate: -0.651962 m/s,
      posRepo size: 4

2025-08-19T18:22:44.193Z,1755627764.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.30 m.
2025-08-19T18:22:44.203Z,1755627764.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.299999 m,
      nav range: 38.453903 m,
      bearing: 199.054302 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.242064 deg/s,
      cmd heading: 200.107030 deg,
      new cmd heading: 199.787319 deg.

2025-08-19T18:22:44.204Z,1755627764.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.486947 target range: 40.299999 and range: 40.30 m.
2025-08-19T18:22:44.510Z,1755627764.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.30 m.
2025-08-19T18:22:44.513Z,1755627764.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.299999 m,
      nav range: 38.227009 m,
      bearing: 198.960015 deg,
      approach rate: -0.685869 m/s,
      LOS rate: -0.286709 deg/s,
      cmd heading: 199.787323 deg,
      new cmd heading: 199.502784 deg.

2025-08-19T18:22:44.514Z,1755627764.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.481981 target range: 40.299999 and range: 40.30 m.
2025-08-19T18:22:44.742Z,1755627764.742 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:22:44.898Z,1755627764.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.30 m.
2025-08-19T18:22:44.901Z,1755627764.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.299999 m,
      nav range: 37.982250 m,
      bearing: 198.858994 deg,
      approach rate: -0.632126 m/s,
      LOS rate: -0.262584 deg/s,
      cmd heading: 199.502791 deg,
      new cmd heading: 199.197777 deg.

2025-08-19T18:22:44.902Z,1755627764.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.476657 target range: 40.299999 and range: 40.30 m.
2025-08-19T18:22:45.290Z,1755627765.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.30 m.
2025-08-19T18:22:45.293Z,1755627765.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.299999 m,
      nav range: 37.734131 m,
      bearing: 198.757596 deg,
      approach rate: -0.632185 m/s,
      LOS rate: -0.260051 deg/s,
      cmd heading: 199.197782 deg,
      new cmd heading: 198.891590 deg.

2025-08-19T18:22:45.310Z,1755627765.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.471313 target range: 40.299999 and range: 40.30 m.
2025-08-19T18:22:45.726Z,1755627765.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:45.728Z,1755627765.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.30 m.
2025-08-19T18:22:45.731Z,1755627765.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.299999 m,
      nav range: 37.464073 m,
      bearing: 198.653904 deg,
      approach rate: -0.616732 m/s,
      LOS rate: -0.238508 deg/s,
      cmd heading: 198.891584 deg,
      new cmd heading: 198.578270 deg.

2025-08-19T18:22:45.732Z,1755627765.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.465845 target range: 40.299999 and range: 40.30 m.
2025-08-19T18:22:45.969Z,1755627765.969 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:45.969Z,1755627765.969 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:45.969Z,1755627765.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:46.206Z,1755627766.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.30 m.
2025-08-19T18:22:46.209Z,1755627766.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.299999 m,
      nav range: 37.172268 m,
      bearing: 198.543269 deg,
      approach rate: -0.610185 m/s,
      LOS rate: -0.233161 deg/s,
      cmd heading: 198.578270 deg,
      new cmd heading: 198.243765 deg.

2025-08-19T18:22:46.214Z,1755627766.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.460006 target range: 40.299999 and range: 40.30 m.
2025-08-19T18:22:46.223Z,1755627766.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260332
2025-08-19T18:22:46.475Z,1755627766.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512555
2025-08-19T18:22:46.619Z,1755627766.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.30 m.
2025-08-19T18:22:46.622Z,1755627766.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.299999 m,
      nav range: 36.906784 m,
      bearing: 198.442666 deg,
      approach rate: -0.642989 m/s,
      LOS rate: -0.245410 deg/s,
      cmd heading: 198.243768 deg,
      new cmd heading: 197.939788 deg.

2025-08-19T18:22:46.623Z,1755627766.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.454701 target range: 40.299999 and range: 40.30 m.
2025-08-19T18:22:46.726Z,1755627766.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764174
2025-08-19T18:22:46.980Z,1755627766.980 [DAT](INFO): DAT read: Rx Time:18:22:44.8240

2025-08-19T18:22:46.980Z,1755627766.980 [DAT](INFO): Rx dataTimestamp_ set to:1755627766.979869
2025-08-19T18:22:46.981Z,1755627766.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018767
2025-08-19T18:22:47.077Z,1755627767.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.30 m.
2025-08-19T18:22:47.084Z,1755627767.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.299999 m,
      nav range: 36.621075 m,
      bearing: 198.339545 deg,
      approach rate: -0.624038 m/s,
      LOS rate: -0.226990 deg/s,
      cmd heading: 197.939784 deg,
      new cmd heading: 197.628011 deg.

2025-08-19T18:22:47.085Z,1755627767.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.449260 target range: 40.299999 and range: 40.30 m.
2025-08-19T18:22:47.231Z,1755627767.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268197
2025-08-19T18:22:47.497Z,1755627767.497 [DAT](INFO): DAT read: 18:22:44.8240 LVL= 26352, 32753, 22322, 32755, AGC= 57, IDX= 405, 0.00,-1.267,-2.844,-0.960,-1.417, PHS= 0.252,-1.382, 0.413, RAW= 154.6,   8.4, CAL= 154.2,   8.9, ROT= 355.8,  -8.9

2025-08-19T18:22:47.510Z,1755627767.510 [DAT](INFO): got valid direction response:
 18:22:44.8240 LVL= 26352, 32753, 22322, 32755, AGC= 57, IDX= 405, 0.00,-1.267,-2.844,-0.960,-1.417, PHS= 0.252,-1.382, 0.413, RAW= 154.6,   8.4, CAL= 154.2,   8.9, ROT= 355.8,  -8.9

2025-08-19T18:22:47.511Z,1755627767.511 [DAT](INFO): DAT read: Bearing 357.9,   4.7 (Local)

2025-08-19T18:22:47.511Z,1755627767.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,   4.7 (Local)

2025-08-19T18:22:47.513Z,1755627767.513 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m  (Round-trip  50.8 ms) speed  0.5 m/s

2025-08-19T18:22:47.528Z,1755627767.528 [DAT](INFO): DAT read: user:944>

2025-08-19T18:22:47.529Z,1755627767.529 [DAT](INFO): DAT read: Tx time:18:22:45.9190

2025-08-19T18:22:47.529Z,1755627767.529 [DAT](INFO): Ping request sent.
2025-08-19T18:22:47.529Z,1755627767.529 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:47.533Z,1755627767.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:47.534Z,1755627767.534 [DAT](INFO): direction in FSK: [0.985307,-0.072357,0.154710]
2025-08-19T18:22:47.535Z,1755627767.535 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:47.535Z,1755627767.535 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:47.542Z,1755627767.542 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:47.542Z,1755627767.542 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:47.629Z,1755627767.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.533648 s,
      deltaX: -2.200001 m,
      approachRate: -0.622586 m/s,
      rangeRepo size: 4

2025-08-19T18:22:47.643Z,1755627767.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.099998 m,
      bearing: 198.852655 deg,
      lat: 36.779375 deg,
      lon: -121.859534 deg,
      deltaT: 3.533648 s,
      deltaX: -2.200001 m,
      approachRate: -0.622586 m/s,
      posRepo size: 4

2025-08-19T18:22:47.644Z,1755627767.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-19T18:22:47.655Z,1755627767.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.198254 m,
      bearing: 198.852655 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.226990 deg/s,
      cmd heading: 197.628013 deg,
      new cmd heading: 197.252791 deg.

2025-08-19T18:22:47.656Z,1755627767.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.442711 target range: 38.099998 and range: 38.10 m.
2025-08-19T18:22:48.089Z,1755627768.089 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-19T18:22:48.089Z,1755627768.089 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-19T18:22:48.089Z,1755627768.089 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-19T18:22:48.091Z,1755627768.091 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.099998 m (mode  2.000000 count ).
2025-08-19T18:22:48.091Z,1755627768.091 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-19T18:22:48.091Z,1755627768.091 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-19T18:22:48.091Z,1755627768.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:48.094Z,1755627768.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-19T18:22:48.096Z,1755627768.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.892082 m,
      bearing: 198.742906 deg,
      approach rate: -0.657864 m/s,
      LOS rate: -0.237827 deg/s,
      cmd heading: 197.252790 deg,
      new cmd heading: 196.920738 deg.

2025-08-19T18:22:48.097Z,1755627768.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.436915 target range: 38.099998 and range: 38.10 m.
2025-08-19T18:22:48.239Z,1755627768.239 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:48.239Z,1755627768.239 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:48.239Z,1755627768.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:22:48.494Z,1755627768.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963984
2025-08-19T18:22:48.546Z,1755627768.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-19T18:22:48.546Z,1755627768.546 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-19T18:22:48.548Z,1755627768.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-19T18:22:48.552Z,1755627768.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.606316 m,
      bearing: 198.645167 deg,
      approach rate: -0.628538 m/s,
      LOS rate: -0.216700 deg/s,
      cmd heading: 196.920733 deg,
      new cmd heading: 196.625165 deg.

2025-08-19T18:22:48.553Z,1755627768.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.431756 target range: 38.099998 and range: 38.10 m.
2025-08-19T18:22:48.743Z,1755627768.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213629
2025-08-19T18:22:48.900Z,1755627768.900 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-19T18:22:48.900Z,1755627768.900 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-19T18:22:48.918Z,1755627768.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-19T18:22:48.921Z,1755627768.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.384945 m,
      bearing: 198.570805 deg,
      approach rate: -0.597974 m/s,
      LOS rate: -0.202127 deg/s,
      cmd heading: 196.625164 deg,
      new cmd heading: 196.400681 deg.

2025-08-19T18:22:48.926Z,1755627768.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.427839 target range: 38.099998 and range: 38.10 m.
2025-08-19T18:22:48.995Z,1755627768.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466020
2025-08-19T18:22:49.246Z,1755627769.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717523
2025-08-19T18:22:49.356Z,1755627769.356 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-19T18:22:49.356Z,1755627769.356 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-19T18:22:49.356Z,1755627769.356 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-19T18:22:49.357Z,1755627769.357 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-19T18:22:49.365Z,1755627769.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-19T18:22:49.373Z,1755627769.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.113411 m,
      bearing: 198.478282 deg,
      approach rate: -0.608297 m/s,
      LOS rate: -0.208873 deg/s,
      cmd heading: 196.400683 deg,
      new cmd heading: 196.120972 deg.

2025-08-19T18:22:49.386Z,1755627769.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.422957 target range: 38.099998 and range: 38.10 m.
2025-08-19T18:22:49.501Z,1755627769.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971802
2025-08-19T18:22:49.751Z,1755627769.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221660
2025-08-19T18:22:49.780Z,1755627769.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-19T18:22:49.787Z,1755627769.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 34.851952 m,
      bearing: 198.393571 deg,
      approach rate: -0.629142 m/s,
      LOS rate: -0.205366 deg/s,
      cmd heading: 196.120973 deg,
      new cmd heading: 195.864935 deg.

2025-08-19T18:22:49.788Z,1755627769.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.418488 target range: 38.099998 and range: 38.10 m.
2025-08-19T18:22:50.002Z,1755627770.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473480
2025-08-19T18:22:50.149Z,1755627770.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:50.151Z,1755627770.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-19T18:22:50.154Z,1755627770.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 34.604832 m,
      bearing: 198.314281 deg,
      approach rate: -0.666767 m/s,
      LOS rate: -0.215466 deg/s,
      cmd heading: 195.864936 deg,
      new cmd heading: 195.625367 deg.

2025-08-19T18:22:50.155Z,1755627770.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.414307 target range: 38.099998 and range: 38.10 m.
2025-08-19T18:22:50.255Z,1755627770.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725705
2025-08-19T18:22:50.509Z,1755627770.509 [DAT](INFO): DAT read: Rx Time:18:22:48.3710

2025-08-19T18:22:50.519Z,1755627770.519 [DAT](INFO): Rx dataTimestamp_ set to:1755627770.517923
2025-08-19T18:22:50.521Z,1755627770.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991371
2025-08-19T18:22:50.615Z,1755627770.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-19T18:22:50.622Z,1755627770.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 34.323727 m,
      bearing: 198.223452 deg,
      approach rate: -0.605732 m/s,
      LOS rate: -0.197322 deg/s,
      cmd heading: 195.625360 deg,
      new cmd heading: 195.350646 deg.

2025-08-19T18:22:50.623Z,1755627770.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.409512 target range: 38.099998 and range: 38.10 m.
2025-08-19T18:22:50.759Z,1755627770.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229624
2025-08-19T18:22:50.945Z,1755627770.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-19T18:22:50.949Z,1755627770.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 34.115574 m,
      bearing: 198.156825 deg,
      approach rate: -0.630434 m/s,
      LOS rate: -0.203026 deg/s,
      cmd heading: 195.350650 deg,
      new cmd heading: 195.149549 deg.

2025-08-19T18:22:50.950Z,1755627770.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.406002 target range: 38.099998 and range: 38.10 m.
2025-08-19T18:22:51.020Z,1755627771.020 [DAT](INFO): DAT read: 18:22:48.3710 LVL= 28496, 32753, 24866, 32755, AGC= 59, IDX= 407,-0.10,-2.033, 2.606,-1.785,-2.238, PHS= 0.307,-1.395, 0.409, RAW= 152.9,   7.8, CAL= 152.4,   8.3, ROT= 357.6,  -8.3

2025-08-19T18:22:51.021Z,1755627771.021 [DAT](INFO): got valid direction response:
 18:22:48.3710 LVL= 28496, 32753, 24866, 32755, AGC= 59, IDX= 407,-0.10,-2.033, 2.606,-1.785,-2.238, PHS= 0.307,-1.395, 0.409, RAW= 152.9,   7.8, CAL= 152.4,   8.3, ROT= 357.6,  -8.3

2025-08-19T18:22:51.022Z,1755627771.022 [DAT](INFO): DAT read: Bearing 353.9,   8.0 (Local)

2025-08-19T18:22:51.023Z,1755627771.023 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,   8.0 (Local)

2025-08-19T18:22:51.025Z,1755627771.025 [DAT](INFO): DAT read: Range 11 to 50 : 35.9 m  (Round-trip  47.9 ms) speed  0.5 m/s

2025-08-19T18:22:51.026Z,1755627771.026 [DAT](INFO): DAT read: user:945>

2025-08-19T18:22:51.027Z,1755627771.027 [DAT](INFO): DAT read: Tx time:18:22:49.4690

2025-08-19T18:22:51.028Z,1755627771.028 [DAT](INFO): Ping request sent.
2025-08-19T18:22:51.028Z,1755627771.028 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:51.028Z,1755627771.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:51.030Z,1755627771.030 [DAT](INFO): direction in FSK: [0.988658,-0.041437,0.144356]
2025-08-19T18:22:51.030Z,1755627771.030 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:51.030Z,1755627771.030 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:51.053Z,1755627771.053 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:51.054Z,1755627771.054 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:51.400Z,1755627771.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.900002 m,
      deltaT: 3.527394 s,
      deltaX: -2.199997 m,
      approachRate: -0.623689 m/s,
      rangeRepo size: 4

2025-08-19T18:22:51.407Z,1755627771.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.900002 m,
      bearing: 198.099065 deg,
      lat: 36.779375 deg,
      lon: -121.859534 deg,
      deltaT: 3.527394 s,
      deltaX: -2.199997 m,
      approachRate: -0.623689 m/s,
      posRepo size: 4

2025-08-19T18:22:51.407Z,1755627771.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-08-19T18:22:51.414Z,1755627771.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 33.853207 m,
      bearing: 198.099065 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.203026 deg/s,
      cmd heading: 195.149542 deg,
      new cmd heading: 194.872570 deg.

2025-08-19T18:22:51.415Z,1755627771.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.401168 target range: 35.900002 and range: 35.90 m.
2025-08-19T18:22:51.790Z,1755627771.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-08-19T18:22:51.793Z,1755627771.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 33.609848 m,
      bearing: 198.025081 deg,
      approach rate: -0.623742 m/s,
      LOS rate: -0.190999 deg/s,
      cmd heading: 194.872564 deg,
      new cmd heading: 194.649006 deg.

2025-08-19T18:22:51.794Z,1755627771.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.397266 target range: 35.900002 and range: 35.90 m.
2025-08-19T18:22:52.161Z,1755627772.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:52.164Z,1755627772.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-08-19T18:22:52.169Z,1755627772.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 33.382854 m,
      bearing: 197.957141 deg,
      approach rate: -0.606387 m/s,
      LOS rate: -0.182727 deg/s,
      cmd heading: 194.649012 deg,
      new cmd heading: 194.443808 deg.

2025-08-19T18:22:52.170Z,1755627772.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.393685 target range: 35.900002 and range: 35.90 m.
2025-08-19T18:22:52.271Z,1755627772.271 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:22:52.271Z,1755627772.271 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:22:52.272Z,1755627772.272 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:22:52.525Z,1755627772.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496744
2025-08-19T18:22:52.607Z,1755627772.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-08-19T18:22:52.630Z,1755627772.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 33.122105 m,
      bearing: 197.877809 deg,
      approach rate: -0.588893 m/s,
      LOS rate: -0.180577 deg/s,
      cmd heading: 194.443806 deg,
      new cmd heading: 194.203940 deg.

2025-08-19T18:22:52.631Z,1755627772.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.389498 target range: 35.900002 and range: 35.90 m.
2025-08-19T18:22:52.775Z,1755627772.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747005
2025-08-19T18:22:52.968Z,1755627772.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-08-19T18:22:52.971Z,1755627772.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 32.910652 m,
      bearing: 197.814464 deg,
      approach rate: -0.586475 m/s,
      LOS rate: -0.176819 deg/s,
      cmd heading: 194.203943 deg,
      new cmd heading: 194.012689 deg.

2025-08-19T18:22:52.972Z,1755627772.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.386160 target range: 35.900002 and range: 35.90 m.
2025-08-19T18:22:53.028Z,1755627773.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000353
2025-08-19T18:22:53.279Z,1755627773.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250905
2025-08-19T18:22:53.391Z,1755627773.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-08-19T18:22:53.394Z,1755627773.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 32.665695 m,
      bearing: 197.742486 deg,
      approach rate: -0.579205 m/s,
      LOS rate: -0.171470 deg/s,
      cmd heading: 194.012685 deg,
      new cmd heading: 193.795131 deg.

2025-08-19T18:22:53.395Z,1755627773.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.382363 target range: 35.900002 and range: 35.90 m.
2025-08-19T18:22:53.534Z,1755627773.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505087
2025-08-19T18:22:53.785Z,1755627773.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756926
2025-08-19T18:22:53.840Z,1755627773.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-08-19T18:22:53.855Z,1755627773.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 32.403885 m,
      bearing: 197.683558 deg,
      approach rate: -0.582388 m/s,
      LOS rate: -0.132142 deg/s,
      cmd heading: 193.795129 deg,
      new cmd heading: 193.616919 deg.

2025-08-19T18:22:53.857Z,1755627773.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.379253 target range: 35.900002 and range: 35.90 m.
2025-08-19T18:22:54.034Z,1755627774.034 [DAT](INFO): DAT read: Rx Time:18:22:51.9180

2025-08-19T18:22:54.035Z,1755627774.035 [DAT](INFO): Rx dataTimestamp_ set to:1755627774.034636
2025-08-19T18:22:54.035Z,1755627774.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007881
2025-08-19T18:22:54.235Z,1755627774.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:54.238Z,1755627774.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-08-19T18:22:54.240Z,1755627774.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 32.160347 m,
      bearing: 197.633589 deg,
      approach rate: -0.612975 m/s,
      LOS rate: -0.126722 deg/s,
      cmd heading: 193.616916 deg,
      new cmd heading: 193.465874 deg.

2025-08-19T18:22:54.242Z,1755627774.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.376616 target range: 35.900002 and range: 35.90 m.
2025-08-19T18:22:54.288Z,1755627774.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259547
2025-08-19T18:22:54.565Z,1755627774.565 [DAT](INFO): DAT read: 18:22:51.9180 LVL= 25920, 32545, 24226, 32755, AGC= 58, IDX= 409, 0.04,-0.509,-2.198,-0.317,-0.776, PHS= 0.368,-1.377, 0.414, RAW= 151.3,   6.8, CAL= 150.6,   7.2, ROT= 359.4,  -7.2

2025-08-19T18:22:54.569Z,1755627774.569 [DAT](INFO): got valid direction response:
 18:22:51.9180 LVL= 25920, 32545, 24226, 32755, AGC= 58, IDX= 409, 0.04,-0.509,-2.198,-0.317,-0.776, PHS= 0.368,-1.377, 0.414, RAW= 151.3,   6.8, CAL= 150.6,   7.2, ROT= 359.4,  -7.2

2025-08-19T18:22:54.572Z,1755627774.572 [DAT](INFO): DAT read: Bearing 350.4,  11.1 (Local)

2025-08-19T18:22:54.574Z,1755627774.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.4,  11.1 (Local)

2025-08-19T18:22:54.579Z,1755627774.579 [DAT](INFO): DAT read: Range 11 to 50 : 33.7 m  (Round-trip  45.0 ms) speed  0.5 m/s

2025-08-19T18:22:54.583Z,1755627774.583 [DAT](INFO): DAT read: user:946>

2025-08-19T18:22:54.585Z,1755627774.585 [DAT](INFO): DAT read: Tx time:18:22:53.0189

2025-08-19T18:22:54.586Z,1755627774.586 [DAT](INFO): Ping request sent.
2025-08-19T18:22:54.586Z,1755627774.586 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:54.586Z,1755627774.586 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:22:54.587Z,1755627774.587 [DAT](INFO): direction in FSK: [0.992060,-0.010389,0.125333]
2025-08-19T18:22:54.587Z,1755627774.587 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:54.588Z,1755627774.588 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:54.591Z,1755627774.591 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:54.591Z,1755627774.591 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:54.654Z,1755627774.654 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.068596
2025-08-19T18:22:54.737Z,1755627774.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.700001 m,
      deltaT: 3.528353 s,
      deltaX: -2.200001 m,
      approachRate: -0.623521 m/s,
      rangeRepo size: 4

2025-08-19T18:22:54.747Z,1755627774.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.700001 m,
      bearing: 197.578152 deg,
      lat: 36.779375 deg,
      lon: -121.859534 deg,
      deltaT: 3.528353 s,
      deltaX: -2.200001 m,
      approachRate: -0.623521 m/s,
      posRepo size: 4

2025-08-19T18:22:54.748Z,1755627774.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-08-19T18:22:54.755Z,1755627774.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.700001 m,
      nav range: 31.868032 m,
      bearing: 197.578152 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.126722 deg/s,
      cmd heading: 193.465873 deg,
      new cmd heading: 193.276207 deg.

2025-08-19T18:22:54.756Z,1755627774.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.373306 target range: 33.700001 and range: 33.70 m.
2025-08-19T18:22:54.797Z,1755627774.797 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.211486
2025-08-19T18:22:55.051Z,1755627775.051 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.464885
2025-08-19T18:22:55.054Z,1755627775.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-08-19T18:22:55.057Z,1755627775.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.700001 m,
      nav range: 31.681742 m,
      bearing: 197.544708 deg,
      approach rate: -0.594745 m/s,
      LOS rate: -0.107401 deg/s,
      cmd heading: 193.276213 deg,
      new cmd heading: 193.175290 deg.

2025-08-19T18:22:55.062Z,1755627775.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.371545 target range: 33.700001 and range: 33.70 m.
2025-08-19T18:22:55.306Z,1755627775.306 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.720163
2025-08-19T18:22:55.440Z,1755627775.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-08-19T18:22:55.443Z,1755627775.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.700001 m,
      nav range: 31.448418 m,
      bearing: 197.505247 deg,
      approach rate: -0.597516 m/s,
      LOS rate: -0.101805 deg/s,
      cmd heading: 193.175290 deg,
      new cmd heading: 193.056028 deg.

2025-08-19T18:22:55.444Z,1755627775.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.369463 target range: 33.700001 and range: 33.70 m.
2025-08-19T18:22:55.558Z,1755627775.558 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.971498
2025-08-19T18:22:55.806Z,1755627775.806 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.220713
2025-08-19T18:22:55.891Z,1755627775.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-08-19T18:22:55.894Z,1755627775.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.700001 m,
      nav range: 31.180565 m,
      bearing: 197.470659 deg,
      approach rate: -0.594475 m/s,
      LOS rate: -0.077425 deg/s,
      cmd heading: 193.056035 deg,
      new cmd heading: 192.951379 deg.

2025-08-19T18:22:55.895Z,1755627775.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.367637 target range: 33.700001 and range: 33.70 m.
2025-08-19T18:22:56.059Z,1755627776.059 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.473201
2025-08-19T18:22:56.311Z,1755627776.311 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.724773
2025-08-19T18:22:56.403Z,1755627776.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:56.410Z,1755627776.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-08-19T18:22:56.412Z,1755627776.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.700001 m,
      nav range: 30.883766 m,
      bearing: 197.434218 deg,
      approach rate: -0.576584 m/s,
      LOS rate: -0.071473 deg/s,
      cmd heading: 192.951382 deg,
      new cmd heading: 192.841009 deg.

2025-08-19T18:22:56.418Z,1755627776.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.365710 target range: 33.700001 and range: 33.70 m.
2025-08-19T18:22:56.566Z,1755627776.566 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.979467
2025-08-19T18:22:56.819Z,1755627776.819 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.233316
2025-08-19T18:22:56.938Z,1755627776.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-08-19T18:22:56.941Z,1755627776.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.700001 m,
      nav range: 30.564959 m,
      bearing: 197.381667 deg,
      approach rate: -0.598929 m/s,
      LOS rate: -0.099754 deg/s,
      cmd heading: 192.841007 deg,
      new cmd heading: 192.681711 deg.

2025-08-19T18:22:56.942Z,1755627776.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.362930 target range: 33.700001 and range: 33.70 m.
2025-08-19T18:22:57.070Z,1755627777.070 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.484748
2025-08-19T18:22:57.283Z,1755627777.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-08-19T18:22:57.286Z,1755627777.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.700001 m,
      nav range: 30.364170 m,
      bearing: 197.351373 deg,
      approach rate: -0.581017 m/s,
      LOS rate: -0.088241 deg/s,
      cmd heading: 192.681713 deg,
      new cmd heading: 192.590230 deg.

2025-08-19T18:22:57.287Z,1755627777.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.361334 target range: 33.700001 and range: 33.70 m.
2025-08-19T18:22:57.325Z,1755627777.325 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.739063
2025-08-19T18:22:57.574Z,1755627777.574 [DAT](INFO): DAT read: Rx Time:18:22:55.4651

2025-08-19T18:22:57.575Z,1755627777.575 [DAT](INFO): Rx dataTimestamp_ set to:1755627777.574562
2025-08-19T18:22:57.575Z,1755627777.575 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.989711
2025-08-19T18:22:57.791Z,1755627777.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.70 m.
2025-08-19T18:22:57.818Z,1755627777.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.700001 m,
      nav range: 30.069502 m,
      bearing: 197.303850 deg,
      approach rate: -0.580324 m/s,
      LOS rate: -0.094511 deg/s,
      cmd heading: 192.590229 deg,
      new cmd heading: 192.446262 deg.

2025-08-19T18:22:57.820Z,1755627777.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.358821 target range: 33.700001 and range: 33.70 m.
2025-08-19T18:22:57.828Z,1755627777.828 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.242478
2025-08-19T18:22:58.084Z,1755627778.084 [DAT](INFO): DAT read: 18:22:55.4651 LVL= 23968, 27825, 24290, 32755, AGC= 57, IDX= 411, 0.12, 1.021,-0.745, 1.156, 0.691, PHS= 0.433,-1.390, 0.421, RAW= 149.7,   6.0, CAL= 149.0,   6.3, ROT=   1.0,  -6.3

2025-08-19T18:22:58.085Z,1755627778.085 [DAT](INFO): got valid direction response:
 18:22:55.4651 LVL= 23968, 27825, 24290, 32755, AGC= 57, IDX= 411, 0.12, 1.021,-0.745, 1.156, 0.691, PHS= 0.433,-1.390, 0.421, RAW= 149.7,   6.0, CAL= 149.0,   6.3, ROT=   1.0,  -6.3

2025-08-19T18:22:58.086Z,1755627778.086 [DAT](INFO): DAT read: Bearing 346.2,  13.6 (Local)

2025-08-19T18:22:58.087Z,1755627778.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.2,  13.6 (Local)

2025-08-19T18:22:58.088Z,1755627778.088 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m  (Round-trip  42.0 ms) speed  0.5 m/s

2025-08-19T18:22:58.089Z,1755627778.089 [DAT](INFO): DAT read: user:947>

2025-08-19T18:22:58.089Z,1755627778.089 [DAT](INFO): DAT read: Tx time:18:22:56.5689

2025-08-19T18:22:58.090Z,1755627778.090 [DAT](INFO): Ping request sent.
2025-08-19T18:22:58.090Z,1755627778.090 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:22:58.090Z,1755627778.090 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-19T18:22:58.091Z,1755627778.091 [DAT](INFO): direction in FSK: [0.993810,0.017347,0.109734]
2025-08-19T18:22:58.091Z,1755627778.091 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:58.092Z,1755627778.092 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:58.095Z,1755627778.095 [DAT](INFO): publishing transmit ping time
2025-08-19T18:22:58.095Z,1755627778.095 [DAT](INFO): publishing direction and range info
2025-08-19T18:22:58.098Z,1755627778.098 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.008449
2025-08-19T18:22:58.275Z,1755627778.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 3.538703 s,
      deltaX: -2.200001 m,
      approachRate: -0.621697 m/s,
      rangeRepo size: 4

2025-08-19T18:22:58.277Z,1755627778.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.500000 m,
      bearing: 197.248275 deg,
      lat: 36.779375 deg,
      lon: -121.859534 deg,
      deltaT: 3.538703 s,
      deltaX: -2.200001 m,
      approachRate: -0.621697 m/s,
      posRepo size: 4

2025-08-19T18:22:58.281Z,1755627778.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-19T18:22:58.284Z,1755627778.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 29.829157 m,
      bearing: 197.248275 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.094511 deg/s,
      cmd heading: 192.446263 deg,
      new cmd heading: 192.310559 deg.

2025-08-19T18:22:58.285Z,1755627778.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.356452 target range: 31.500000 and range: 31.50 m.
2025-08-19T18:22:58.331Z,1755627778.331 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.241595
2025-08-19T18:22:58.587Z,1755627778.587 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.496084
2025-08-19T18:22:58.692Z,1755627778.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:22:58.694Z,1755627778.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-19T18:22:58.697Z,1755627778.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 29.558603 m,
      bearing: 197.198167 deg,
      approach rate: -0.637474 m/s,
      LOS rate: -0.119144 deg/s,
      cmd heading: 192.310560 deg,
      new cmd heading: 192.158861 deg.

2025-08-19T18:22:58.698Z,1755627778.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.353805 target range: 31.500000 and range: 31.50 m.
2025-08-19T18:22:58.835Z,1755627778.835 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.745042
2025-08-19T18:22:59.026Z,1755627779.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-19T18:22:59.029Z,1755627779.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 29.362383 m,
      bearing: 197.161709 deg,
      approach rate: -0.590526 m/s,
      LOS rate: -0.110453 deg/s,
      cmd heading: 192.158862 deg,
      new cmd heading: 192.048758 deg.

2025-08-19T18:22:59.030Z,1755627779.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.351883 target range: 31.500000 and range: 31.50 m.
2025-08-19T18:22:59.087Z,1755627779.087 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.997395
2025-08-19T18:22:59.340Z,1755627779.340 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.249724
2025-08-19T18:22:59.427Z,1755627779.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-19T18:22:59.438Z,1755627779.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 29.126541 m,
      bearing: 197.118059 deg,
      approach rate: -0.589176 m/s,
      LOS rate: -0.109930 deg/s,
      cmd heading: 192.048759 deg,
      new cmd heading: 191.916747 deg.

2025-08-19T18:22:59.439Z,1755627779.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.349579 target range: 31.500000 and range: 31.50 m.
2025-08-19T18:22:59.590Z,1755627779.590 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.500585
2025-08-19T18:22:59.843Z,1755627779.843 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.753248
2025-08-19T18:22:59.872Z,1755627779.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-19T18:22:59.878Z,1755627779.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 28.859959 m,
      bearing: 197.059224 deg,
      approach rate: -0.599106 m/s,
      LOS rate: -0.133445 deg/s,
      cmd heading: 191.916745 deg,
      new cmd heading: 191.738611 deg.

2025-08-19T18:22:59.879Z,1755627779.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.346470 target range: 31.500000 and range: 31.50 m.
2025-08-19T18:23:00.095Z,1755627780.095 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.004971
2025-08-19T18:23:00.246Z,1755627780.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-19T18:23:00.248Z,1755627780.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 28.636179 m,
      bearing: 197.009837 deg,
      approach rate: -0.598516 m/s,
      LOS rate: -0.133120 deg/s,
      cmd heading: 191.738614 deg,
      new cmd heading: 191.589297 deg.

2025-08-19T18:23:00.250Z,1755627780.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.343864 target range: 31.500000 and range: 31.50 m.
2025-08-19T18:23:00.348Z,1755627780.348 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.257911
2025-08-19T18:23:00.598Z,1755627780.598 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.508599
2025-08-19T18:23:00.718Z,1755627780.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:00.720Z,1755627780.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-19T18:23:00.743Z,1755627780.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 28.349009 m,
      bearing: 196.937644 deg,
      approach rate: -0.605358 m/s,
      LOS rate: -0.153726 deg/s,
      cmd heading: 191.589292 deg,
      new cmd heading: 191.370519 deg.

2025-08-19T18:23:00.744Z,1755627780.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.340046 target range: 31.500000 and range: 31.50 m.
2025-08-19T18:23:00.855Z,1755627780.855 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.765161
2025-08-19T18:23:01.086Z,1755627781.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-19T18:23:01.089Z,1755627781.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 28.127184 m,
      bearing: 196.882240 deg,
      approach rate: -0.605833 m/s,
      LOS rate: -0.152508 deg/s,
      cmd heading: 191.370521 deg,
      new cmd heading: 191.203001 deg.

2025-08-19T18:23:01.090Z,1755627781.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.337122 target range: 31.500000 and range: 31.50 m.
2025-08-19T18:23:01.108Z,1755627781.108 [DAT](INFO): DAT read: Rx Time:18:22:59.0123

2025-08-19T18:23:01.109Z,1755627781.109 [DAT](INFO): Rx dataTimestamp_ set to:1755627781.108418
2025-08-19T18:23:01.109Z,1755627781.109 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.019414
2025-08-19T18:23:01.359Z,1755627781.359 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.268856
2025-08-19T18:23:01.551Z,1755627781.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-08-19T18:23:01.558Z,1755627781.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 27.882883 m,
      bearing: 196.822125 deg,
      approach rate: -0.524897 m/s,
      LOS rate: -0.130294 deg/s,
      cmd heading: 191.203004 deg,
      new cmd heading: 191.021078 deg.

2025-08-19T18:23:01.559Z,1755627781.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.333947 target range: 31.500000 and range: 31.50 m.
2025-08-19T18:23:01.619Z,1755627781.619 [DAT](INFO): DAT read: 18:22:59.0123 LVL= 30048, 32641, 26978, 32755, AGC= 56, IDX= 414,-0.26,-0.260,-2.020,-0.124,-0.572, PHS= 0.413,-1.403, 0.404, RAW= 149.8,   6.5, CAL= 149.1,   6.9, ROT=   0.9,  -6.9

2025-08-19T18:23:01.621Z,1755627781.621 [DAT](INFO): got valid direction response:
 18:22:59.0123 LVL= 30048, 32641, 26978, 32755, AGC= 56, IDX= 414,-0.26,-0.260,-2.020,-0.124,-0.572, PHS= 0.413,-1.403, 0.404, RAW= 149.8,   6.5, CAL= 149.1,   6.9, ROT=   0.9,  -6.9

2025-08-19T18:23:01.624Z,1755627781.624 [DAT](INFO): DAT read: Bearing 345.9,  14.0 (Local)

2025-08-19T18:23:01.625Z,1755627781.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.9,  14.0 (Local)

2025-08-19T18:23:01.628Z,1755627781.628 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m  (Round-trip  39.2 ms) speed  0.5 m/s

2025-08-19T18:23:01.629Z,1755627781.629 [DAT](INFO): DAT read: user:948>

2025-08-19T18:23:01.630Z,1755627781.630 [DAT](INFO): DAT read: Tx time:18:23:00.1189

2025-08-19T18:23:01.631Z,1755627781.631 [DAT](INFO): Ping request sent.
2025-08-19T18:23:01.631Z,1755627781.631 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:23:01.631Z,1755627781.631 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-19T18:23:01.632Z,1755627781.632 [DAT](INFO): direction in FSK: [0.992635,0.015594,0.120137]
2025-08-19T18:23:01.632Z,1755627781.632 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:01.633Z,1755627781.633 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:01.707Z,1755627781.707 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:01.707Z,1755627781.707 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:01.714Z,1755627781.714 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.083548
2025-08-19T18:23:01.863Z,1755627781.863 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.231832
2025-08-19T18:23:01.999Z,1755627781.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.400000 m,
      deltaT: 3.532640 s,
      deltaX: -2.100000 m,
      approachRate: -0.594456 m/s,
      rangeRepo size: 4

2025-08-19T18:23:02.007Z,1755627782.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.400000 m,
      bearing: 195.974088 deg,
      lat: 36.779375 deg,
      lon: -121.859530 deg,
      deltaT: 3.532640 s,
      deltaX: -2.100000 m,
      approachRate: -0.594456 m/s,
      posRepo size: 4

2025-08-19T18:23:02.007Z,1755627782.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-19T18:23:02.015Z,1755627782.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.400000 m,
      nav range: 27.500849 m,
      bearing: 195.974088 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.130294 deg/s,
      cmd heading: 191.021075 deg,
      new cmd heading: 190.846222 deg.

2025-08-19T18:23:02.016Z,1755627782.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.330895 target range: 29.400000 and range: 29.40 m.
2025-08-19T18:23:02.115Z,1755627782.115 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.483742
2025-08-19T18:23:02.367Z,1755627782.367 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.735679
2025-08-19T18:23:02.379Z,1755627782.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-19T18:23:02.382Z,1755627782.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.400000 m,
      nav range: 27.257593 m,
      bearing: 195.907066 deg,
      approach rate: -0.640489 m/s,
      LOS rate: -0.178043 deg/s,
      cmd heading: 190.846222 deg,
      new cmd heading: 190.643363 deg.

2025-08-19T18:23:02.383Z,1755627782.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.327354 target range: 29.400000 and range: 29.40 m.
2025-08-19T18:23:02.619Z,1755627782.619 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.988322
2025-08-19T18:23:02.819Z,1755627782.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:02.826Z,1755627782.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-19T18:23:02.836Z,1755627782.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.400000 m,
      nav range: 27.001591 m,
      bearing: 195.838284 deg,
      approach rate: -0.578031 m/s,
      LOS rate: -0.156777 deg/s,
      cmd heading: 190.643366 deg,
      new cmd heading: 190.435063 deg.

2025-08-19T18:23:02.846Z,1755627782.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.323719 target range: 29.400000 and range: 29.40 m.
2025-08-19T18:23:02.871Z,1755627782.871 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.239638
2025-08-19T18:23:03.123Z,1755627783.123 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.491635
2025-08-19T18:23:03.286Z,1755627783.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-19T18:23:03.289Z,1755627783.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.400000 m,
      nav range: 26.721996 m,
      bearing: 195.763379 deg,
      approach rate: -0.602411 m/s,
      LOS rate: -0.163078 deg/s,
      cmd heading: 190.435059 deg,
      new cmd heading: 190.207993 deg.

2025-08-19T18:23:03.293Z,1755627783.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.319756 target range: 29.400000 and range: 29.40 m.
2025-08-19T18:23:03.376Z,1755627783.376 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.744795
2025-08-19T18:23:03.617Z,1755627783.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-19T18:23:03.620Z,1755627783.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.400000 m,
      nav range: 26.492554 m,
      bearing: 195.700720 deg,
      approach rate: -0.692089 m/s,
      LOS rate: -0.190641 deg/s,
      cmd heading: 190.207996 deg,
      new cmd heading: 190.018391 deg.

2025-08-19T18:23:03.621Z,1755627783.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.316447 target range: 29.400000 and range: 29.40 m.
2025-08-19T18:23:03.627Z,1755627783.627 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.995670
2025-08-19T18:23:03.879Z,1755627783.879 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.248286
2025-08-19T18:23:04.028Z,1755627784.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-19T18:23:04.031Z,1755627784.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.400000 m,
      nav range: 26.244665 m,
      bearing: 195.632904 deg,
      approach rate: -0.603674 m/s,
      LOS rate: -0.166709 deg/s,
      cmd heading: 190.018390 deg,
      new cmd heading: 189.813022 deg.

2025-08-19T18:23:04.032Z,1755627784.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.312862 target range: 29.400000 and range: 29.40 m.
2025-08-19T18:23:04.131Z,1755627784.131 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.499806
2025-08-19T18:23:04.383Z,1755627784.383 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.751644
2025-08-19T18:23:04.416Z,1755627784.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-19T18:23:04.419Z,1755627784.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.400000 m,
      nav range: 26.012058 m,
      bearing: 195.569470 deg,
      approach rate: -0.598506 m/s,
      LOS rate: -0.164678 deg/s,
      cmd heading: 189.813020 deg,
      new cmd heading: 189.621016 deg.

2025-08-19T18:23:04.420Z,1755627784.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.309511 target range: 29.400000 and range: 29.40 m.
2025-08-19T18:23:04.634Z,1755627784.634 [DAT](INFO): DAT read: Rx Time:18:23:02.5593

2025-08-19T18:23:04.635Z,1755627784.635 [DAT](INFO): Rx dataTimestamp_ set to:1755627784.634680
2025-08-19T18:23:04.636Z,1755627784.636 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.004682
2025-08-19T18:23:04.852Z,1755627784.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:04.855Z,1755627784.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-19T18:23:04.858Z,1755627784.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.400000 m,
      nav range: 25.744282 m,
      bearing: 195.490651 deg,
      approach rate: -0.611013 m/s,
      LOS rate: -0.181719 deg/s,
      cmd heading: 189.621009 deg,
      new cmd heading: 189.382095 deg.

2025-08-19T18:23:04.859Z,1755627784.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.305341 target range: 29.400000 and range: 29.40 m.
2025-08-19T18:23:04.886Z,1755627784.886 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.255617
2025-08-19T18:23:05.144Z,1755627785.144 [DAT](INFO): DAT read: 18:23:02.5593 LVL= 25392, 30657, 25154, 32755, AGC= 56, IDX= 416, 0.01,-0.003,-1.741, 0.116,-0.352, PHS= 0.450,-1.344, 0.423, RAW= 149.2,   5.3, CAL= 148.6,   5.6, ROT=   1.4,  -5.6

2025-08-19T18:23:05.145Z,1755627785.145 [DAT](INFO): got valid direction response:
 18:23:02.5593 LVL= 25392, 30657, 25154, 32755, AGC= 56, IDX= 416, 0.01,-0.003,-1.741, 0.116,-0.352, PHS= 0.450,-1.344, 0.423, RAW= 149.2,   5.3, CAL= 148.6,   5.6, ROT=   1.4,  -5.6

2025-08-19T18:23:05.146Z,1755627785.146 [DAT](INFO): DAT read: Bearing 342.8,  14.9 (Local)

2025-08-19T18:23:05.146Z,1755627785.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.8,  14.9 (Local)

2025-08-19T18:23:05.148Z,1755627785.148 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m  (Round-trip  36.3 ms) speed  0.5 m/s

2025-08-19T18:23:05.148Z,1755627785.148 [DAT](INFO): DAT read: user:949>

2025-08-19T18:23:05.149Z,1755627785.149 [DAT](INFO): DAT read: Tx time:18:23:03.6689

2025-08-19T18:23:05.150Z,1755627785.150 [DAT](INFO): Ping request sent.
2025-08-19T18:23:05.150Z,1755627785.150 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:23:05.150Z,1755627785.150 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-19T18:23:05.151Z,1755627785.151 [DAT](INFO): direction in FSK: [0.994930,0.024316,0.097583]
2025-08-19T18:23:05.151Z,1755627785.151 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:05.151Z,1755627785.151 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:05.154Z,1755627785.154 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:05.155Z,1755627785.155 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:05.158Z,1755627785.158 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008170
2025-08-19T18:23:05.304Z,1755627785.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 3.527287 s,
      deltaX: -2.199999 m,
      approachRate: -0.623708 m/s,
      rangeRepo size: 4

2025-08-19T18:23:05.320Z,1755627785.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.200001 m,
      bearing: 195.289680 deg,
      lat: 36.779375 deg,
      lon: -121.859529 deg,
      deltaT: 3.527287 s,
      deltaX: -2.199999 m,
      approachRate: -0.623708 m/s,
      posRepo size: 4

2025-08-19T18:23:05.330Z,1755627785.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-19T18:23:05.339Z,1755627785.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.200001 m,
      nav range: 25.495018 m,
      bearing: 195.289680 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.181719 deg/s,
      cmd heading: 189.382089 deg,
      new cmd heading: 189.137491 deg.

2025-08-19T18:23:05.340Z,1755627785.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.301072 target range: 27.200001 and range: 27.20 m.
2025-08-19T18:23:05.393Z,1755627785.393 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.242865
2025-08-19T18:23:05.643Z,1755627785.643 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.492863
2025-08-19T18:23:05.669Z,1755627785.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-19T18:23:05.696Z,1755627785.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.200001 m,
      nav range: 25.263256 m,
      bearing: 195.219422 deg,
      approach rate: -0.634252 m/s,
      LOS rate: -0.194037 deg/s,
      cmd heading: 189.137487 deg,
      new cmd heading: 188.924778 deg.

2025-08-19T18:23:05.710Z,1755627785.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.297359 target range: 27.200001 and range: 27.20 m.
2025-08-19T18:23:05.895Z,1755627785.895 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.745368
2025-08-19T18:23:06.143Z,1755627786.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-19T18:23:06.147Z,1755627786.147 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.997286
2025-08-19T18:23:06.148Z,1755627786.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.200001 m,
      nav range: 24.980095 m,
      bearing: 195.139812 deg,
      approach rate: -0.596475 m/s,
      LOS rate: -0.169597 deg/s,
      cmd heading: 188.924781 deg,
      new cmd heading: 188.683247 deg.

2025-08-19T18:23:06.170Z,1755627786.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.293144 target range: 27.200001 and range: 27.20 m.
2025-08-19T18:23:06.399Z,1755627786.399 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.248851
2025-08-19T18:23:06.538Z,1755627786.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-19T18:23:06.545Z,1755627786.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.200001 m,
      nav range: 24.754341 m,
      bearing: 195.076122 deg,
      approach rate: -0.571569 m/s,
      LOS rate: -0.162724 deg/s,
      cmd heading: 188.683252 deg,
      new cmd heading: 188.490439 deg.

2025-08-19T18:23:06.546Z,1755627786.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.289779 target range: 27.200001 and range: 27.20 m.
2025-08-19T18:23:06.650Z,1755627786.650 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.500764
2025-08-19T18:23:06.903Z,1755627786.903 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.753368
2025-08-19T18:23:07.040Z,1755627787.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:07.043Z,1755627787.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-19T18:23:07.046Z,1755627787.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.200001 m,
      nav range: 24.453819 m,
      bearing: 194.989630 deg,
      approach rate: -0.596135 m/s,
      LOS rate: -0.173680 deg/s,
      cmd heading: 188.490436 deg,
      new cmd heading: 188.227773 deg.

2025-08-19T18:23:07.047Z,1755627787.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.285194 target range: 27.200001 and range: 27.20 m.
2025-08-19T18:23:07.155Z,1755627787.155 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.005619
2025-08-19T18:23:07.407Z,1755627787.407 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.256889
2025-08-19T18:23:07.423Z,1755627787.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-19T18:23:07.426Z,1755627787.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.200001 m,
      nav range: 24.233044 m,
      bearing: 194.928501 deg,
      approach rate: -0.580805 m/s,
      LOS rate: -0.162279 deg/s,
      cmd heading: 188.227774 deg,
      new cmd heading: 188.042718 deg.

2025-08-19T18:23:07.427Z,1755627787.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.281965 target range: 27.200001 and range: 27.20 m.
2025-08-19T18:23:07.658Z,1755627787.658 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.508751
2025-08-19T18:23:07.890Z,1755627787.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-19T18:23:07.893Z,1755627787.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.200001 m,
      nav range: 23.964266 m,
      bearing: 194.859820 deg,
      approach rate: -0.574610 m/s,
      LOS rate: -0.148478 deg/s,
      cmd heading: 188.042717 deg,
      new cmd heading: 187.834363 deg.

2025-08-19T18:23:07.899Z,1755627787.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.278328 target range: 27.200001 and range: 27.20 m.
2025-08-19T18:23:07.911Z,1755627787.911 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.760956
2025-08-19T18:23:08.163Z,1755627788.163 [DAT](INFO): DAT read: Rx Time:18:23:06.1064

2025-08-19T18:23:08.164Z,1755627788.164 [DAT](INFO): Rx dataTimestamp_ set to:1755627788.163250
2025-08-19T18:23:08.164Z,1755627788.164 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.014530
2025-08-19T18:23:08.304Z,1755627788.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-19T18:23:08.326Z,1755627788.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.200001 m,
      nav range: 23.705084 m,
      bearing: 194.794559 deg,
      approach rate: -0.628363 m/s,
      LOS rate: -0.159950 deg/s,
      cmd heading: 187.834369 deg,
      new cmd heading: 187.636444 deg.

2025-08-19T18:23:08.328Z,1755627788.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.274874 target range: 27.200001 and range: 27.20 m.
2025-08-19T18:23:08.415Z,1755627788.415 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.264905
2025-08-19T18:23:08.672Z,1755627788.672 [DAT](INFO): DAT read: 18:23:06.1064 LVL= 24032, 28401, 24290, 32755, AGC= 55, IDX= 418, 0.47,-0.071,-1.809, 0.048,-0.407, PHS= 0.438,-1.357, 0.411, RAW= 149.3,   5.8, CAL= 148.6,   6.1, ROT=   1.4,  -6.1

2025-08-19T18:23:08.677Z,1755627788.677 [DAT](INFO): got valid direction response:
 18:23:06.1064 LVL= 24032, 28401, 24290, 32755, AGC= 55, IDX= 418, 0.47,-0.071,-1.809, 0.048,-0.407, PHS= 0.438,-1.357, 0.411, RAW= 149.3,   5.8, CAL= 148.6,   6.1, ROT=   1.4,  -6.1

2025-08-19T18:23:08.678Z,1755627788.678 [DAT](INFO): DAT read: Bearing 341.7,  14.1 (Local)

2025-08-19T18:23:08.679Z,1755627788.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.7,  14.1 (Local)

2025-08-19T18:23:08.680Z,1755627788.680 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m  (Round-trip  33.3 ms) speed  0.5 m/s

2025-08-19T18:23:08.681Z,1755627788.681 [DAT](INFO): DAT read: user:950>

2025-08-19T18:23:08.686Z,1755627788.686 [DAT](INFO): DAT read: Tx time:18:23:07.2205

2025-08-19T18:23:08.686Z,1755627788.686 [DAT](INFO): Ping request sent.
2025-08-19T18:23:08.686Z,1755627788.686 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:23:08.687Z,1755627788.687 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-19T18:23:08.687Z,1755627788.687 [DAT](INFO): direction in FSK: [0.994041,0.024294,0.106264]
2025-08-19T18:23:08.688Z,1755627788.688 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:08.688Z,1755627788.688 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:08.707Z,1755627788.707 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:08.707Z,1755627788.707 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:08.754Z,1755627788.754 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.067474
2025-08-19T18:23:08.834Z,1755627788.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 3.528136 s,
      deltaX: -2.300001 m,
      approachRate: -0.651903 m/s,
      rangeRepo size: 4

2025-08-19T18:23:08.836Z,1755627788.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.900000 m,
      bearing: 193.700591 deg,
      lat: 36.779373 deg,
      lon: -121.859525 deg,
      deltaT: 3.528136 s,
      deltaX: -2.300001 m,
      approachRate: -0.651903 m/s,
      posRepo size: 4

2025-08-19T18:23:08.836Z,1755627788.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-19T18:23:08.839Z,1755627788.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 23.529339 m,
      bearing: 193.700591 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.159950 deg/s,
      cmd heading: 187.636443 deg,
      new cmd heading: 187.386552 deg.

2025-08-19T18:23:08.840Z,1755627788.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.270512 target range: 24.900000 and range: 24.90 m.
2025-08-19T18:23:08.919Z,1755627788.919 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.232314
2025-08-19T18:23:09.171Z,1755627789.171 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.484724
2025-08-19T18:23:09.282Z,1755627789.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:09.284Z,1755627789.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-19T18:23:09.310Z,1755627789.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 23.205757 m,
      bearing: 193.630313 deg,
      approach rate: -0.702275 m/s,
      LOS rate: -0.154653 deg/s,
      cmd heading: 187.386554 deg,
      new cmd heading: 187.172781 deg.

2025-08-19T18:23:09.311Z,1755627789.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.266781 target range: 24.900000 and range: 24.90 m.
2025-08-19T18:23:09.423Z,1755627789.423 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.736660
2025-08-19T18:23:09.567Z,1755627789.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-19T18:23:09.570Z,1755627789.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 23.050417 m,
      bearing: 193.597756 deg,
      approach rate: -0.550243 m/s,
      LOS rate: -0.116101 deg/s,
      cmd heading: 187.172783 deg,
      new cmd heading: 187.074453 deg.

2025-08-19T18:23:09.571Z,1755627789.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.265065 target range: 24.900000 and range: 24.90 m.
2025-08-19T18:23:09.674Z,1755627789.674 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.988239
2025-08-19T18:23:09.927Z,1755627789.927 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.240339
2025-08-19T18:23:10.008Z,1755627790.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-19T18:23:10.015Z,1755627790.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 22.797134 m,
      bearing: 193.556436 deg,
      approach rate: -0.573477 m/s,
      LOS rate: -0.094594 deg/s,
      cmd heading: 187.074455 deg,
      new cmd heading: 186.949120 deg.

2025-08-19T18:23:10.016Z,1755627790.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.262878 target range: 24.900000 and range: 24.90 m.
2025-08-19T18:23:10.179Z,1755627790.179 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.492497
2025-08-19T18:23:10.373Z,1755627790.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-19T18:23:10.376Z,1755627790.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 22.585278 m,
      bearing: 193.522833 deg,
      approach rate: -0.581070 m/s,
      LOS rate: -0.093032 deg/s,
      cmd heading: 186.949121 deg,
      new cmd heading: 186.847364 deg.

2025-08-19T18:23:10.377Z,1755627790.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.261102 target range: 24.900000 and range: 24.90 m.
2025-08-19T18:23:10.431Z,1755627790.431 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.744824
2025-08-19T18:23:10.682Z,1755627790.682 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.996229
2025-08-19T18:23:10.841Z,1755627790.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-19T18:23:10.844Z,1755627790.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 22.325853 m,
      bearing: 193.480813 deg,
      approach rate: -0.554100 m/s,
      LOS rate: -0.090791 deg/s,
      cmd heading: 186.847365 deg,
      new cmd heading: 186.719843 deg.

2025-08-19T18:23:10.845Z,1755627790.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.258876 target range: 24.900000 and range: 24.90 m.
2025-08-19T18:23:10.935Z,1755627790.935 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.248396
2025-08-19T18:23:11.187Z,1755627791.187 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.500628
2025-08-19T18:23:11.224Z,1755627791.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-19T18:23:11.231Z,1755627791.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 22.097094 m,
      bearing: 193.446256 deg,
      approach rate: -0.597694 m/s,
      LOS rate: -0.091226 deg/s,
      cmd heading: 186.719846 deg,
      new cmd heading: 186.615100 deg.

2025-08-19T18:23:11.232Z,1755627791.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.257048 target range: 24.900000 and range: 24.90 m.
2025-08-19T18:23:11.439Z,1755627791.439 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.752931
2025-08-19T18:23:11.571Z,1755627791.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:11.574Z,1755627791.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-19T18:23:11.576Z,1755627791.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 21.887754 m,
      bearing: 193.414801 deg,
      approach rate: -0.598877 m/s,
      LOS rate: -0.090845 deg/s,
      cmd heading: 186.615098 deg,
      new cmd heading: 186.519832 deg.

2025-08-19T18:23:11.578Z,1755627791.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.255385 target range: 24.900000 and range: 24.90 m.
2025-08-19T18:23:11.691Z,1755627791.691 [DAT](INFO): DAT read: Rx Time:18:23:09.6552

2025-08-19T18:23:11.691Z,1755627791.691 [DAT](INFO): Rx dataTimestamp_ set to:1755627791.691155
2025-08-19T18:23:11.692Z,1755627791.692 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.005820
2025-08-19T18:23:11.942Z,1755627791.942 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.256194
2025-08-19T18:23:12.024Z,1755627792.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-19T18:23:12.027Z,1755627792.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 21.628532 m,
      bearing: 193.371023 deg,
      approach rate: -0.575343 m/s,
      LOS rate: -0.098329 deg/s,
      cmd heading: 186.519830 deg,
      new cmd heading: 186.386923 deg.

2025-08-19T18:23:12.028Z,1755627792.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.253066 target range: 24.900000 and range: 24.90 m.
2025-08-19T18:23:12.205Z,1755627792.205 [DAT](INFO): DAT read: 18:23:09.6552 LVL= 30512, 32737, 30610, 32755, AGC= 54, IDX= 406, 0.16, 2.956, 1.173, 3.031, 2.606, PHS= 0.452,-1.388, 0.381, RAW= 148.1,   6.2, CAL= 147.5,   6.6, ROT=   2.5,  -6.6

2025-08-19T18:23:12.207Z,1755627792.207 [DAT](INFO): got valid direction response:
 18:23:09.6552 LVL= 30512, 32737, 30610, 32755, AGC= 54, IDX= 406, 0.16, 2.956, 1.173, 3.031, 2.606, PHS= 0.452,-1.388, 0.381, RAW= 148.1,   6.2, CAL= 147.5,   6.6, ROT=   2.5,  -6.6

2025-08-19T18:23:12.208Z,1755627792.208 [DAT](INFO): DAT read: Bearing 339.8,  15.3 (Local)

2025-08-19T18:23:12.208Z,1755627792.208 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.8,  15.3 (Local)

2025-08-19T18:23:12.210Z,1755627792.210 [DAT](INFO): DAT read: Range 11 to 50 : 22.9 m  (Round-trip  30.6 ms) speed  0.5 m/s

2025-08-19T18:23:12.216Z,1755627792.216 [DAT](INFO): DAT read: user:951>

2025-08-19T18:23:12.255Z,1755627792.255 [DAT](INFO): DAT read: Tx time:18:23:10.7689

2025-08-19T18:23:12.255Z,1755627792.255 [DAT](INFO): Ping request sent.
2025-08-19T18:23:12.255Z,1755627792.255 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:23:12.256Z,1755627792.256 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-19T18:23:12.256Z,1755627792.256 [DAT](INFO): direction in FSK: [0.992427,0.043330,0.114937]
2025-08-19T18:23:12.257Z,1755627792.257 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:12.257Z,1755627792.257 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:12.264Z,1755627792.264 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:12.265Z,1755627792.265 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:12.281Z,1755627792.281 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.025567
2025-08-19T18:23:12.422Z,1755627792.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.900000 m,
      deltaT: 3.528199 s,
      deltaX: -2.000000 m,
      approachRate: -0.566861 m/s,
      rangeRepo size: 4

2025-08-19T18:23:12.424Z,1755627792.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.900000 m,
      bearing: 193.129174 deg,
      lat: 36.779372 deg,
      lon: -121.859524 deg,
      deltaT: 3.528199 s,
      deltaX: -2.000000 m,
      approachRate: -0.566861 m/s,
      posRepo size: 4

2025-08-19T18:23:12.425Z,1755627792.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-19T18:23:12.432Z,1755627792.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.900000 m,
      nav range: 21.555256 m,
      bearing: 193.129174 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.098329 deg/s,
      cmd heading: 186.386929 deg,
      new cmd heading: 186.270896 deg.

2025-08-19T18:23:12.433Z,1755627792.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.251040 target range: 22.900000 and range: 22.90 m.
2025-08-19T18:23:12.447Z,1755627792.447 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.191394
2025-08-19T18:23:12.698Z,1755627792.698 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.443223
2025-08-19T18:23:12.847Z,1755627792.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-19T18:23:12.856Z,1755627792.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.900000 m,
      nav range: 21.328068 m,
      bearing: 193.092418 deg,
      approach rate: -0.536635 m/s,
      LOS rate: -0.087745 deg/s,
      cmd heading: 186.270897 deg,
      new cmd heading: 186.159455 deg.

2025-08-19T18:23:12.857Z,1755627792.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.249095 target range: 22.900000 and range: 22.90 m.
2025-08-19T18:23:12.950Z,1755627792.950 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.695205
2025-08-19T18:23:13.203Z,1755627793.203 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.947304
2025-08-19T18:23:13.226Z,1755627793.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-19T18:23:13.229Z,1755627793.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.900000 m,
      nav range: 21.079084 m,
      bearing: 193.049620 deg,
      approach rate: -0.645888 m/s,
      LOS rate: -0.112335 deg/s,
      cmd heading: 186.159456 deg,
      new cmd heading: 186.029544 deg.

2025-08-19T18:23:13.230Z,1755627793.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.246828 target range: 22.900000 and range: 22.90 m.
2025-08-19T18:23:13.455Z,1755627793.455 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.199492
2025-08-19T18:23:13.588Z,1755627793.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:13.590Z,1755627793.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-19T18:23:13.593Z,1755627793.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.900000 m,
      nav range: 20.870003 m,
      bearing: 193.014686 deg,
      approach rate: -0.574313 m/s,
      LOS rate: -0.096919 deg/s,
      cmd heading: 186.029546 deg,
      new cmd heading: 185.923694 deg.

2025-08-19T18:23:13.594Z,1755627793.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.244981 target range: 22.900000 and range: 22.90 m.
2025-08-19T18:23:13.706Z,1755627793.706 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.451201
2025-08-19T18:23:13.959Z,1755627793.959 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.703237
2025-08-19T18:23:14.042Z,1755627794.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-19T18:23:14.045Z,1755627794.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.900000 m,
      nav range: 20.609785 m,
      bearing: 192.962789 deg,
      approach rate: -0.576145 m/s,
      LOS rate: -0.116356 deg/s,
      cmd heading: 185.923691 deg,
      new cmd heading: 185.766034 deg.

2025-08-19T18:23:14.066Z,1755627794.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.242229 target range: 22.900000 and range: 22.90 m.
2025-08-19T18:23:14.210Z,1755627794.210 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.955196
2025-08-19T18:23:14.463Z,1755627794.463 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.208019
2025-08-19T18:23:14.551Z,1755627794.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-19T18:23:14.555Z,1755627794.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.900000 m,
      nav range: 20.316364 m,
      bearing: 192.902671 deg,
      approach rate: -0.575816 m/s,
      LOS rate: -0.119681 deg/s,
      cmd heading: 185.766037 deg,
      new cmd heading: 185.583079 deg.

2025-08-19T18:23:14.556Z,1755627794.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.239036 target range: 22.900000 and range: 22.90 m.
2025-08-19T18:23:14.714Z,1755627794.714 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.459182
2025-08-19T18:23:14.871Z,1755627794.871 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:23:14.947Z,1755627794.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-19T18:23:14.950Z,1755627794.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.900000 m,
      nav range: 20.087238 m,
      bearing: 192.846948 deg,
      approach rate: -0.579346 m/s,
      LOS rate: -0.142503 deg/s,
      cmd heading: 185.583084 deg,
      new cmd heading: 185.414008 deg.

2025-08-19T18:23:14.951Z,1755627794.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.236085 target range: 22.900000 and range: 22.90 m.
2025-08-19T18:23:14.968Z,1755627794.968 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.713221
2025-08-19T18:23:15.218Z,1755627795.218 [DAT](INFO): DAT read: Rx Time:18:23:13.2009

2025-08-19T18:23:15.219Z,1755627795.219 [DAT](INFO): Rx dataTimestamp_ set to:1755627795.218576
2025-08-19T18:23:15.219Z,1755627795.219 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.964195
2025-08-19T18:23:15.384Z,1755627795.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-19T18:23:15.426Z,1755627795.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.900000 m,
      nav range: 19.834028 m,
      bearing: 192.786232 deg,
      approach rate: -0.580013 m/s,
      LOS rate: -0.140853 deg/s,
      cmd heading: 185.414009 deg,
      new cmd heading: 185.229538 deg.

2025-08-19T18:23:15.427Z,1755627795.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.232865 target range: 22.900000 and range: 22.90 m.
2025-08-19T18:23:15.471Z,1755627795.471 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.215235
2025-08-19T18:23:15.737Z,1755627795.737 [DAT](INFO): DAT read: 18:23:13.2009 LVL= 26752, 29169, 27314, 32755, AGC= 54, IDX= 410,-0.00, 2.287, 0.502, 2.349, 1.883, PHS= 0.507,-1.336, 0.423, RAW= 147.7,   4.6, CAL= 147.0,   4.8, ROT=   3.0,  -4.8

2025-08-19T18:23:15.738Z,1755627795.738 [DAT](INFO): got valid direction response:
 18:23:13.2009 LVL= 26752, 29169, 27314, 32755, AGC= 54, IDX= 410,-0.00, 2.287, 0.502, 2.349, 1.883, PHS= 0.507,-1.336, 0.423, RAW= 147.7,   4.6, CAL= 147.0,   4.8, ROT=   3.0,  -4.8

2025-08-19T18:23:15.739Z,1755627795.739 [DAT](INFO): DAT read: Bearing 335.9,  16.0 (Local)

2025-08-19T18:23:15.739Z,1755627795.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.9,  16.0 (Local)

2025-08-19T18:23:15.741Z,1755627795.741 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m  (Round-trip  27.9 ms) speed  0.5 m/s

2025-08-19T18:23:15.744Z,1755627795.744 [DAT](INFO): DAT read: user:952>

2025-08-19T18:23:15.745Z,1755627795.745 [DAT](INFO): DAT read: Tx time:18:23:14.3189

2025-08-19T18:23:15.745Z,1755627795.745 [DAT](INFO): Ping request sent.
2025-08-19T18:23:15.745Z,1755627795.745 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:23:15.746Z,1755627795.746 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-19T18:23:15.747Z,1755627795.747 [DAT](INFO): direction in FSK: [0.995127,0.052152,0.083678]
2025-08-19T18:23:15.747Z,1755627795.747 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:15.747Z,1755627795.747 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:15.750Z,1755627795.750 [DAT](INFO): publishing transmit ping time
2025-08-19T18:23:15.750Z,1755627795.750 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:15.754Z,1755627795.754 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.008450
2025-08-19T18:23:15.875Z,1755627795.875 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:23:15.975Z,1755627795.975 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.229269
2025-08-19T18:23:16.041Z,1755627796.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 3.529284 s,
      deltaX: -2.000000 m,
      approachRate: -0.566687 m/s,
      rangeRepo size: 4

2025-08-19T18:23:16.047Z,1755627796.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.900000 m,
      bearing: 192.145335 deg,
      lat: 36.779372 deg,
      lon: -121.859522 deg,
      deltaT: 3.529284 s,
      deltaX: -2.000000 m,
      approachRate: -0.566687 m/s,
      posRepo size: 4

2025-08-19T18:23:16.048Z,1755627796.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-08-19T18:23:16.055Z,1755627796.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 19.416409 m,
      bearing: 192.145335 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.140853 deg/s,
      cmd heading: 185.229539 deg,
      new cmd heading: 184.952035 deg.

2025-08-19T18:23:16.056Z,1755627796.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.228022 target range: 20.900000 and range: 20.90 m.
2025-08-19T18:23:16.228Z,1755627796.228 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.482195
2025-08-19T18:23:16.479Z,1755627796.479 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.733267
2025-08-19T18:23:16.495Z,1755627796.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:16.497Z,1755627796.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-08-19T18:23:16.512Z,1755627796.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 19.131454 m,
      bearing: 192.060565 deg,
      approach rate: -0.624241 m/s,
      LOS rate: -0.188470 deg/s,
      cmd heading: 184.952029 deg,
      new cmd heading: 184.693932 deg.

2025-08-19T18:23:16.513Z,1755627796.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.223517 target range: 20.900000 and range: 20.90 m.
2025-08-19T18:23:16.731Z,1755627796.731 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.985260
2025-08-19T18:23:16.955Z,1755627796.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-08-19T18:23:16.958Z,1755627796.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 18.859125 m,
      bearing: 191.973535 deg,
      approach rate: -0.594247 m/s,
      LOS rate: -0.192649 deg/s,
      cmd heading: 184.693930 deg,
      new cmd heading: 184.429072 deg.

2025-08-19T18:23:16.959Z,1755627796.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.218894 target range: 20.900000 and range: 20.90 m.
2025-08-19T18:23:16.982Z,1755627796.982 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.237212
2025-08-19T18:23:17.234Z,1755627797.234 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.489175
2025-08-19T18:23:17.323Z,1755627797.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-08-19T18:23:17.326Z,1755627797.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 18.641771 m,
      bearing: 191.903249 deg,
      approach rate: -0.590703 m/s,
      LOS rate: -0.193244 deg/s,
      cmd heading: 184.429068 deg,
      new cmd heading: 184.215752 deg.

2025-08-19T18:23:17.327Z,1755627797.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.215171 target range: 20.900000 and range: 20.90 m.
2025-08-19T18:23:17.487Z,1755627797.487 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.741428
2025-08-19T18:23:17.733Z,1755627797.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-08-19T18:23:17.736Z,1755627797.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 18.410690 m,
      bearing: 191.828038 deg,
      approach rate: -0.597629 m/s,
      LOS rate: -0.196954 deg/s,
      cmd heading: 184.215748 deg,
      new cmd heading: 183.987285 deg.

2025-08-19T18:23:17.741Z,1755627797.741 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.993374
2025-08-19T18:23:17.743Z,1755627797.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.211184 target range: 20.900000 and range: 20.90 m.
2025-08-19T18:23:17.992Z,1755627797.992 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.246682
2025-08-19T18:23:18.134Z,1755627798.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-08-19T18:23:18.137Z,1755627798.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 18.168587 m,
      bearing: 191.737194 deg,
      approach rate: -0.570901 m/s,
      LOS rate: -0.217072 deg/s,
      cmd heading: 183.987292 deg,
      new cmd heading: 183.711131 deg.

2025-08-19T18:23:18.138Z,1755627798.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.206364 target range: 20.900000 and range: 20.90 m.
2025-08-19T18:23:18.243Z,1755627798.243 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.497854
2025-08-19T18:23:18.495Z,1755627798.495 [DAT](INFO): DAT read: Rx Time:18:23:16.4731 

2025-08-19T18:23:18.495Z,1755627798.495 [DAT](INFO): Rx dataTimestamp_ set to:1755627798.495137
2025-08-19T18:23:18.497Z,1755627798.497 [DAT](INFO): DAT read: Bearing 334.5,  15.4 (Local)

2025-08-19T18:23:18.497Z,1755627798.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.5,  15.4 (Local)

2025-08-19T18:23:18.499Z,1755627798.499 [DAT](INFO): DAT read: Range 11 to 50 :    18.8 m (trip time 12.5 ms) speed 0.5

2025-08-19T18:23:18.504Z,1755627798.504 [DAT](INFO): DAT read: 18:23:16.4731 LVL= 20976, 23777, 19826, 30691, AGC= 53, IDX= 158, 0.05,-2.920, 1.587,-2.868, 2.950, PHS= 0.516,-1.318, 0.421, RAW= 147.4,   4.3, CAL= 146.7,   4.5, ROT=   3.3,  -4.5

2025-08-19T18:23:18.505Z,1755627798.505 [DAT](INFO): got valid direction response:
 18:23:16.4731 LVL= 20976, 23777, 19826, 30691, AGC= 53, IDX= 158, 0.05,-2.920, 1.587,-2.868, 2.950, PHS= 0.516,-1.318, 0.421, RAW= 147.4,   4.3, CAL= 146.7,   4.5, ROT=   3.3,  -4.5

2025-08-19T18:23:18.505Z,1755627798.505 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-19T18:23:18.506Z,1755627798.506 [DAT](INFO): direction in FSK: [0.995264,0.057387,0.078459]
2025-08-19T18:23:18.507Z,1755627798.507 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:18.511Z,1755627798.511 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.765574
2025-08-19T18:23:18.601Z,1755627798.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.799999 m,
      deltaT: 2.771704 s,
      deltaX: -2.100000 m,
      approachRate: -0.757657 m/s,
      rangeRepo size: 4

2025-08-19T18:23:18.604Z,1755627798.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.799999 m,
      bearing: 191.023513 deg,
      lat: 36.779371 deg,
      lon: -121.859520 deg,
      deltaT: 2.771704 s,
      deltaX: -2.100000 m,
      approachRate: -0.757657 m/s,
      posRepo size: 4

2025-08-19T18:23:18.604Z,1755627798.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-08-19T18:23:18.617Z,1755627798.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.799999 m,
      nav range: 17.972691 m,
      bearing: 191.023513 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.217072 deg/s,
      cmd heading: 183.711134 deg,
      new cmd heading: 183.409723 deg.

2025-08-19T18:23:18.618Z,1755627798.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.201103 target range: 18.799999 and range: 18.80 m.
2025-08-19T18:23:18.747Z,1755627798.747 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.001348
2025-08-19T18:23:18.989Z,1755627798.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:18.999Z,1755627798.999 [DAT](INFO): DAT read: Rx Time:18:23:16.9729 

2025-08-19T18:23:18.999Z,1755627798.999 [DAT](INFO): Rx dataTimestamp_ set to:1755627798.999079
2025-08-19T18:23:19.001Z,1755627799.001 [DAT](INFO): DAT read: Bearing 334.3,  15.2 (Local)

2025-08-19T18:23:19.001Z,1755627799.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.3,  15.2 (Local)

2025-08-19T18:23:19.003Z,1755627799.003 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed 0.5

2025-08-19T18:23:19.012Z,1755627799.012 [DAT](INFO): DAT read: 18:23:16.9729 LVL= 22160, 28305, 23218, 32755, AGC= 52, IDX= 508, 0.16,-2.635, 1.863,-2.582,-3.053, PHS= 0.520,-1.322, 0.427, RAW= 147.5,   4.2, CAL= 146.8,   4.4, ROT=   3.2,  -4.4

2025-08-19T18:23:19.013Z,1755627799.013 [DAT](INFO): got valid direction response:
 18:23:16.9729 LVL= 22160, 28305, 23218, 32755, AGC= 52, IDX= 508, 0.16,-2.635, 1.863,-2.582,-3.053, PHS= 0.520,-1.322, 0.427, RAW= 147.5,   4.2, CAL= 146.8,   4.4, ROT=   3.2,  -4.4

2025-08-19T18:23:19.014Z,1755627799.014 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-19T18:23:19.015Z,1755627799.015 [DAT](INFO): direction in FSK: [0.995498,0.055657,0.076719]
2025-08-19T18:23:19.015Z,1755627799.015 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:19.018Z,1755627799.018 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.273212
2025-08-19T18:23:19.032Z,1755627799.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.503942 s,
      deltaX: -0.199999 m,
      approachRate: -0.396869 m/s,
      rangeRepo size: 4

2025-08-19T18:23:19.033Z,1755627799.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-08-19T18:23:19.040Z,1755627799.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.799999 m,
      nav range: 17.716204 m,
      bearing: 190.922001 deg,
      approach rate: -0.589860 m/s,
      LOS rate: -0.236833 deg/s,
      cmd heading: 183.409717 deg,
      new cmd heading: 183.100776 deg.

2025-08-19T18:23:19.041Z,1755627799.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.195711 target range: 18.799999 and range: 18.60 m.
2025-08-19T18:23:19.251Z,1755627799.251 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.505361
2025-08-19T18:23:19.403Z,1755627799.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-08-19T18:23:19.430Z,1755627799.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.799999 m,
      nav range: 17.464941 m,
      bearing: 190.820333 deg,
      approach rate: -0.675650 m/s,
      LOS rate: -0.277319 deg/s,
      cmd heading: 183.100774 deg,
      new cmd heading: 182.791387 deg.

2025-08-19T18:23:19.431Z,1755627799.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.190311 target range: 18.799999 and range: 18.60 m.
2025-08-19T18:23:19.503Z,1755627799.503 [DAT](INFO): DAT read: Rx Time:18:23:17.4726 

2025-08-19T18:23:19.504Z,1755627799.504 [DAT](INFO): Rx dataTimestamp_ set to:1755627799.503656
2025-08-19T18:23:19.505Z,1755627799.505 [DAT](INFO): DAT read: Bearing 334.1,  15.0 (Local)

2025-08-19T18:23:19.506Z,1755627799.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.1,  15.0 (Local)

2025-08-19T18:23:19.508Z,1755627799.508 [DAT](INFO): DAT read: Range 11 to 50 :    18.2 m (trip time 12.1 ms) speed 0.5

2025-08-19T18:23:19.522Z,1755627799.522 [DAT](INFO): DAT read: 18:23:17.4726 LVL= 22576, 27841, 23634, 32755, AGC= 52, IDX= 505, 0.30, 2.681, 0.894, 2.738, 2.264, PHS= 0.519,-1.325, 0.430, RAW= 147.5,   4.2, CAL= 146.9,   4.4, ROT=   3.1,  -4.4

2025-08-19T18:23:19.523Z,1755627799.523 [DAT](INFO): got valid direction response:
 18:23:17.4726 LVL= 22576, 27841, 23634, 32755, AGC= 52, IDX= 505, 0.30, 2.681, 0.894, 2.738, 2.264, PHS= 0.519,-1.325, 0.430, RAW= 147.5,   4.2, CAL= 146.9,   4.4, ROT=   3.1,  -4.4

2025-08-19T18:23:19.523Z,1755627799.523 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-19T18:23:19.524Z,1755627799.524 [DAT](INFO): direction in FSK: [0.995594,0.053919,0.076719]
2025-08-19T18:23:19.525Z,1755627799.525 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:19.542Z,1755627799.542 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.791915
2025-08-19T18:23:19.760Z,1755627799.760 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=4.011531
2025-08-19T18:23:19.869Z,1755627799.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 0.504577 s,
      deltaX: -0.400000 m,
      approachRate: -0.792742 m/s,
      rangeRepo size: 4

2025-08-19T18:23:19.871Z,1755627799.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.200001 m,
      bearing: 190.531869 deg,
      lat: 36.779368 deg,
      lon: -121.859520 deg,
      deltaT: 1.008519 s,
      deltaX: -0.599998 m,
      approachRate: -0.594930 m/s,
      posRepo size: 4

2025-08-19T18:23:19.872Z,1755627799.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-19T18:23:19.875Z,1755627799.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200001 m,
      nav range: 17.488588 m,
      bearing: 190.531869 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.277319 deg/s,
      cmd heading: 182.791380 deg,
      new cmd heading: 182.404618 deg.

2025-08-19T18:23:19.876Z,1755627799.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.183561 target range: 18.200001 and range: 18.20 m.
2025-08-19T18:23:20.007Z,1755627800.007 [DAT](INFO): DAT read: Rx Time:18:23:17.9724 

2025-08-19T18:23:20.008Z,1755627800.008 [DAT](INFO): Rx dataTimestamp_ set to:1755627800.007377
2025-08-19T18:23:20.009Z,1755627800.009 [DAT](INFO): DAT read: Bearing 334.1,  14.7 (Local)

2025-08-19T18:23:20.010Z,1755627800.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.1,  14.7 (Local)

2025-08-19T18:23:20.012Z,1755627800.012 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.5

2025-08-19T18:23:20.016Z,1755627800.016 [DAT](INFO): DAT read: 18:23:17.9724 LVL= 25184, 29041, 23394, 32755, AGC= 53, IDX= 503, 0.49, 2.218, 0.433, 2.280, 1.807, PHS= 0.513,-1.329, 0.429, RAW= 147.7,   4.3, CAL= 147.0,   4.6, ROT=   3.0,  -4.6

2025-08-19T18:23:20.018Z,1755627800.018 [DAT](INFO): got valid direction response:
 18:23:17.9724 LVL= 25184, 29041, 23394, 32755, AGC= 53, IDX= 503, 0.49, 2.218, 0.433, 2.280, 1.807, PHS= 0.513,-1.329, 0.429, RAW= 147.7,   4.3, CAL= 147.0,   4.6, ROT=   3.0,  -4.6

2025-08-19T18:23:20.018Z,1755627800.018 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-19T18:23:20.019Z,1755627800.019 [DAT](INFO): direction in FSK: [0.995413,0.052167,0.080199]
2025-08-19T18:23:20.019Z,1755627800.019 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:20.023Z,1755627800.023 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=4.277540
2025-08-19T18:23:20.261Z,1755627800.261 [DAT](INFO): DAT read: Rx Time:18:23:18.4721 

2025-08-19T18:23:20.263Z,1755627800.263 [DAT](INFO): Rx dataTimestamp_ set to:1755627800.261652
2025-08-19T18:23:20.265Z,1755627800.265 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=4.518946
2025-08-19T18:23:20.361Z,1755627800.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.503721 s,
      deltaX: -0.300001 m,
      approachRate: -0.595570 m/s,
      rangeRepo size: 4

2025-08-19T18:23:20.367Z,1755627800.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.900000 m,
      bearing: 190.394896 deg,
      lat: 36.779368 deg,
      lon: -121.859520 deg,
      deltaT: 0.503721 s,
      deltaX: -0.300001 m,
      approachRate: -0.595570 m/s,
      posRepo size: 4

2025-08-19T18:23:20.368Z,1755627800.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-19T18:23:20.375Z,1755627800.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900000 m,
      nav range: 17.205017 m,
      bearing: 190.394896 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.277319 deg/s,
      cmd heading: 182.404614 deg,
      new cmd heading: 181.995279 deg.

2025-08-19T18:23:20.376Z,1755627800.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.176417 target range: 17.900000 and range: 17.90 m.
2025-08-19T18:23:20.512Z,1755627800.512 [DAT](INFO): DAT read: Bearing 334.2,  14.6 (Local)

2025-08-19T18:23:20.512Z,1755627800.512 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.2,  14.6 (Local)

2025-08-19T18:23:20.517Z,1755627800.517 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.5

2025-08-19T18:23:20.524Z,1755627800.524 [DAT](INFO): DAT read: 18:23:18.4721 LVL= 22640, 26401, 23922, 32755, AGC= 51, IDX= 501,-0.30,-0.817,-2.589,-0.754,-1.220, PHS= 0.506,-1.324, 0.422, RAW= 147.7,   4.5, CAL= 147.0,   4.7, ROT=   3.0,  -4.7

2025-08-19T18:23:20.526Z,1755627800.526 [DAT](INFO): got valid direction response:
 18:23:18.4721 LVL= 22640, 26401, 23922, 32755, AGC= 51, IDX= 501,-0.30,-0.817,-2.589,-0.754,-1.220, PHS= 0.506,-1.324, 0.422, RAW= 147.7,   4.5, CAL= 147.0,   4.7, ROT=   3.0,  -4.7

2025-08-19T18:23:20.527Z,1755627800.527 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-19T18:23:20.528Z,1755627800.528 [DAT](INFO): direction in FSK: [0.995272,0.052160,0.081939]
2025-08-19T18:23:20.529Z,1755627800.529 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:20.536Z,1755627800.536 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=4.790998
2025-08-19T18:23:20.656Z,1755627800.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.502892 s,
      deltaX: -0.500000 m,
      approachRate: -0.994249 m/s,
      rangeRepo size: 4

2025-08-19T18:23:20.663Z,1755627800.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.400000 m,
      bearing: 190.323220 deg,
      lat: 36.779368 deg,
      lon: -121.859520 deg,
      deltaT: 0.502892 s,
      deltaX: -0.500000 m,
      approachRate: -0.994249 m/s,
      posRepo size: 4

2025-08-19T18:23:20.663Z,1755627800.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-19T18:23:20.672Z,1755627800.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 17.001230 m,
      bearing: 190.323220 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.277319 deg/s,
      cmd heading: 181.995281 deg,
      new cmd heading: 181.749444 deg.

2025-08-19T18:23:20.673Z,1755627800.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.172126 target range: 17.400000 and range: 17.40 m.
2025-08-19T18:23:20.766Z,1755627800.766 [DAT](INFO): DAT read: Rx Time:18:23:18.9721 

2025-08-19T18:23:20.767Z,1755627800.767 [DAT](INFO): Rx dataTimestamp_ set to:1755627800.766354
2025-08-19T18:23:20.770Z,1755627800.770 [DAT](INFO): DAT read: Bearing 334.1,  14.3 (Local)

2025-08-19T18:23:20.772Z,1755627800.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.1,  14.3 (Local)

2025-08-19T18:23:20.774Z,1755627800.774 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=5.028532
2025-08-19T18:23:21.016Z,1755627801.016 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.5

2025-08-19T18:23:21.021Z,1755627801.021 [DAT](INFO): DAT read: 18:23:18.9721 LVL= 24224, 28625, 25266, 32755, AGC= 51, IDX= 500,-0.16, 0.588,-1.180, 0.652, 0.187, PHS= 0.503,-1.322, 0.421, RAW= 147.7,   4.5, CAL= 147.1,   4.8, ROT=   2.9,  -4.8

2025-08-19T18:23:21.022Z,1755627801.022 [DAT](INFO): got valid direction response:
 18:23:18.9721 LVL= 24224, 28625, 25266, 32755, AGC= 51, IDX= 500,-0.16, 0.588,-1.180, 0.652, 0.187, PHS= 0.503,-1.322, 0.421, RAW= 147.7,   4.5, CAL= 147.1,   4.8, ROT=   2.9,  -4.8

2025-08-19T18:23:21.022Z,1755627801.022 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-19T18:23:21.023Z,1755627801.023 [DAT](INFO): direction in FSK: [0.995217,0.050416,0.083678]
2025-08-19T18:23:21.023Z,1755627801.023 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:21.027Z,1755627801.027 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=5.281546
2025-08-19T18:23:21.119Z,1755627801.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.503681 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:21.121Z,1755627801.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.400000 m,
      bearing: 190.193242 deg,
      lat: 36.779368 deg,
      lon: -121.859520 deg,
      deltaT: 0.503681 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:23:21.126Z,1755627801.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-19T18:23:21.129Z,1755627801.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 16.740606 m,
      bearing: 190.193242 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.277319 deg/s,
      cmd heading: 181.749449 deg,
      new cmd heading: 181.364471 deg.

2025-08-19T18:23:21.134Z,1755627801.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.165407 target range: 17.400000 and range: 17.40 m.
2025-08-19T18:23:21.271Z,1755627801.271 [DAT](INFO): DAT read: Rx Time:18:23:19.4718 

2025-08-19T18:23:21.273Z,1755627801.273 [DAT](INFO): Rx dataTimestamp_ set to:1755627801.271812
2025-08-19T18:23:21.277Z,1755627801.277 [DAT](INFO): DAT read: Bearing 333.9,  14.1 (Local)

2025-08-19T18:23:21.278Z,1755627801.278 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.9,  14.1 (Local)

2025-08-19T18:23:21.297Z,1755627801.297 [DAT](INFO): DAT read: Range 11 to 50 :    17.0 m (trip time 11.3 ms) speed 0.5

2025-08-19T18:23:21.304Z,1755627801.304 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-08-19T18:23:21.319Z,1755627801.319 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=5.573340
2025-08-19T18:23:21.473Z,1755627801.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:21.476Z,1755627801.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.000000 m,
      deltaT: 0.257862 s,
      deltaX: -0.400000 m,
      approachRate: -1.551216 m/s,
      rangeRepo size: 4

2025-08-19T18:23:21.476Z,1755627801.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-19T18:23:21.481Z,1755627801.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.400000 m,
      nav range: 16.511929 m,
      bearing: 190.097148 deg,
      approach rate: -0.641183 m/s,
      LOS rate: -0.273166 deg/s,
      cmd heading: 181.364472 deg,
      new cmd heading: 181.072201 deg.

2025-08-19T18:23:21.482Z,1755627801.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.160306 target range: 17.400000 and range: 17.00 m.
2025-08-19T18:23:21.523Z,1755627801.523 [DAT](INFO): DAT read: 18:23:19.4718 LVL= 21456, 27969, 23138, 32755, AGC= 51, IDX= 497,-0.06,-0.348,-2.113,-0.284,-0.749, PHS= 0.503,-1.318, 0.422, RAW= 147.7,   4.5, CAL= 147.1,   4.7, ROT=   2.9,  -4.7

2025-08-19T18:23:21.524Z,1755627801.524 [DAT](INFO): got valid direction response:
 18:23:19.4718 LVL= 21456, 27969, 23138, 32755, AGC= 51, IDX= 497,-0.06,-0.348,-2.113,-0.284,-0.749, PHS= 0.503,-1.318, 0.422, RAW= 147.7,   4.5, CAL= 147.1,   4.7, ROT=   2.9,  -4.7

2025-08-19T18:23:21.524Z,1755627801.524 [DAT](INFO): #Rx 15: Read direction message, but no range.
2025-08-19T18:23:21.525Z,1755627801.525 [DAT](INFO): direction in FSK: [0.995361,0.050423,0.081939]
2025-08-19T18:23:21.528Z,1755627801.528 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.783157
2025-08-19T18:23:21.774Z,1755627801.774 [DAT](INFO): DAT read: Rx Time:18:23:19.9717 

2025-08-19T18:23:21.776Z,1755627801.776 [DAT](INFO): Rx dataTimestamp_ set to:1755627801.775100
2025-08-19T18:23:21.779Z,1755627801.779 [DAT](INFO): DAT read: Bearing 331.5,  16.8 (Local)

2025-08-19T18:23:21.780Z,1755627801.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.5,  16.8 (Local)

2025-08-19T18:23:21.786Z,1755627801.786 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.5

2025-08-19T18:23:21.788Z,1755627801.788 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-08-19T18:23:21.802Z,1755627801.802 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=6.051794
2025-08-19T18:23:21.984Z,1755627801.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.503288 s,
      deltaX: -0.200001 m,
      approachRate: -0.397388 m/s,
      rangeRepo size: 4

2025-08-19T18:23:22.005Z,1755627802.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.799999 m,
      bearing: 189.607207 deg,
      lat: 36.779368 deg,
      lon: -121.859519 deg,
      deltaT: 0.761150 s,
      deltaX: -0.600000 m,
      approachRate: -0.788281 m/s,
      posRepo size: 4

2025-08-19T18:23:22.006Z,1755627802.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.80 m.
2025-08-19T18:23:22.009Z,1755627802.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.799999 m,
      nav range: 16.207832 m,
      bearing: 189.607207 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273166 deg/s,
      cmd heading: 181.072194 deg,
      new cmd heading: 180.661734 deg.

2025-08-19T18:23:22.014Z,1755627802.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.153142 target range: 16.799999 and range: 16.80 m.
2025-08-19T18:23:22.026Z,1755627802.026 [DAT](INFO): DAT read: 18:23:19.9717 LVL= 21664, 27249, 22130, 31987, AGC= 51, IDX= 512, 0.05,-2.707, 1.403,-2.786, 2.940, PHS= 0.738,-1.492, 0.512, RAW= 144.7,   2.3, CAL= 144.2,   2.5, ROT=   5.8,  -2.5

2025-08-19T18:23:22.027Z,1755627802.027 [DAT](INFO): got valid direction response:
 18:23:19.9717 LVL= 21664, 27249, 22130, 31987, AGC= 51, IDX= 512, 0.05,-2.707, 1.403,-2.786, 2.940, PHS= 0.738,-1.492, 0.512, RAW= 144.7,   2.3, CAL= 144.2,   2.5, ROT=   5.8,  -2.5

2025-08-19T18:23:22.028Z,1755627802.028 [DAT](INFO): #Rx 17: Read direction message, but no range.
2025-08-19T18:23:22.029Z,1755627802.029 [DAT](INFO): direction in FSK: [0.993934,0.100960,0.043619]
2025-08-19T18:23:22.033Z,1755627802.033 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.287254
2025-08-19T18:23:22.279Z,1755627802.279 [DAT](INFO): DAT read: Rx Time:18:23:20.4714 

2025-08-19T18:23:22.281Z,1755627802.281 [DAT](INFO): Rx dataTimestamp_ set to:1755627802.279913
2025-08-19T18:23:22.285Z,1755627802.285 [DAT](INFO): DAT read: Bearing 333.3,  13.8 (Local)

2025-08-19T18:23:22.293Z,1755627802.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.3,  13.8 (Local)

2025-08-19T18:23:22.302Z,1755627802.302 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.5

2025-08-19T18:23:22.306Z,1755627802.306 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-08-19T18:23:22.310Z,1755627802.310 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=6.563474
2025-08-19T18:23:22.451Z,1755627802.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.504813 s,
      deltaX: -0.400000 m,
      approachRate: -0.792372 m/s,
      rangeRepo size: 4

2025-08-19T18:23:22.453Z,1755627802.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.400000 m,
      bearing: 189.470312 deg,
      lat: 36.779368 deg,
      lon: -121.859519 deg,
      deltaT: 0.504813 s,
      deltaX: -0.400000 m,
      approachRate: -0.792372 m/s,
      posRepo size: 4

2025-08-19T18:23:22.454Z,1755627802.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-19T18:23:22.457Z,1755627802.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.400000 m,
      nav range: 15.886916 m,
      bearing: 189.470312 deg,
      approach rate: 345765.687500 m/s,
      LOS rate: -0.273166 deg/s,
      cmd heading: 180.661741 deg,
      new cmd heading: 180.273000 deg.

2025-08-19T18:23:22.458Z,1755627802.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.146357 target range: 16.400000 and range: 16.40 m.
2025-08-19T18:23:22.530Z,1755627802.530 [DAT](INFO): DAT read: 18:23:20.4714 LVL= 21184, 26225, 22482, 32131, AGC= 51, IDX= 509, 0.15, 1.280,-0.477, 1.345, 0.877, PHS= 0.506,-1.309, 0.424, RAW= 147.7,   4.3, CAL= 147.1,   4.5, ROT=   2.9,  -4.5

2025-08-19T18:23:22.531Z,1755627802.531 [DAT](INFO): got valid direction response:
 18:23:20.4714 LVL= 21184, 26225, 22482, 32131, AGC= 51, IDX= 509, 0.15, 1.280,-0.477, 1.345, 0.877, PHS= 0.506,-1.309, 0.424, RAW= 147.7,   4.3, CAL= 147.1,   4.5, ROT=   2.9,  -4.5

2025-08-19T18:23:22.532Z,1755627802.532 [DAT](INFO): #Rx 19: Read direction message, but no range.
2025-08-19T18:23:22.533Z,1755627802.533 [DAT](INFO): direction in FSK: [0.995641,0.050437,0.078459]
2025-08-19T18:23:22.536Z,1755627802.536 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=6.790667
2025-08-19T18:23:22.783Z,1755627802.783 [DAT](INFO): DAT read: Rx Time:18:23:20.9712 

2025-08-19T18:23:22.785Z,1755627802.785 [DAT](INFO): Rx dataTimestamp_ set to:1755627802.783368
2025-08-19T18:23:22.788Z,1755627802.788 [DAT](INFO): DAT read: Bearing 333.1,  13.6 (Local)

2025-08-19T18:23:22.789Z,1755627802.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.1,  13.6 (Local)

2025-08-19T18:23:22.795Z,1755627802.795 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.5

2025-08-19T18:23:22.803Z,1755627802.803 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-08-19T18:23:22.808Z,1755627802.808 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=7.062244
2025-08-19T18:23:22.917Z,1755627802.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.503455 s,
      deltaX: -0.299999 m,
      approachRate: -0.595881 m/s,
      rangeRepo size: 4

2025-08-19T18:23:22.932Z,1755627802.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.100000 m,
      bearing: 189.267709 deg,
      lat: 36.779369 deg,
      lon: -121.859519 deg,
      deltaT: 0.503455 s,
      deltaX: -0.299999 m,
      approachRate: -0.595881 m/s,
      posRepo size: 4

2025-08-19T18:23:22.932Z,1755627802.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-19T18:23:22.948Z,1755627802.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.100000 m,
      nav range: 15.574098 m,
      bearing: 189.267709 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.273166 deg/s,
      cmd heading: 180.272994 deg,
      new cmd heading: 179.891013 deg.

2025-08-19T18:23:22.956Z,1755627802.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.139690 target range: 16.100000 and range: 16.10 m.
2025-08-19T18:23:23.034Z,1755627803.034 [DAT](INFO): DAT read: 18:23:20.9712 LVL= 22560, 28369, 23938, 32755, AGC= 51, IDX= 507, 0.27, 1.231,-0.518, 1.294, 0.832, PHS= 0.501,-1.305, 0.418, RAW= 147.7,   4.4, CAL= 147.0,   4.6, ROT=   3.0,  -4.6

2025-08-19T18:23:23.035Z,1755627803.035 [DAT](INFO): got valid direction response:
 18:23:20.9712 LVL= 22560, 28369, 23938, 32755, AGC= 51, IDX= 507, 0.27, 1.231,-0.518, 1.294, 0.832, PHS= 0.501,-1.305, 0.418, RAW= 147.7,   4.4, CAL= 147.0,   4.6, ROT=   3.0,  -4.6

2025-08-19T18:23:23.036Z,1755627803.036 [DAT](INFO): #Rx 21: Read direction message, but no range.
2025-08-19T18:23:23.037Z,1755627803.037 [DAT](INFO): direction in FSK: [0.995413,0.052167,0.080199]
2025-08-19T18:23:23.042Z,1755627803.042 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=7.296221
2025-08-19T18:23:23.290Z,1755627803.290 [DAT](INFO): DAT read: Rx Time:18:23:21.4709 

2025-08-19T18:23:23.292Z,1755627803.292 [DAT](INFO): Rx dataTimestamp_ set to:1755627803.291023
2025-08-19T18:23:23.296Z,1755627803.296 [DAT](INFO): DAT read: Bearing 332.6,  13.4 (Local)

2025-08-19T18:23:23.297Z,1755627803.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.6,  13.4 (Local)

2025-08-19T18:23:23.319Z,1755627803.319 [DAT](INFO): DAT read: Range 11 to 50 : m (trip time 10.4 ms) speed 0.5

2025-08-19T18:23:23.319Z,1755627803.319 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 : m (trip time 10.4 ms) speed 0.5

2025-08-19T18:23:23.328Z,1755627803.328 [DAT](INFO): DAT read: 18:23:21.4709 LVL= 22000, 26385, 22450, 32051, AGC= 51, IDX= 504, 0.42, 0.015,-1.730, 0.077,-0.388, PHS= 0.505,-1.296, 0.422, RAW= 147.6,   4.2, CAL= 147.0,   4.5, ROT=   3.0,  -4.5

2025-08-19T18:23:23.329Z,1755627803.329 [DAT](INFO): got valid direction response:
 18:23:21.4709 LVL= 22000, 26385, 22450, 32051, AGC= 51, IDX= 504, 0.42, 0.015,-1.730, 0.077,-0.388, PHS= 0.505,-1.296, 0.422, RAW= 147.6,   4.2, CAL= 147.0,   4.5, ROT=   3.0,  -4.5

2025-08-19T18:23:23.337Z,1755627803.337 [DAT](INFO): #Rx 22: Read direction message, but no range.
2025-08-19T18:23:23.338Z,1755627803.338 [DAT](INFO): direction in FSK: [0.995551,0.052175,0.078459]
2025-08-19T18:23:23.350Z,1755627803.350 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=7.604448
2025-08-19T18:23:23.486Z,1755627803.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:23.488Z,1755627803.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-19T18:23:23.495Z,1755627803.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.100000 m,
      nav range: 15.233183 m,
      bearing: 189.101255 deg,
      approach rate: -0.596520 m/s,
      LOS rate: -0.297774 deg/s,
      cmd heading: 179.891009 deg,
      new cmd heading: 179.380483 deg.

2025-08-19T18:23:23.496Z,1755627803.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.130780 target range: 16.100000 and range: 16.10 m.
2025-08-19T18:23:23.539Z,1755627803.539 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=7.793341
2025-08-19T18:23:23.794Z,1755627803.794 [DAT](INFO): DAT read: Rx Time:18:23:21.9708 

2025-08-19T18:23:23.796Z,1755627803.796 [DAT](INFO): Rx dataTimestamp_ set to:1755627803.794994
2025-08-19T18:23:23.801Z,1755627803.801 [DAT](INFO): DAT read: Bearing 332.7,  13.4 (Local)

2025-08-19T18:23:23.802Z,1755627803.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,  13.4 (Local)

2025-08-19T18:23:23.809Z,1755627803.809 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.5

2025-08-19T18:23:23.832Z,1755627803.832 [DAT](INFO): DAT read: 18:23:21.9708 LVL= 21712, 25745, 22690, 32307, AGC= 51, IDX= 504,-0.37,-0.925,-2.663,-0.869,-1.320, PHS= 0.497,-1.298, 0.406, RAW= 147.4,   4.6, CAL= 146.8,   4.8, ROT=   3.2,  -4.8

2025-08-19T18:23:23.833Z,1755627803.833 [DAT](INFO): got valid direction response:
 18:23:21.9708 LVL= 21712, 25745, 22690, 32307, AGC= 51, IDX= 504,-0.37,-0.925,-2.663,-0.869,-1.320, PHS= 0.497,-1.298, 0.406, RAW= 147.4,   4.6, CAL= 146.8,   4.8, ROT=   3.2,  -4.8

2025-08-19T18:23:23.833Z,1755627803.833 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-19T18:23:23.867Z,1755627803.867 [DAT](INFO): direction in FSK: [0.994939,0.055626,0.083678]
2025-08-19T18:23:23.867Z,1755627803.867 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:23.891Z,1755627803.891 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=8.145477
2025-08-19T18:23:23.933Z,1755627803.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 1.011626 s,
      deltaX: -0.600000 m,
      approachRate: -0.593105 m/s,
      rangeRepo size: 4

2025-08-19T18:23:23.943Z,1755627803.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.500000 m,
      bearing: 188.854715 deg,
      lat: 36.779368 deg,
      lon: -121.859519 deg,
      deltaT: 1.011626 s,
      deltaX: -0.600000 m,
      approachRate: -0.593105 m/s,
      posRepo size: 4

2025-08-19T18:23:23.944Z,1755627803.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m.
2025-08-19T18:23:23.958Z,1755627803.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.500000 m,
      nav range: 15.011670 m,
      bearing: 188.854715 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.297774 deg/s,
      cmd heading: 179.380480 deg,
      new cmd heading: 178.983482 deg.

2025-08-19T18:23:23.959Z,1755627803.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.123851 target range: 15.500000 and range: 15.50 m.
2025-08-19T18:23:24.043Z,1755627804.043 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=8.297325
2025-08-19T18:23:24.299Z,1755627804.299 [DAT](INFO): DAT read: Rx Time:18:23:22.4707 

2025-08-19T18:23:24.301Z,1755627804.301 [DAT](INFO): Rx dataTimestamp_ set to:1755627804.300022
2025-08-19T18:23:24.329Z,1755627804.329 [DAT](INFO): DAT read: Bearing 332.2,  13.2 (Local)

2025-08-19T18:23:24.330Z,1755627804.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.2,  13.2 (Local)

2025-08-19T18:23:24.332Z,1755627804.332 [DAT](INFO): DAT read: Range 11 to 50 :    15.2 m (trip time 10.1 ms) speed 0.5

2025-08-19T18:23:24.340Z,1755627804.340 [DAT](INFO): DAT read: 18:23:22.4707 LVL= 22896, 28769, 24050, 32755, AGC= 53, IDX= 501,-0.25,-1.404, 3.129,-1.349,-1.804, PHS= 0.501,-1.306, 0.411, RAW= 147.5,   4.5, CAL= 146.8,   4.8, ROT=   3.2,  -4.8

2025-08-19T18:23:24.363Z,1755627804.363 [DAT](INFO): got valid direction response:
 18:23:22.4707 LVL= 22896, 28769, 24050, 32755, AGC= 53, IDX= 501,-0.25,-1.404, 3.129,-1.349,-1.804, PHS= 0.501,-1.306, 0.411, RAW= 147.5,   4.5, CAL= 146.8,   4.8, ROT=   3.2,  -4.8

2025-08-19T18:23:24.364Z,1755627804.364 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-19T18:23:24.365Z,1755627804.365 [DAT](INFO): direction in FSK: [0.994939,0.055626,0.083678]
2025-08-19T18:23:24.365Z,1755627804.365 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:24.377Z,1755627804.377 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=8.631365
2025-08-19T18:23:24.519Z,1755627804.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.200000 m,
      deltaT: 0.505028 s,
      deltaX: -0.300000 m,
      approachRate: -0.594027 m/s,
      rangeRepo size: 4

2025-08-19T18:23:24.525Z,1755627804.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.200000 m,
      bearing: 188.508545 deg,
      lat: 36.779368 deg,
      lon: -121.859518 deg,
      deltaT: 0.505028 s,
      deltaX: -0.300000 m,
      approachRate: -0.594027 m/s,
      posRepo size: 4

2025-08-19T18:23:24.526Z,1755627804.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m.
2025-08-19T18:23:24.529Z,1755627804.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.200000 m,
      nav range: 14.653561 m,
      bearing: 188.508545 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.297774 deg/s,
      cmd heading: 178.983482 deg,
      new cmd heading: 178.459937 deg.

2025-08-19T18:23:24.534Z,1755627804.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.114713 target range: 15.200000 and range: 15.20 m.
2025-08-19T18:23:24.547Z,1755627804.547 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=8.801247
2025-08-19T18:23:24.803Z,1755627804.803 [DAT](INFO): DAT read: Rx Time:18:23:22.9706 

2025-08-19T18:23:24.805Z,1755627804.805 [DAT](INFO): Rx dataTimestamp_ set to:1755627804.803949
2025-08-19T18:23:24.808Z,1755627804.808 [DAT](INFO): DAT read: Bearing 331.9,  13.0 (Local)

2025-08-19T18:23:24.808Z,1755627804.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.9,  13.0 (Local)

2025-08-19T18:23:24.810Z,1755627804.810 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.5

2025-08-19T18:23:24.815Z,1755627804.815 [DAT](INFO): DAT read: 18:23:22.9706 LVL= 22880, 28305, 24850, 32755, AGC= 53, IDX= 500,-0.16,-0.254,-2.008,-0.203,-0.656, PHS= 0.504,-1.307, 0.409, RAW= 147.3,   4.5, CAL= 146.7,   4.8, ROT=   3.3,  -4.8

2025-08-19T18:23:24.816Z,1755627804.816 [DAT](INFO): got valid direction response:
 18:23:22.9706 LVL= 22880, 28305, 24850, 32755, AGC= 53, IDX= 500,-0.16,-0.254,-2.008,-0.203,-0.656, PHS= 0.504,-1.307, 0.409, RAW= 147.3,   4.5, CAL= 146.7,   4.8, ROT=   3.3,  -4.8

2025-08-19T18:23:24.816Z,1755627804.816 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-19T18:23:24.817Z,1755627804.817 [DAT](INFO): direction in FSK: [0.994840,0.057362,0.083678]
2025-08-19T18:23:24.817Z,1755627804.817 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:24.821Z,1755627804.821 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=9.075388
2025-08-19T18:23:24.976Z,1755627804.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.503927 s,
      deltaX: -0.200000 m,
      approachRate: -0.396883 m/s,
      rangeRepo size: 4

2025-08-19T18:23:24.992Z,1755627804.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.000000 m,
      bearing: 188.306840 deg,
      lat: 36.779368 deg,
      lon: -121.859518 deg,
      deltaT: 0.503927 s,
      deltaX: -0.200000 m,
      approachRate: -0.396883 m/s,
      posRepo size: 4

2025-08-19T18:23:24.998Z,1755627804.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.00 m.
2025-08-19T18:23:25.022Z,1755627805.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.000000 m,
      nav range: 14.389814 m,
      bearing: 188.306840 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.297774 deg/s,
      cmd heading: 178.459934 deg,
      new cmd heading: 178.061029 deg.

2025-08-19T18:23:25.031Z,1755627805.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.107751 target range: 15.000000 and range: 15.00 m.
2025-08-19T18:23:25.051Z,1755627805.051 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=9.305293
2025-08-19T18:23:25.307Z,1755627805.307 [DAT](INFO): DAT read: Rx Time:18:23:23.4703 

2025-08-19T18:23:25.307Z,1755627805.307 [DAT](INFO): Rx dataTimestamp_ set to:1755627805.307116
2025-08-19T18:23:25.309Z,1755627805.309 [DAT](INFO): DAT read: Bearing 331.6,  13.0 (Local)

2025-08-19T18:23:25.309Z,1755627805.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.6,  13.0 (Local)

2025-08-19T18:23:25.323Z,1755627805.323 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.5

2025-08-19T18:23:25.340Z,1755627805.340 [DAT](INFO): DAT read: 18:23:23.4703 LVL= 23152, 28257, 24370, 32755, AGC= 50, IDX= 497,-0.04,-1.324,-3.074,-1.280,-1.724, PHS= 0.502,-1.305, 0.400, RAW= 147.1,   4.6, CAL= 146.5,   4.9, ROT=   3.5,  -4.9

2025-08-19T18:23:25.341Z,1755627805.341 [DAT](INFO): got valid direction response:
 18:23:23.4703 LVL= 23152, 28257, 24370, 32755, AGC= 50, IDX= 497,-0.04,-1.324,-3.074,-1.280,-1.724, PHS= 0.502,-1.305, 0.400, RAW= 147.1,   4.6, CAL= 146.5,   4.9, ROT=   3.5,  -4.9

2025-08-19T18:23:25.341Z,1755627805.341 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-19T18:23:25.366Z,1755627805.366 [DAT](INFO): direction in FSK: [0.994487,0.060825,0.085417]
2025-08-19T18:23:25.367Z,1755627805.367 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:25.383Z,1755627805.383 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=9.637586
2025-08-19T18:23:25.460Z,1755627805.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.503167 s,
      deltaX: -0.400000 m,
      approachRate: -0.794964 m/s,
      rangeRepo size: 4

2025-08-19T18:23:25.467Z,1755627805.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.600000 m,
      bearing: 188.056902 deg,
      lat: 36.779368 deg,
      lon: -121.859517 deg,
      deltaT: 0.503167 s,
      deltaX: -0.400000 m,
      approachRate: -0.794964 m/s,
      posRepo size: 4

2025-08-19T18:23:25.467Z,1755627805.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.60 m.
2025-08-19T18:23:25.474Z,1755627805.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.600000 m,
      nav range: 14.162372 m,
      bearing: 188.056902 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.297774 deg/s,
      cmd heading: 178.061024 deg,
      new cmd heading: 177.619212 deg.

2025-08-19T18:23:25.475Z,1755627805.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.100040 target range: 14.600000 and range: 14.60 m.
2025-08-19T18:23:25.555Z,1755627805.555 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=9.810165
2025-08-19T18:23:25.808Z,1755627805.808 [DAT](INFO): DAT read: Rx Time:18:23:23.9702 

2025-08-19T18:23:25.809Z,1755627805.809 [DAT](INFO): Rx dataTimestamp_ set to:1755627805.808561
2025-08-19T18:23:25.810Z,1755627805.810 [DAT](INFO): DAT read: Bearing 335.4,  14.7 (Local)

2025-08-19T18:23:25.811Z,1755627805.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.4,  14.7 (Local)

2025-08-19T18:23:25.815Z,1755627805.815 [DAT](INFO): DAT read: Range 11 to 50 :    14.4 m (trip time 9.6 ms) speed 0.4

2025-08-19T18:23:25.826Z,1755627805.826 [DAT](INFO): DAT read: 18:23:23.9702 LVL= 24512, 31985, 26658, 32755, AGC= 49, IDX= 512, 0.05, 2.538, 0.547, 2.482, 2.155, PHS= 0.485,-1.563, 0.282, RAW= 144.8,   8.2, CAL= 144.4,   8.9, ROT=   5.6,  -8.9

2025-08-19T18:23:25.827Z,1755627805.827 [DAT](INFO): got valid direction response:
 18:23:23.9702 LVL= 24512, 31985, 26658, 32755, AGC= 49, IDX= 512, 0.05, 2.538, 0.547, 2.482, 2.155, PHS= 0.485,-1.563, 0.282, RAW= 144.8,   8.2, CAL= 144.4,   8.9, ROT=   5.6,  -8.9

2025-08-19T18:23:25.828Z,1755627805.828 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-19T18:23:25.829Z,1755627805.829 [DAT](INFO): direction in FSK: [0.983245,0.096408,0.154710]
2025-08-19T18:23:25.829Z,1755627805.829 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:25.841Z,1755627805.841 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.095232
2025-08-19T18:23:25.947Z,1755627805.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 0.501445 s,
      deltaX: -0.200001 m,
      approachRate: -0.398849 m/s,
      rangeRepo size: 4

2025-08-19T18:23:25.949Z,1755627805.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.400000 m,
      bearing: 187.938509 deg,
      lat: 36.779368 deg,
      lon: -121.859517 deg,
      deltaT: 0.501445 s,
      deltaX: -0.200001 m,
      approachRate: -0.398849 m/s,
      posRepo size: 4

2025-08-19T18:23:25.954Z,1755627805.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-19T18:23:25.956Z,1755627805.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.400000 m,
      nav range: 13.874635 m,
      bearing: 187.938509 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.297774 deg/s,
      cmd heading: 177.619206 deg,
      new cmd heading: 177.184522 deg.

2025-08-19T18:23:25.962Z,1755627805.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.092453 target range: 14.400000 and range: 14.40 m.
2025-08-19T18:23:26.063Z,1755627806.063 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=10.317004
2025-08-19T18:23:26.311Z,1755627806.311 [DAT](INFO): DAT read: Rx Time:18:23:24.4699 

2025-08-19T18:23:26.312Z,1755627806.312 [DAT](INFO): Rx dataTimestamp_ set to:1755627806.311312
2025-08-19T18:23:26.313Z,1755627806.313 [DAT](INFO): DAT read: Bearing 330.5,  12.5 (Local)

2025-08-19T18:23:26.314Z,1755627806.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.5,  12.5 (Local)

2025-08-19T18:23:26.316Z,1755627806.316 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.5

2025-08-19T18:23:26.321Z,1755627806.321 [DAT](INFO): DAT read: 18:23:24.4699 LVL= 24976, 27105, 24146, 32755, AGC= 52, IDX= 509, 0.14, 0.520,-1.280, 0.559, 0.100, PHS= 0.522,-1.335, 0.415, RAW= 147.1,   4.4, CAL= 146.5,   4.7, ROT=   3.5,  -4.7

2025-08-19T18:23:26.322Z,1755627806.322 [DAT](INFO): got valid direction response:
 18:23:24.4699 LVL= 24976, 27105, 24146, 32755, AGC= 52, IDX= 509, 0.14, 0.520,-1.280, 0.559, 0.100, PHS= 0.522,-1.335, 0.415, RAW= 147.1,   4.4, CAL= 146.5,   4.7, ROT=   3.5,  -4.7

2025-08-19T18:23:26.323Z,1755627806.323 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-19T18:23:26.324Z,1755627806.324 [DAT](INFO): direction in FSK: [0.994778,0.060843,0.081939]
2025-08-19T18:23:26.324Z,1755627806.324 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:26.329Z,1755627806.329 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.583833
2025-08-19T18:23:26.424Z,1755627806.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.502751 s,
      deltaX: -0.400000 m,
      approachRate: -0.795622 m/s,
      rangeRepo size: 4

2025-08-19T18:23:26.431Z,1755627806.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.000000 m,
      bearing: 187.805775 deg,
      lat: 36.779368 deg,
      lon: -121.859517 deg,
      deltaT: 0.502751 s,
      deltaX: -0.400000 m,
      approachRate: -0.795622 m/s,
      posRepo size: 4

2025-08-19T18:23:26.432Z,1755627806.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.00 m.
2025-08-19T18:23:26.439Z,1755627806.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.000000 m,
      nav range: 13.596450 m,
      bearing: 187.805775 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.297774 deg/s,
      cmd heading: 177.184519 deg,
      new cmd heading: 176.757849 deg.

2025-08-19T18:23:26.440Z,1755627806.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.085006 target range: 14.000000 and range: 14.00 m.
2025-08-19T18:23:26.563Z,1755627806.563 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.817348
2025-08-19T18:23:26.815Z,1755627806.815 [DAT](INFO): DAT read: Rx Time:18:23:24.9698 

2025-08-19T18:23:26.816Z,1755627806.816 [DAT](INFO): Rx dataTimestamp_ set to:1755627806.815295
2025-08-19T18:23:26.817Z,1755627806.817 [DAT](INFO): DAT read: Bearing 330.2,  12.4 (Local)

2025-08-19T18:23:26.817Z,1755627806.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.2,  12.4 (Local)

2025-08-19T18:23:26.819Z,1755627806.819 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.5

2025-08-19T18:23:26.824Z,1755627806.824 [DAT](INFO): DAT read: 18:23:24.9698 LVL= 22720, 28577, 25202, 32755, AGC= 50, IDX= 508, 0.30, 2.149, 0.340, 2.180, 1.727, PHS= 0.524,-1.342, 0.409, RAW= 146.9,   4.6, CAL= 146.3,   4.9, ROT=   3.7,  -4.9

2025-08-19T18:23:26.825Z,1755627806.825 [DAT](INFO): got valid direction response:
 18:23:24.9698 LVL= 22720, 28577, 25202, 32755, AGC= 50, IDX= 508, 0.30, 2.149, 0.340, 2.180, 1.727, PHS= 0.524,-1.342, 0.409, RAW= 146.9,   4.6, CAL= 146.3,   4.9, ROT=   3.7,  -4.9

2025-08-19T18:23:26.825Z,1755627806.825 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-19T18:23:26.826Z,1755627806.826 [DAT](INFO): direction in FSK: [0.994269,0.064296,0.085417]
2025-08-19T18:23:26.827Z,1755627806.827 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:26.839Z,1755627806.839 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=11.093550
2025-08-19T18:23:26.883Z,1755627806.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.503983 s,
      deltaX: -0.200000 m,
      approachRate: -0.396838 m/s,
      rangeRepo size: 4

2025-08-19T18:23:26.885Z,1755627806.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.800000 m,
      bearing: 187.689541 deg,
      lat: 36.779367 deg,
      lon: -121.859517 deg,
      deltaT: 0.503983 s,
      deltaX: -0.200000 m,
      approachRate: -0.396838 m/s,
      posRepo size: 4

2025-08-19T18:23:26.890Z,1755627806.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-19T18:23:26.893Z,1755627806.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.800000 m,
      nav range: 13.380839 m,
      bearing: 187.689541 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.297774 deg/s,
      cmd heading: 176.757851 deg,
      new cmd heading: 176.348324 deg.

2025-08-19T18:23:26.898Z,1755627806.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.077859 target range: 13.800000 and range: 13.80 m.
2025-08-19T18:23:27.067Z,1755627807.067 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=11.321461
2025-08-19T18:23:27.319Z,1755627807.319 [DAT](INFO): DAT read: Rx Time:18:23:25.4695 

2025-08-19T18:23:27.320Z,1755627807.320 [DAT](INFO): Rx dataTimestamp_ set to:1755627807.319301
2025-08-19T18:23:27.321Z,1755627807.321 [DAT](INFO): DAT read: Bearing 330.1,  12.3 (Local)

2025-08-19T18:23:27.321Z,1755627807.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.1,  12.3 (Local)

2025-08-19T18:23:27.323Z,1755627807.323 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.4

2025-08-19T18:23:27.328Z,1755627807.328 [DAT](INFO): DAT read: 18:23:25.4695 LVL= 24368, 27825, 24306, 32755, AGC= 50, IDX= 506,-0.49,-0.646,-2.461,-0.623,-1.064, PHS= 0.520,-1.351, 0.397, RAW= 146.6,   4.8, CAL= 146.1,   5.2, ROT=   3.9,  -5.2

2025-08-19T18:23:27.329Z,1755627807.329 [DAT](INFO): got valid direction response:
 18:23:25.4695 LVL= 24368, 27825, 24306, 32755, AGC= 50, IDX= 506,-0.49,-0.646,-2.461,-0.623,-1.064, PHS= 0.520,-1.351, 0.397, RAW= 146.6,   4.8, CAL= 146.1,   5.2, ROT=   3.9,  -5.2

2025-08-19T18:23:27.330Z,1755627807.330 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-19T18:23:27.330Z,1755627807.330 [DAT](INFO): direction in FSK: [0.993578,0.067735,0.090633]
2025-08-19T18:23:27.331Z,1755627807.331 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:27.346Z,1755627807.346 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.601006
2025-08-19T18:23:27.353Z,1755627807.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504006 s,
      deltaX: -0.400001 m,
      approachRate: -0.793642 m/s,
      rangeRepo size: 4

2025-08-19T18:23:27.360Z,1755627807.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.400000 m,
      bearing: 187.135458 deg,
      lat: 36.779368 deg,
      lon: -121.859516 deg,
      deltaT: 0.504006 s,
      deltaX: -0.400001 m,
      approachRate: -0.793642 m/s,
      posRepo size: 4

2025-08-19T18:23:27.360Z,1755627807.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.40 m.
2025-08-19T18:23:27.364Z,1755627807.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.400000 m,
      nav range: 13.029540 m,
      bearing: 187.135458 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.297774 deg/s,
      cmd heading: 176.348326 deg,
      new cmd heading: 175.928619 deg.

2025-08-19T18:23:27.365Z,1755627807.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.070534 target range: 13.400000 and range: 13.40 m.
2025-08-19T18:23:27.572Z,1755627807.572 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.826518
2025-08-19T18:23:27.694Z,1755627807.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:27.696Z,1755627807.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.40 m.
2025-08-19T18:23:27.699Z,1755627807.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.400000 m,
      nav range: 12.810493 m,
      bearing: 187.067207 deg,
      approach rate: -0.636770 m/s,
      LOS rate: -0.201796 deg/s,
      cmd heading: 175.928625 deg,
      new cmd heading: 175.720374 deg.

2025-08-19T18:23:27.700Z,1755627807.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.066899 target range: 13.400000 and range: 13.40 m.
2025-08-19T18:23:27.823Z,1755627807.823 [DAT](INFO): DAT read: Rx Time:18:23:25.9695 

2025-08-19T18:23:27.824Z,1755627807.824 [DAT](INFO): Rx dataTimestamp_ set to:1755627807.823438
2025-08-19T18:23:27.825Z,1755627807.825 [DAT](INFO): DAT read: Bearing 329.8,  12.2 (Local)

2025-08-19T18:23:27.826Z,1755627807.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.8,  12.2 (Local)

2025-08-19T18:23:27.828Z,1755627807.828 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.5

2025-08-19T18:23:27.832Z,1755627807.832 [DAT](INFO): DAT read: 18:23:25.9695 LVL= 24928, 31297, 26450, 32755, AGC= 50, IDX= 505,-0.29, 0.478,-1.364, 0.495, 0.057, PHS= 0.523,-1.376, 0.394, RAW= 146.5,   5.1, CAL= 146.0,   5.4, ROT=   4.0,  -5.4

2025-08-19T18:23:27.833Z,1755627807.833 [DAT](INFO): got valid direction response:
 18:23:25.9695 LVL= 24928, 31297, 26450, 32755, AGC= 50, IDX= 505,-0.29, 0.478,-1.364, 0.495, 0.057, PHS= 0.523,-1.376, 0.394, RAW= 146.5,   5.1, CAL= 146.0,   5.4, ROT=   4.0,  -5.4

2025-08-19T18:23:27.834Z,1755627807.834 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-19T18:23:27.835Z,1755627807.835 [DAT](INFO): direction in FSK: [0.993137,0.069447,0.094108]
2025-08-19T18:23:27.835Z,1755627807.835 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:27.839Z,1755627807.839 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=12.093294
2025-08-19T18:23:28.077Z,1755627808.077 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=12.331030
2025-08-19T18:23:28.168Z,1755627808.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504137 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:28.172Z,1755627808.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.400000 m,
      bearing: 186.727270 deg,
      lat: 36.779367 deg,
      lon: -121.859515 deg,
      deltaT: 0.504137 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:23:28.173Z,1755627808.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.40 m.
2025-08-19T18:23:28.177Z,1755627808.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.400000 m,
      nav range: 12.599138 m,
      bearing: 186.727270 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201796 deg/s,
      cmd heading: 175.720372 deg,
      new cmd heading: 175.435262 deg.

2025-08-19T18:23:28.179Z,1755627808.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.061923 target range: 13.400000 and range: 13.40 m.
2025-08-19T18:23:28.328Z,1755627808.328 [DAT](INFO): DAT read: Rx Time:18:23:26.4692 

2025-08-19T18:23:28.329Z,1755627808.329 [DAT](INFO): Rx dataTimestamp_ set to:1755627808.328050
2025-08-19T18:23:28.331Z,1755627808.331 [DAT](INFO): DAT read: Bearing 329.3,  12.4 (Local)

2025-08-19T18:23:28.331Z,1755627808.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.3,  12.4 (Local)

2025-08-19T18:23:28.334Z,1755627808.334 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.5

2025-08-19T18:23:28.340Z,1755627808.340 [DAT](INFO): DAT read: 18:23:26.4692 LVL= 24864, 28849, 25714, 32755, AGC= 49, IDX= 502,-0.11,-0.573,-2.408,-0.573,-1.002, PHS= 0.531,-1.361, 0.384, RAW= 146.0,   4.9, CAL= 145.5,   5.3, ROT=   4.5,  -5.3

2025-08-19T18:23:28.341Z,1755627808.341 [DAT](INFO): got valid direction response:
 18:23:26.4692 LVL= 24864, 28849, 25714, 32755, AGC= 49, IDX= 502,-0.11,-0.573,-2.408,-0.573,-1.002, PHS= 0.531,-1.361, 0.384, RAW= 146.0,   4.9, CAL= 145.5,   5.3, ROT=   4.5,  -5.3

2025-08-19T18:23:28.342Z,1755627808.342 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-19T18:23:28.343Z,1755627808.343 [DAT](INFO): direction in FSK: [0.992655,0.078124,0.092371]
2025-08-19T18:23:28.343Z,1755627808.343 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:28.347Z,1755627808.347 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=12.601675
2025-08-19T18:23:28.560Z,1755627808.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.504612 s,
      deltaX: -0.500000 m,
      approachRate: -0.990860 m/s,
      rangeRepo size: 4

2025-08-19T18:23:28.562Z,1755627808.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.900000 m,
      bearing: 186.619511 deg,
      lat: 36.779366 deg,
      lon: -121.859515 deg,
      deltaT: 0.504612 s,
      deltaX: -0.500000 m,
      approachRate: -0.990860 m/s,
      posRepo size: 4

2025-08-19T18:23:28.563Z,1755627808.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-08-19T18:23:28.566Z,1755627808.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 12.440982 m,
      bearing: 186.619511 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201796 deg/s,
      cmd heading: 175.435267 deg,
      new cmd heading: 175.198001 deg.

2025-08-19T18:23:28.567Z,1755627808.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.057782 target range: 12.900000 and range: 12.90 m.
2025-08-19T18:23:28.578Z,1755627808.578 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=12.833077
2025-08-19T18:23:28.831Z,1755627808.831 [DAT](INFO): DAT read: Rx Time:18:23:26.9691 

2025-08-19T18:23:28.831Z,1755627808.831 [DAT](INFO): Rx dataTimestamp_ set to:1755627808.831184
2025-08-19T18:23:28.833Z,1755627808.833 [DAT](INFO): DAT read: Bearing 329.1,  12.3 (Local)

2025-08-19T18:23:28.833Z,1755627808.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.1,  12.3 (Local)

2025-08-19T18:23:28.835Z,1755627808.835 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.4

2025-08-19T18:23:28.840Z,1755627808.840 [DAT](INFO): DAT read: 18:23:26.9691 LVL= 29344, 31889, 31186, 32755, AGC= 49, IDX= 501, 0.04, 2.242, 0.396, 2.235, 1.817, PHS= 0.527,-1.376, 0.374, RAW= 145.9,   5.2, CAL= 145.4,   5.7, ROT=   4.6,  -5.7

2025-08-19T18:23:28.841Z,1755627808.841 [DAT](INFO): got valid direction response:
 18:23:26.9691 LVL= 29344, 31889, 31186, 32755, AGC= 49, IDX= 501, 0.04, 2.242, 0.396, 2.235, 1.817, PHS= 0.527,-1.376, 0.374, RAW= 145.9,   5.2, CAL= 145.4,   5.7, ROT=   4.6,  -5.7

2025-08-19T18:23:28.841Z,1755627808.841 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-19T18:23:28.842Z,1755627808.842 [DAT](INFO): direction in FSK: [0.991850,0.079802,0.099320]
2025-08-19T18:23:28.843Z,1755627808.843 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:28.846Z,1755627808.846 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=13.100871
2025-08-19T18:23:28.988Z,1755627808.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.503134 s,
      deltaX: -0.099999 m,
      approachRate: -0.198753 m/s,
      rangeRepo size: 4

2025-08-19T18:23:28.994Z,1755627808.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.800000 m,
      bearing: 186.350816 deg,
      lat: 36.779365 deg,
      lon: -121.859515 deg,
      deltaT: 0.503134 s,
      deltaX: -0.099999 m,
      approachRate: -0.198753 m/s,
      posRepo size: 4

2025-08-19T18:23:28.995Z,1755627808.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.80 m.
2025-08-19T18:23:29.002Z,1755627809.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.800000 m,
      nav range: 12.334758 m,
      bearing: 186.350816 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201796 deg/s,
      cmd heading: 175.198000 deg,
      new cmd heading: 174.938731 deg.

2025-08-19T18:23:29.003Z,1755627809.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.053257 target range: 12.800000 and range: 12.80 m.
2025-08-19T18:23:29.086Z,1755627809.086 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=13.339832
2025-08-19T18:23:29.335Z,1755627809.335 [DAT](INFO): DAT read: Rx Time:18:23:27.4688 

2025-08-19T18:23:29.335Z,1755627809.335 [DAT](INFO): Rx dataTimestamp_ set to:1755627809.335191
2025-08-19T18:23:29.337Z,1755627809.337 [DAT](INFO): DAT read: Bearing 329.1,  12.4 (Local)

2025-08-19T18:23:29.337Z,1755627809.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 329.1,  12.4 (Local)

2025-08-19T18:23:29.339Z,1755627809.339 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-08-19T18:23:29.348Z,1755627809.348 [DAT](INFO): DAT read: 18:23:27.4688 LVL= 28048, 30673, 30834, 32755, AGC= 48, IDX= 498, 0.24, 1.438,-0.407, 1.418, 1.021, PHS= 0.519,-1.383, 0.354, RAW= 145.5,   5.6, CAL= 145.0,   6.1, ROT=   5.0,  -6.1

2025-08-19T18:23:29.353Z,1755627809.353 [DAT](INFO): got valid direction response:
 18:23:27.4688 LVL= 28048, 30673, 30834, 32755, AGC= 48, IDX= 498, 0.24, 1.438,-0.407, 1.418, 1.021, PHS= 0.519,-1.383, 0.354, RAW= 145.5,   5.6, CAL= 145.0,   6.1, ROT=   5.0,  -6.1

2025-08-19T18:23:29.355Z,1755627809.355 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-19T18:23:29.356Z,1755627809.356 [DAT](INFO): direction in FSK: [0.990554,0.086662,0.106264]
2025-08-19T18:23:29.356Z,1755627809.356 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:29.369Z,1755627809.369 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=13.623827
2025-08-19T18:23:29.510Z,1755627809.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.504007 s,
      deltaX: -0.300000 m,
      approachRate: -0.595230 m/s,
      rangeRepo size: 4

2025-08-19T18:23:29.512Z,1755627809.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.500000 m,
      bearing: 186.213663 deg,
      lat: 36.779364 deg,
      lon: -121.859515 deg,
      deltaT: 0.504007 s,
      deltaX: -0.300000 m,
      approachRate: -0.595230 m/s,
      posRepo size: 4

2025-08-19T18:23:29.513Z,1755627809.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-19T18:23:29.520Z,1755627809.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.500000 m,
      nav range: 12.163375 m,
      bearing: 186.213663 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201796 deg/s,
      cmd heading: 174.938726 deg,
      new cmd heading: 174.625274 deg.

2025-08-19T18:23:29.521Z,1755627809.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.047786 target range: 12.500000 and range: 12.50 m.
2025-08-19T18:23:29.587Z,1755627809.587 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=13.841898
2025-08-19T18:23:29.839Z,1755627809.839 [DAT](INFO): DAT read: Rx Time:18:23:27.9687 

2025-08-19T18:23:29.839Z,1755627809.839 [DAT](INFO): Rx dataTimestamp_ set to:1755627809.839155
2025-08-19T18:23:29.841Z,1755627809.841 [DAT](INFO): DAT read: Bearing 328.8,  12.5 (Local)

2025-08-19T18:23:29.841Z,1755627809.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.8,  12.5 (Local)

2025-08-19T18:23:29.843Z,1755627809.843 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.4

2025-08-19T18:23:29.848Z,1755627809.848 [DAT](INFO): DAT read: 18:23:27.9687 LVL= 28640, 31969, 32450, 32755, AGC= 48, IDX= 498,-0.47, 0.928,-0.924, 0.895, 0.508, PHS= 0.522,-1.387, 0.343, RAW= 145.1,   5.8, CAL= 144.7,   6.3, ROT=   5.3,  -6.3

2025-08-19T18:23:29.849Z,1755627809.849 [DAT](INFO): got valid direction response:
 18:23:27.9687 LVL= 28640, 31969, 32450, 32755, AGC= 48, IDX= 498,-0.47, 0.928,-0.924, 0.895, 0.508, PHS= 0.522,-1.387, 0.343, RAW= 145.1,   5.8, CAL= 144.7,   6.3, ROT=   5.3,  -6.3

2025-08-19T18:23:29.849Z,1755627809.849 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-19T18:23:29.850Z,1755627809.850 [DAT](INFO): direction in FSK: [0.989711,0.091813,0.109734]
2025-08-19T18:23:29.850Z,1755627809.850 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:29.854Z,1755627809.854 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=14.108490
2025-08-19T18:23:29.952Z,1755627809.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.503964 s,
      deltaX: -0.200000 m,
      approachRate: -0.396853 m/s,
      rangeRepo size: 4

2025-08-19T18:23:29.995Z,1755627809.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.300000 m,
      bearing: 186.072676 deg,
      lat: 36.779364 deg,
      lon: -121.859515 deg,
      deltaT: 0.503964 s,
      deltaX: -0.200000 m,
      approachRate: -0.396853 m/s,
      posRepo size: 4

2025-08-19T18:23:29.996Z,1755627809.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-08-19T18:23:30.007Z,1755627810.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.300000 m,
      nav range: 11.911819 m,
      bearing: 186.072676 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201796 deg/s,
      cmd heading: 174.625275 deg,
      new cmd heading: 174.354955 deg.

2025-08-19T18:23:30.008Z,1755627810.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.043068 target range: 12.300000 and range: 12.30 m.
2025-08-19T18:23:30.094Z,1755627810.094 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=14.347705
2025-08-19T18:23:30.343Z,1755627810.343 [DAT](INFO): DAT read: Rx Time:18:23:28.4685 

2025-08-19T18:23:30.344Z,1755627810.344 [DAT](INFO): Rx dataTimestamp_ set to:1755627810.343268
2025-08-19T18:23:30.345Z,1755627810.345 [DAT](INFO): DAT read: Bearing 327.8,  12.5 (Local)

2025-08-19T18:23:30.345Z,1755627810.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.8,  12.5 (Local)

2025-08-19T18:23:30.347Z,1755627810.347 [DAT](INFO): DAT read: Range 11 to 50 :    12.0 m (trip time 8.0 ms) speed 0.5

2025-08-19T18:23:30.352Z,1755627810.352 [DAT](INFO): DAT read: 18:23:28.4685 LVL= 26288, 32753, 30194, 32755, AGC= 47, IDX= 511,-0.21,-0.638,-2.508,-0.681,-1.079, PHS= 0.543,-1.384, 0.355, RAW= 144.9,   5.3, CAL= 144.4,   5.8, ROT=   5.6,  -5.8

2025-08-19T18:23:30.353Z,1755627810.353 [DAT](INFO): got valid direction response:
 18:23:28.4685 LVL= 26288, 32753, 30194, 32755, AGC= 47, IDX= 511,-0.21,-0.638,-2.508,-0.681,-1.079, PHS= 0.543,-1.384, 0.355, RAW= 144.9,   5.3, CAL= 144.4,   5.8, ROT=   5.6,  -5.8

2025-08-19T18:23:30.353Z,1755627810.353 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-19T18:23:30.354Z,1755627810.354 [DAT](INFO): direction in FSK: [0.990133,0.097083,0.101056]
2025-08-19T18:23:30.355Z,1755627810.355 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:30.364Z,1755627810.364 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=14.618417
2025-08-19T18:23:30.499Z,1755627810.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 0.504113 s,
      deltaX: -0.300000 m,
      approachRate: -0.595105 m/s,
      rangeRepo size: 4

2025-08-19T18:23:30.501Z,1755627810.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.000000 m,
      bearing: 185.945420 deg,
      lat: 36.779364 deg,
      lon: -121.859515 deg,
      deltaT: 0.504113 s,
      deltaX: -0.300000 m,
      approachRate: -0.595105 m/s,
      posRepo size: 4

2025-08-19T18:23:30.506Z,1755627810.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.00 m.
2025-08-19T18:23:30.509Z,1755627810.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.000000 m,
      nav range: 11.600657 m,
      bearing: 185.945420 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201796 deg/s,
      cmd heading: 174.354949 deg,
      new cmd heading: 174.023967 deg.

2025-08-19T18:23:30.515Z,1755627810.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.037291 target range: 12.000000 and range: 12.00 m.
2025-08-19T18:23:30.596Z,1755627810.596 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=14.850467
2025-08-19T18:23:30.833Z,1755627810.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:30.836Z,1755627810.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.00 m.
2025-08-19T18:23:30.839Z,1755627810.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.000000 m,
      nav range: 11.398206 m,
      bearing: 185.887783 deg,
      approach rate: -0.600274 m/s,
      LOS rate: -0.173932 deg/s,
      cmd heading: 174.023972 deg,
      new cmd heading: 173.847990 deg.

2025-08-19T18:23:30.840Z,1755627810.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.034220 target range: 12.000000 and range: 12.00 m.
2025-08-19T18:23:30.847Z,1755627810.847 [DAT](INFO): DAT read: Rx Time:18:23:28.9683 

2025-08-19T18:23:30.848Z,1755627810.848 [DAT](INFO): Rx dataTimestamp_ set to:1755627810.847279
2025-08-19T18:23:30.849Z,1755627810.849 [DAT](INFO): DAT read: Bearing 327.5,  12.7 (Local)

2025-08-19T18:23:30.850Z,1755627810.850 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.5,  12.7 (Local)

2025-08-19T18:23:30.852Z,1755627810.852 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.5

2025-08-19T18:23:30.856Z,1755627810.856 [DAT](INFO): DAT read: 18:23:28.9683 LVL= 25968, 32753, 30386, 32755, AGC= 47, IDX= 509,-0.04,-0.332,-2.199,-0.391,-0.775, PHS= 0.546,-1.378, 0.340, RAW= 144.4,   5.4, CAL= 144.0,   6.0, ROT=   6.0,  -6.0

2025-08-19T18:23:30.857Z,1755627810.857 [DAT](INFO): got valid direction response:
 18:23:28.9683 LVL= 25968, 32753, 30386, 32755, AGC= 47, IDX= 509,-0.04,-0.332,-2.199,-0.391,-0.775, PHS= 0.546,-1.378, 0.340, RAW= 144.4,   5.4, CAL= 144.0,   6.0, ROT=   6.0,  -6.0

2025-08-19T18:23:30.858Z,1755627810.858 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-19T18:23:30.859Z,1755627810.859 [DAT](INFO): direction in FSK: [0.989074,0.103956,0.104528]
2025-08-19T18:23:30.859Z,1755627810.859 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:30.863Z,1755627810.863 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=15.117297
2025-08-19T18:23:31.102Z,1755627811.102 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=15.355751
2025-08-19T18:23:31.298Z,1755627811.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504011 s,
      deltaX: -0.300000 m,
      approachRate: -0.595225 m/s,
      rangeRepo size: 4

2025-08-19T18:23:31.309Z,1755627811.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.700000 m,
      bearing: 185.751310 deg,
      lat: 36.779363 deg,
      lon: -121.859515 deg,
      deltaT: 0.504011 s,
      deltaX: -0.300000 m,
      approachRate: -0.595225 m/s,
      posRepo size: 4

2025-08-19T18:23:31.314Z,1755627811.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.70 m.
2025-08-19T18:23:31.316Z,1755627811.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.700000 m,
      nav range: 11.235193 m,
      bearing: 185.751310 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173932 deg/s,
      cmd heading: 173.847985 deg,
      new cmd heading: 173.610798 deg.

2025-08-19T18:23:31.322Z,1755627811.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.030080 target range: 11.700000 and range: 11.70 m.
2025-08-19T18:23:31.351Z,1755627811.351 [DAT](INFO): DAT read: Rx Time:18:23:29.4680 

2025-08-19T18:23:31.352Z,1755627811.352 [DAT](INFO): Rx dataTimestamp_ set to:1755627811.351377
2025-08-19T18:23:31.353Z,1755627811.353 [DAT](INFO): DAT read: Bearing 326.9,  12.8 (Local)

2025-08-19T18:23:31.354Z,1755627811.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.9,  12.8 (Local)

2025-08-19T18:23:31.356Z,1755627811.356 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-08-19T18:23:31.361Z,1755627811.361 [DAT](INFO): DAT read: 18:23:29.4680 LVL= 26608, 32753, 32482, 32755, AGC= 47, IDX= 506, 0.11, 0.077,-1.797, 0.006,-0.377, PHS= 0.556,-1.375, 0.339, RAW= 144.1,   5.3, CAL= 143.7,   5.8, ROT=   6.3,  -5.8

2025-08-19T18:23:31.362Z,1755627811.362 [DAT](INFO): got valid direction response:
 18:23:29.4680 LVL= 26608, 32753, 32482, 32755, AGC= 47, IDX= 506, 0.11, 0.077,-1.797, 0.006,-0.377, PHS= 0.556,-1.375, 0.339, RAW= 144.1,   5.3, CAL= 143.7,   5.8, ROT=   6.3,  -5.8

2025-08-19T18:23:31.363Z,1755627811.363 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-19T18:23:31.364Z,1755627811.364 [DAT](INFO): direction in FSK: [0.988873,0.109173,0.101056]
2025-08-19T18:23:31.364Z,1755627811.364 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:31.369Z,1755627811.369 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=15.623397
2025-08-19T18:23:31.603Z,1755627811.603 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=15.857501
2025-08-19T18:23:31.706Z,1755627811.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.504098 s,
      deltaX: -0.400000 m,
      approachRate: -0.793496 m/s,
      rangeRepo size: 4

2025-08-19T18:23:31.708Z,1755627811.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.300000 m,
      bearing: 185.456494 deg,
      lat: 36.779363 deg,
      lon: -121.859514 deg,
      deltaT: 0.504098 s,
      deltaX: -0.400000 m,
      approachRate: -0.793496 m/s,
      posRepo size: 4

2025-08-19T18:23:31.708Z,1755627811.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.30 m.
2025-08-19T18:23:31.715Z,1755627811.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.300000 m,
      nav range: 11.021655 m,
      bearing: 185.456494 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173932 deg/s,
      cmd heading: 173.610800 deg,
      new cmd heading: 173.396490 deg.

2025-08-19T18:23:31.716Z,1755627811.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.026340 target range: 11.300000 and range: 11.30 m.
2025-08-19T18:23:31.856Z,1755627811.856 [DAT](INFO): DAT read: Rx Time:18:23:29.9679 

2025-08-19T18:23:31.856Z,1755627811.856 [DAT](INFO): Rx dataTimestamp_ set to:1755627811.856025
2025-08-19T18:23:31.858Z,1755627811.858 [DAT](INFO): DAT read: Bearing 326.8,  12.7 (Local)

2025-08-19T18:23:31.859Z,1755627811.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.8,  12.7 (Local)

2025-08-19T18:23:31.861Z,1755627811.861 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed 0.4

2025-08-19T18:23:31.866Z,1755627811.866 [DAT](INFO): DAT read: 18:23:29.9679 LVL= 26976, 29777, 32434, 32755, AGC= 48, IDX= 505, 0.25, 1.281,-0.597, 1.198, 0.830, PHS= 0.553,-1.382, 0.324, RAW= 143.8,   5.6, CAL= 143.4,   6.1, ROT=   6.6,  -6.1

2025-08-19T18:23:31.867Z,1755627811.867 [DAT](INFO): got valid direction response:
 18:23:29.9679 LVL= 26976, 29777, 32434, 32755, AGC= 48, IDX= 505, 0.25, 1.281,-0.597, 1.198, 0.830, PHS= 0.553,-1.382, 0.324, RAW= 143.8,   5.6, CAL= 143.4,   6.1, ROT=   6.6,  -6.1

2025-08-19T18:23:31.867Z,1755627811.867 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-19T18:23:31.868Z,1755627811.868 [DAT](INFO): direction in FSK: [0.987748,0.114286,0.106264]
2025-08-19T18:23:31.868Z,1755627811.868 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:31.872Z,1755627811.872 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=16.126581
2025-08-19T18:23:32.110Z,1755627812.110 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=16.363897
2025-08-19T18:23:32.149Z,1755627812.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.504648 s,
      deltaX: -0.200000 m,
      approachRate: -0.396315 m/s,
      rangeRepo size: 4

2025-08-19T18:23:32.155Z,1755627812.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.100000 m,
      bearing: 185.327827 deg,
      lat: 36.779362 deg,
      lon: -121.859514 deg,
      deltaT: 0.504648 s,
      deltaX: -0.200000 m,
      approachRate: -0.396315 m/s,
      posRepo size: 4

2025-08-19T18:23:32.156Z,1755627812.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.10 m.
2025-08-19T18:23:32.160Z,1755627812.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.100000 m,
      nav range: 10.825645 m,
      bearing: 185.327827 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173932 deg/s,
      cmd heading: 173.396496 deg,
      new cmd heading: 173.173638 deg.

2025-08-19T18:23:32.162Z,1755627812.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.022450 target range: 11.100000 and range: 11.10 m.
2025-08-19T18:23:32.361Z,1755627812.361 [DAT](INFO): DAT read: Rx Time:18:23:30.4676 

2025-08-19T18:23:32.361Z,1755627812.361 [DAT](INFO): Rx dataTimestamp_ set to:1755627812.360734
2025-08-19T18:23:32.363Z,1755627812.363 [DAT](INFO): DAT read: Bearing 326.4,  12.9 (Local)

2025-08-19T18:23:32.364Z,1755627812.364 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.4,  12.9 (Local)

2025-08-19T18:23:32.367Z,1755627812.367 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-08-19T18:23:32.376Z,1755627812.376 [DAT](INFO): DAT read: 18:23:30.4676 LVL= 24496, 27361, 29218, 32755, AGC= 48, IDX= 502, 0.49, 0.057,-1.816,-0.041,-0.399, PHS= 0.558,-1.372, 0.314, RAW= 143.3,   5.6, CAL= 142.9,   6.1, ROT=   7.1,  -6.1

2025-08-19T18:23:32.391Z,1755627812.391 [DAT](INFO): got valid direction response:
 18:23:30.4676 LVL= 24496, 27361, 29218, 32755, AGC= 48, IDX= 502, 0.49, 0.057,-1.816,-0.041,-0.399, PHS= 0.558,-1.372, 0.314, RAW= 143.3,   5.6, CAL= 142.9,   6.1, ROT=   7.1,  -6.1

2025-08-19T18:23:32.391Z,1755627812.391 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-19T18:23:32.393Z,1755627812.393 [DAT](INFO): direction in FSK: [0.986713,0.122902,0.106264]
2025-08-19T18:23:32.393Z,1755627812.393 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:32.401Z,1755627812.401 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=16.655397
2025-08-19T18:23:32.597Z,1755627812.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504709 s,
      deltaX: -0.400001 m,
      approachRate: -0.792537 m/s,
      rangeRepo size: 4

2025-08-19T18:23:32.604Z,1755627812.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.700000 m,
      bearing: 185.247190 deg,
      lat: 36.779362 deg,
      lon: -121.859514 deg,
      deltaT: 0.504709 s,
      deltaX: -0.400001 m,
      approachRate: -0.792537 m/s,
      posRepo size: 4

2025-08-19T18:23:32.605Z,1755627812.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.70 m.
2025-08-19T18:23:32.611Z,1755627812.611 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=16.865276
2025-08-19T18:23:32.613Z,1755627812.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.700000 m,
      nav range: 10.541867 m,
      bearing: 185.247190 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173932 deg/s,
      cmd heading: 173.173641 deg,
      new cmd heading: 172.929372 deg.

2025-08-19T18:23:32.618Z,1755627812.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.018187 target range: 10.700000 and range: 10.70 m.
2025-08-19T18:23:32.864Z,1755627812.864 [DAT](INFO): DAT read: Rx Time:18:23:30.9676 

2025-08-19T18:23:32.865Z,1755627812.865 [DAT](INFO): Rx dataTimestamp_ set to:1755627812.864673
2025-08-19T18:23:32.867Z,1755627812.867 [DAT](INFO): DAT read: Bearing 326.3,  13.2 (Local)

2025-08-19T18:23:32.868Z,1755627812.868 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.3,  13.2 (Local)

2025-08-19T18:23:32.870Z,1755627812.870 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.4

2025-08-19T18:23:32.881Z,1755627812.881 [DAT](INFO): DAT read: 18:23:30.9676 LVL= 23728, 28897, 28402, 32755, AGC= 49, IDX= 502,-0.26,-0.202,-2.059,-0.316,-0.650, PHS= 0.551,-1.363, 0.290, RAW= 142.8,   5.9, CAL= 142.4,   6.5, ROT=   7.6,  -6.5

2025-08-19T18:23:32.883Z,1755627812.883 [DAT](INFO): got valid direction response:
 18:23:30.9676 LVL= 23728, 28897, 28402, 32755, AGC= 49, IDX= 502,-0.26,-0.202,-2.059,-0.316,-0.650, PHS= 0.551,-1.363, 0.290, RAW= 142.8,   5.9, CAL= 142.4,   6.5, ROT=   7.6,  -6.5

2025-08-19T18:23:32.883Z,1755627812.883 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-19T18:23:32.885Z,1755627812.885 [DAT](INFO): direction in FSK: [0.984844,0.131406,0.113203]
2025-08-19T18:23:32.885Z,1755627812.885 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:32.891Z,1755627812.891 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=17.145765
2025-08-19T18:23:33.038Z,1755627813.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.503939 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:33.040Z,1755627813.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.700000 m,
      bearing: 185.301063 deg,
      lat: 36.779362 deg,
      lon: -121.859515 deg,
      deltaT: 0.503939 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:23:33.040Z,1755627813.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.70 m.
2025-08-19T18:23:33.047Z,1755627813.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.700000 m,
      nav range: 10.340014 m,
      bearing: 185.301063 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.173932 deg/s,
      cmd heading: 172.929366 deg,
      new cmd heading: 172.701488 deg.

2025-08-19T18:23:33.048Z,1755627813.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.014210 target range: 10.700000 and range: 10.70 m.
2025-08-19T18:23:33.118Z,1755627813.118 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=17.371862
2025-08-19T18:23:33.367Z,1755627813.367 [DAT](INFO): DAT read: Rx Time:18:23:31.4673 

2025-08-19T18:23:33.367Z,1755627813.367 [DAT](INFO): Rx dataTimestamp_ set to:1755627813.367105
2025-08-19T18:23:33.369Z,1755627813.369 [DAT](INFO): DAT read: Bearing 325.6,  13.1 (Local)

2025-08-19T18:23:33.369Z,1755627813.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.6,  13.1 (Local)

2025-08-19T18:23:33.375Z,1755627813.375 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 03 LVL= 21472, 27297, 24274, 32755, AGC= 49, IDX= 499,-0.12,-1.465, 2.956,-1.583,-1.924, PHS= 0.561,-1.357, 0.297, RAW= 142.7,   5.6, CAL= 142.3,   6.2, ROT=   7.7,  -6.2

2025-08-19T18:23:33.375Z,1755627813.375 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-08-19T18:23:33.376Z,1755627813.376 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=17.631012
2025-08-19T18:23:33.567Z,1755627813.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:33.577Z,1755627813.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.502432 s,
      deltaX: -0.500000 m,
      approachRate: -0.995160 m/s,
      rangeRepo size: 4

2025-08-19T18:23:33.578Z,1755627813.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.70 m.
2025-08-19T18:23:33.581Z,1755627813.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.700000 m,
      nav range: 10.021632 m,
      bearing: 185.198682 deg,
      approach rate: -0.593753 m/s,
      LOS rate: -0.196997 deg/s,
      cmd heading: 172.701483 deg,
      new cmd heading: 172.384585 deg.

2025-08-19T18:23:33.582Z,1755627813.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.008679 target range: 10.700000 and range: 10.20 m.
2025-08-19T18:23:33.619Z,1755627813.619 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=17.873346
2025-08-19T18:23:33.872Z,1755627813.872 [DAT](INFO): DAT read: Rx Time:18:23:31.9672 

2025-08-19T18:23:33.873Z,1755627813.873 [DAT](INFO): Rx dataTimestamp_ set to:1755627813.872474
2025-08-19T18:23:33.875Z,1755627813.875 [DAT](INFO): DAT read: Bearing 324.8,  13.3 (Local)

2025-08-19T18:23:33.875Z,1755627813.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.8,  13.3 (Local)

2025-08-19T18:23:33.878Z,1755627813.878 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.5

2025-08-19T18:23:33.885Z,1755627813.885 [DAT](INFO): DAT read: 18:23:31.9672 LVL= 22000, 28465, 25426, 32755, AGC= 50, IDX= 498, 0.07, 0.227,-1.610, 0.098,-0.239, PHS= 0.568,-1.326, 0.292, RAW= 142.3,   5.3, CAL= 141.9,   5.9, ROT=   8.1,  -5.9

2025-08-19T18:23:33.886Z,1755627813.886 [DAT](INFO): got valid direction response:
 18:23:31.9672 LVL= 22000, 28465, 25426, 32755, AGC= 50, IDX= 498, 0.07, 0.227,-1.610, 0.098,-0.239, PHS= 0.568,-1.326, 0.292, RAW= 142.3,   5.3, CAL= 141.9,   5.9, ROT=   8.1,  -5.9

2025-08-19T18:23:33.886Z,1755627813.886 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-19T18:23:33.887Z,1755627813.887 [DAT](INFO): direction in FSK: [0.984779,0.140155,0.102793]
2025-08-19T18:23:33.887Z,1755627813.887 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:33.891Z,1755627813.891 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=18.145721
2025-08-19T18:23:33.982Z,1755627813.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.505369 s,
      deltaX: -0.099999 m,
      approachRate: -0.197874 m/s,
      rangeRepo size: 4

2025-08-19T18:23:33.985Z,1755627813.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.100000 m,
      bearing: 185.023147 deg,
      lat: 36.779362 deg,
      lon: -121.859514 deg,
      deltaT: 1.007801 s,
      deltaX: -0.599999 m,
      approachRate: -0.595355 m/s,
      posRepo size: 4

2025-08-19T18:23:33.988Z,1755627813.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.10 m.
2025-08-19T18:23:33.999Z,1755627813.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.100000 m,
      nav range: 9.778575 m,
      bearing: 185.023147 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.196997 deg/s,
      cmd heading: 172.384590 deg,
      new cmd heading: 172.143177 deg.

2025-08-19T18:23:34.000Z,1755627814.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.004465 target range: 10.100000 and range: 10.10 m.
2025-08-19T18:23:34.127Z,1755627814.127 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=18.380920
2025-08-19T18:23:34.367Z,1755627814.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.10 m.
2025-08-19T18:23:34.370Z,1755627814.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.100000 m,
      nav range: 9.541213 m,
      bearing: 184.910589 deg,
      approach rate: -0.609605 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 172.143184 deg,
      new cmd heading: 171.797116 deg.

2025-08-19T18:23:34.371Z,1755627814.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.998425 target range: 10.100000 and range: 10.10 m.
2025-08-19T18:23:34.375Z,1755627814.375 [DAT](INFO): DAT read: Rx Time:18:23:32.4668 

2025-08-19T18:23:34.376Z,1755627814.376 [DAT](INFO): Rx dataTimestamp_ set to:1755627814.375347
2025-08-19T18:23:34.377Z,1755627814.377 [DAT](INFO): DAT read: Bearing 324.5,  13.5 (Local)

2025-08-19T18:23:34.377Z,1755627814.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.5,  13.5 (Local)

2025-08-19T18:23:34.379Z,1755627814.379 [DAT](INFO): DAT read: Range 11 to 50 :     9.5 m (trip time 6.3 ms) speed 0.5

2025-08-19T18:23:34.385Z,1755627814.385 [DAT](INFO): DAT read: 18:23:32.4668 LVL= 22512, 29617, 24146, 32755, AGC= 48, IDX= 495, 0.33,-1.893, 2.592,-2.034,-2.354, PHS= 0.563,-1.292, 0.275, RAW= 141.7,   5.3, CAL= 141.4,   5.9, ROT=   8.6,  -5.9

2025-08-19T18:23:34.386Z,1755627814.386 [DAT](INFO): got valid direction response:
 18:23:32.4668 LVL= 22512, 29617, 24146, 32755, AGC= 48, IDX= 495, 0.33,-1.893, 2.592,-2.034,-2.354, PHS= 0.563,-1.292, 0.275, RAW= 141.7,   5.3, CAL= 141.4,   5.9, ROT=   8.6,  -5.9

2025-08-19T18:23:34.386Z,1755627814.386 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-19T18:23:34.387Z,1755627814.387 [DAT](INFO): direction in FSK: [0.983519,0.148743,0.102793]
2025-08-19T18:23:34.387Z,1755627814.387 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:34.403Z,1755627814.403 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=18.657698
2025-08-19T18:23:34.630Z,1755627814.630 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=18.884720
2025-08-19T18:23:34.760Z,1755627814.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 0.502873 s,
      deltaX: -0.600000 m,
      approachRate: -1.193145 m/s,
      rangeRepo size: 4

2025-08-19T18:23:34.786Z,1755627814.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.500000 m,
      bearing: 184.796229 deg,
      lat: 36.779362 deg,
      lon: -121.859514 deg,
      deltaT: 0.502873 s,
      deltaX: -0.600000 m,
      approachRate: -1.193145 m/s,
      posRepo size: 4

2025-08-19T18:23:34.789Z,1755627814.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.50 m.
2025-08-19T18:23:34.812Z,1755627814.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.50 m.
2025-08-19T18:23:34.812Z,1755627814.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-19T18:23:34.819Z,1755627814.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 9.348269 m,
      bearing: 184.796229 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 171.797112 deg,
      new cmd heading: 171.451608 deg.

2025-08-19T18:23:34.820Z,1755627814.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.992395 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:34.880Z,1755627814.880 [DAT](INFO): DAT read: Rx Time:18:23:32.9667 

2025-08-19T18:23:34.881Z,1755627814.881 [DAT](INFO): Rx dataTimestamp_ set to:1755627814.880232
2025-08-19T18:23:34.882Z,1755627814.882 [DAT](INFO): DAT read: Bearing 324.4,  13.8 (Local)

2025-08-19T18:23:34.883Z,1755627814.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.4,  13.8 (Local)

2025-08-19T18:23:34.887Z,1755627814.887 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed 0.5

2025-08-19T18:23:34.893Z,1755627814.893 [DAT](INFO): DAT read: 18:23:32.9667 LVL= 22928, 29585, 25586, 32755, AGC= 48, IDX= 510,-0.26, 1.418,-0.366, 1.257, 0.962, PHS= 0.558,-1.282, 0.251, RAW= 141.0,   5.6, CAL= 140.7,   6.3, ROT=   9.3,  -6.3

2025-08-19T18:23:34.906Z,1755627814.906 [DAT](INFO): got valid direction response:
 18:23:32.9667 LVL= 22928, 29585, 25586, 32755, AGC= 48, IDX= 510,-0.26, 1.418,-0.366, 1.257, 0.962, PHS= 0.558,-1.282, 0.251, RAW= 141.0,   5.6, CAL= 140.7,   6.3, ROT=   9.3,  -6.3

2025-08-19T18:23:34.907Z,1755627814.907 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-19T18:23:34.908Z,1755627814.908 [DAT](INFO): direction in FSK: [0.980896,0.160628,0.109734]
2025-08-19T18:23:34.908Z,1755627814.908 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:34.925Z,1755627814.925 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=19.179579
2025-08-19T18:23:35.134Z,1755627815.134 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=19.387678
2025-08-19T18:23:35.275Z,1755627815.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.504885 s,
      deltaX: -0.200000 m,
      approachRate: -0.396129 m/s,
      rangeRepo size: 4

2025-08-19T18:23:35.292Z,1755627815.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.300000 m,
      bearing: 184.763804 deg,
      lat: 36.779361 deg,
      lon: -121.859515 deg,
      deltaT: 0.504885 s,
      deltaX: -0.200000 m,
      approachRate: -0.396129 m/s,
      posRepo size: 4

2025-08-19T18:23:35.306Z,1755627815.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.50 m.
2025-08-19T18:23:35.315Z,1755627815.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 9.050840 m,
      bearing: 184.699530 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 171.451613 deg,
      new cmd heading: 171.005675 deg.

2025-08-19T18:23:35.316Z,1755627815.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.984612 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:35.384Z,1755627815.384 [DAT](INFO): DAT read: Rx Time:18:23:33.4665 

2025-08-19T18:23:35.385Z,1755627815.385 [DAT](INFO): Rx dataTimestamp_ set to:1755627815.384314
2025-08-19T18:23:35.386Z,1755627815.386 [DAT](INFO): DAT read: Bearing 323.7,  13.8 (Local)

2025-08-19T18:23:35.387Z,1755627815.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.7,  13.8 (Local)

2025-08-19T18:23:35.389Z,1755627815.389 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.5

2025-08-19T18:23:35.406Z,1755627815.406 [DAT](INFO): DAT read: 18:23:33.4665 LVL= 22800, 29105, 26594, 32755, AGC= 49, IDX= 507,-0.01,-0.715,-2.490,-0.882,-1.179, PHS= 0.566,-1.266, 0.253, RAW= 140.8,   5.3, CAL= 140.5,   6.0, ROT=   9.5,  -6.0

2025-08-19T18:23:35.408Z,1755627815.408 [DAT](INFO): got valid direction response:
 18:23:33.4665 LVL= 22800, 29105, 26594, 32755, AGC= 49, IDX= 507,-0.01,-0.715,-2.490,-0.882,-1.179, PHS= 0.566,-1.266, 0.253, RAW= 140.8,   5.3, CAL= 140.5,   6.0, ROT=   9.5,  -6.0

2025-08-19T18:23:35.408Z,1755627815.408 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-19T18:23:35.414Z,1755627815.414 [DAT](INFO): direction in FSK: [0.980883,0.164143,0.104528]
2025-08-19T18:23:35.414Z,1755627815.414 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:35.431Z,1755627815.431 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=19.685434
2025-08-19T18:23:35.614Z,1755627815.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.504082 s,
      deltaX: -0.400001 m,
      approachRate: -0.793523 m/s,
      rangeRepo size: 4

2025-08-19T18:23:35.616Z,1755627815.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.900000 m,
      bearing: 184.854096 deg,
      lat: 36.779361 deg,
      lon: -121.859515 deg,
      deltaT: 1.008967 s,
      deltaX: -0.600000 m,
      approachRate: -0.594668 m/s,
      posRepo size: 4

2025-08-19T18:23:35.617Z,1755627815.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.90 m. 9.50 m.
2025-08-19T18:23:35.624Z,1755627815.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 8.849140 m,
      bearing: 184.637951 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 171.005670 deg,
      new cmd heading: 170.693209 deg.

2025-08-19T18:23:35.625Z,1755627815.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.979158 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:35.635Z,1755627815.635 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=19.889280
2025-08-19T18:23:35.887Z,1755627815.887 [DAT](INFO): DAT read: Rx Time:18:23:33.9664 

2025-08-19T18:23:35.888Z,1755627815.888 [DAT](INFO): Rx dataTimestamp_ set to:1755627815.887326
2025-08-19T18:23:35.889Z,1755627815.889 [DAT](INFO): DAT read: Bearing 323.3,  13.6 (Local)

2025-08-19T18:23:35.889Z,1755627815.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.3,  13.6 (Local)

2025-08-19T18:23:35.891Z,1755627815.891 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed 0.4

2025-08-19T18:23:35.901Z,1755627815.901 [DAT](INFO): DAT read: 18:23:33.9664 LVL= 23984, 32753, 26610, 32755, AGC= 49, IDX= 506, 0.19, 0.287,-1.496, 0.118,-0.179, PHS= 0.568,-1.272, 0.253, RAW= 140.8,   5.4, CAL= 140.5,   6.0, ROT=   9.5,  -6.0

2025-08-19T18:23:35.902Z,1755627815.902 [DAT](INFO): got valid direction response:
 18:23:33.9664 LVL= 23984, 32753, 26610, 32755, AGC= 49, IDX= 506, 0.19, 0.287,-1.496, 0.118,-0.179, PHS= 0.568,-1.272, 0.253, RAW= 140.8,   5.4, CAL= 140.5,   6.0, ROT=   9.5,  -6.0

2025-08-19T18:23:35.902Z,1755627815.902 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-19T18:23:35.903Z,1755627815.903 [DAT](INFO): direction in FSK: [0.980883,0.164143,0.104528]
2025-08-19T18:23:35.903Z,1755627815.903 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:35.931Z,1755627815.931 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=20.185677
2025-08-19T18:23:36.016Z,1755627816.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.503012 s,
      deltaX: -0.200000 m,
      approachRate: -0.397604 m/s,
      rangeRepo size: 4

2025-08-19T18:23:36.024Z,1755627816.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.700000 m,
      bearing: 184.601376 deg,
      lat: 36.779362 deg,
      lon: -121.859515 deg,
      deltaT: 1.511979 s,
      deltaX: -0.800000 m,
      approachRate: -0.529108 m/s,
      posRepo size: 4

2025-08-19T18:23:36.025Z,1755627816.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 9.50 m.
2025-08-19T18:23:36.032Z,1755627816.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 8.600622 m,
      bearing: 184.567669 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 170.693203 deg,
      new cmd heading: 170.332096 deg.

2025-08-19T18:23:36.033Z,1755627816.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.972856 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:36.139Z,1755627816.139 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=20.394121
2025-08-19T18:23:36.391Z,1755627816.391 [DAT](INFO): DAT read: Rx Time:18:23:34.4661 

2025-08-19T18:23:36.392Z,1755627816.392 [DAT](INFO): Rx dataTimestamp_ set to:1755627816.391317
2025-08-19T18:23:36.393Z,1755627816.393 [DAT](INFO): DAT read: Bearing 322.7,  13.4 (Local)

2025-08-19T18:23:36.394Z,1755627816.394 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.7,  13.4 (Local)

2025-08-19T18:23:36.396Z,1755627816.396 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed 0.6

2025-08-19T18:23:36.400Z,1755627816.400 [DAT](INFO): DAT read: 18:23:34.4661 LVL= 23280, 28849, 25394, 32755, AGC= 49, IDX= 503, 0.47,-1.576, 2.931,-1.747,-2.046, PHS= 0.573,-1.261, 0.255, RAW= 140.7,   5.2, CAL= 140.4,   5.8, ROT=   9.6,  -5.8

2025-08-19T18:23:36.401Z,1755627816.401 [DAT](INFO): got valid direction response:
 18:23:34.4661 LVL= 23280, 28849, 25394, 32755, AGC= 49, IDX= 503, 0.47,-1.576, 2.931,-1.747,-2.046, PHS= 0.573,-1.261, 0.255, RAW= 140.7,   5.2, CAL= 140.4,   5.8, ROT=   9.6,  -5.8

2025-08-19T18:23:36.402Z,1755627816.402 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-19T18:23:36.403Z,1755627816.403 [DAT](INFO): direction in FSK: [0.980948,0.165915,0.101056]
2025-08-19T18:23:36.403Z,1755627816.403 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:36.419Z,1755627816.419 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=20.673489
2025-08-19T18:23:36.481Z,1755627816.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.503991 s,
      deltaX: -0.400000 m,
      approachRate: -0.793664 m/s,
      rangeRepo size: 4

2025-08-19T18:23:36.491Z,1755627816.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.300000 m,
      bearing: 184.583031 deg,
      lat: 36.779362 deg,
      lon: -121.859515 deg,
      deltaT: 2.015970 s,
      deltaX: -1.200000 m,
      approachRate: -0.595247 m/s,
      posRepo size: 4

2025-08-19T18:23:36.492Z,1755627816.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.30 m. 9.50 m.
2025-08-19T18:23:36.499Z,1755627816.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 8.348142 m,
      bearing: 184.533849 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 170.332091 deg,
      new cmd heading: 169.919104 deg.

2025-08-19T18:23:36.500Z,1755627816.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.965648 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:36.643Z,1755627816.643 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=20.897474
2025-08-19T18:23:36.849Z,1755627816.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:36.864Z,1755627816.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-08-19T18:23:36.870Z,1755627816.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 8.098775 m,
      bearing: 184.509053 deg,
      approach rate: -0.650365 m/s,
      LOS rate: -0.066660 deg/s,
      cmd heading: 169.919110 deg,
      new cmd heading: 169.842433 deg.

2025-08-19T18:23:36.871Z,1755627816.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.964310 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:36.895Z,1755627816.895 [DAT](INFO): DAT read: Rx Time:18:23:34.9661 

2025-08-19T18:23:36.896Z,1755627816.896 [DAT](INFO): Rx dataTimestamp_ set to:1755627816.895415
2025-08-19T18:23:36.897Z,1755627816.897 [DAT](INFO): DAT read: Bearing 322.6,  13.7 (Local)

2025-08-19T18:23:36.898Z,1755627816.898 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.6,  13.7 (Local)

2025-08-19T18:23:36.900Z,1755627816.900 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed 0.4

2025-08-19T18:23:36.905Z,1755627816.905 [DAT](INFO): DAT read: 18:23:34.9661 LVL= 23872, 31121, 26914, 32755, AGC= 48, IDX= 503,-0.17,-2.905, 1.608,-3.097, 2.907, PHS= 0.573,-1.254, 0.235, RAW= 140.0,   5.4, CAL= 139.8,   6.1, ROT=  10.2,  -6.1

2025-08-19T18:23:36.906Z,1755627816.906 [DAT](INFO): got valid direction response:
 18:23:34.9661 LVL= 23872, 31121, 26914, 32755, AGC= 48, IDX= 503,-0.17,-2.905, 1.608,-3.097, 2.907, PHS= 0.573,-1.254, 0.235, RAW= 140.0,   5.4, CAL= 139.8,   6.1, ROT=  10.2,  -6.1

2025-08-19T18:23:36.906Z,1755627816.906 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-19T18:23:36.907Z,1755627816.907 [DAT](INFO): direction in FSK: [0.978623,0.176082,0.106264]
2025-08-19T18:23:36.908Z,1755627816.908 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:36.911Z,1755627816.911 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=21.166174
2025-08-19T18:23:37.149Z,1755627817.149 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=21.403296
2025-08-19T18:23:37.342Z,1755627817.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.504098 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:37.344Z,1755627817.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.300000 m,
      bearing: 184.537606 deg,
      lat: 36.779362 deg,
      lon: -121.859515 deg,
      deltaT: 2.520068 s,
      deltaX: -1.200000 m,
      approachRate: -0.476178 m/s,
      posRepo size: 4

2025-08-19T18:23:37.346Z,1755627817.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.30 m. 9.50 m.
2025-08-19T18:23:37.348Z,1755627817.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 7.816462 m,
      bearing: 184.466721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 169.842435 deg,
      new cmd heading: 169.417302 deg.

2025-08-19T18:23:37.349Z,1755627817.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.956890 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:37.400Z,1755627817.400 [DAT](INFO): DAT read: Rx Time:18:23:35.4658 

2025-08-19T18:23:37.401Z,1755627817.401 [DAT](INFO): Rx dataTimestamp_ set to:1755627817.400288
2025-08-19T18:23:37.404Z,1755627817.404 [DAT](INFO): DAT read: Bearing 322.2,  13.4 (Local)

2025-08-19T18:23:37.404Z,1755627817.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.2,  13.4 (Local)

2025-08-19T18:23:37.407Z,1755627817.407 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed 0.4

2025-08-19T18:23:37.443Z,1755627817.443 [DAT](INFO): DAT read: 18:23:35.4658 LVL= 24048, 30705, 27250, 32755, AGC= 48, IDX= 500, 0.01,-3.014, 1.495, 3.080, 2.798, PHS= 0.573,-1.258, 0.237, RAW= 140.1,   5.4, CAL= 139.8,   6.1, ROT=  10.2,  -6.1

2025-08-19T18:23:37.444Z,1755627817.444 [DAT](INFO): got valid direction response:
 18:23:35.4658 LVL= 24048, 30705, 27250, 32755, AGC= 48, IDX= 500, 0.01,-3.014, 1.495, 3.080, 2.798, PHS= 0.573,-1.258, 0.237, RAW= 140.1,   5.4, CAL= 139.8,   6.1, ROT=  10.2,  -6.1

2025-08-19T18:23:37.445Z,1755627817.445 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-19T18:23:37.458Z,1755627817.458 [DAT](INFO): direction in FSK: [0.978623,0.176082,0.106264]
2025-08-19T18:23:37.459Z,1755627817.459 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:37.462Z,1755627817.462 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=21.716999
2025-08-19T18:23:37.651Z,1755627817.651 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=21.905279
2025-08-19T18:23:37.691Z,1755627817.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.504873 s,
      deltaX: -0.500000 m,
      approachRate: -0.990348 m/s,
      rangeRepo size: 4

2025-08-19T18:23:37.693Z,1755627817.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.800000 m,
      bearing: 184.496837 deg,
      lat: 36.779362 deg,
      lon: -121.859515 deg,
      deltaT: 3.024941 s,
      deltaX: -1.700000 m,
      approachRate: -0.561994 m/s,
      posRepo size: 4

2025-08-19T18:23:37.698Z,1755627817.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.80 m. 9.50 m.
2025-08-19T18:23:37.701Z,1755627817.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 7.621405 m,
      bearing: 184.443258 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 169.417296 deg,
      new cmd heading: 169.107500 deg.

2025-08-19T18:23:37.705Z,1755627817.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.951483 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:37.903Z,1755627817.903 [DAT](INFO): DAT read: Rx Time:18:23:35.9657 

2025-08-19T18:23:37.904Z,1755627817.904 [DAT](INFO): Rx dataTimestamp_ set to:1755627817.903388
2025-08-19T18:23:37.905Z,1755627817.905 [DAT](INFO): DAT read: Bearing 321.5,  12.9 (Local)

2025-08-19T18:23:37.905Z,1755627817.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.5,  12.9 (Local)

2025-08-19T18:23:37.907Z,1755627817.907 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.5

2025-08-19T18:23:37.912Z,1755627817.912 [DAT](INFO): DAT read: 18:23:35.9657 LVL= 24912, 31729, 26834, 32755, AGC= 47, IDX= 499, 0.16,-0.629,-2.411,-0.813,-1.106, PHS= 0.580,-1.260, 0.249, RAW= 140.3,   5.1, CAL= 140.1,   5.8, ROT=   9.9,  -5.8

2025-08-19T18:23:37.913Z,1755627817.913 [DAT](INFO): got valid direction response:
 18:23:35.9657 LVL= 24912, 31729, 26834, 32755, AGC= 47, IDX= 499, 0.16,-0.629,-2.411,-0.813,-1.106, PHS= 0.580,-1.260, 0.249, RAW= 140.3,   5.1, CAL= 140.1,   5.8, ROT=   9.9,  -5.8

2025-08-19T18:23:37.914Z,1755627817.914 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-19T18:23:37.915Z,1755627817.915 [DAT](INFO): direction in FSK: [0.980066,0.171049,0.101056]
2025-08-19T18:23:37.915Z,1755627817.915 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:37.919Z,1755627817.919 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=22.173214
2025-08-19T18:23:38.110Z,1755627818.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.503100 s,
      deltaX: -0.100000 m,
      approachRate: -0.198768 m/s,
      rangeRepo size: 4

2025-08-19T18:23:38.112Z,1755627818.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.700000 m,
      bearing: 184.076489 deg,
      lat: 36.779361 deg,
      lon: -121.859514 deg,
      deltaT: 3.528041 s,
      deltaX: -1.800000 m,
      approachRate: -0.510198 m/s,
      posRepo size: 4

2025-08-19T18:23:38.113Z,1755627818.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.70 m. 9.50 m.
2025-08-19T18:23:38.120Z,1755627818.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 7.380734 m,
      bearing: 184.422236 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 169.107506 deg,
      new cmd heading: 168.738832 deg.

2025-08-19T18:23:38.120Z,1755627818.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.945048 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:38.155Z,1755627818.155 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=22.409271
2025-08-19T18:23:38.407Z,1755627818.407 [DAT](INFO): DAT read: Rx Time:18:23:36.4654 

2025-08-19T18:23:38.407Z,1755627818.407 [DAT](INFO): Rx dataTimestamp_ set to:1755627818.407047
2025-08-19T18:23:38.409Z,1755627818.409 [DAT](INFO): DAT read: Bearing 321.0,  12.9 (Local)

2025-08-19T18:23:38.409Z,1755627818.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.0,  12.9 (Local)

2025-08-19T18:23:38.411Z,1755627818.411 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed 0.4

2025-08-19T18:23:38.415Z,1755627818.415 [DAT](INFO): DAT read: 18:23:36.4654 LVL= 23008, 7522, 327546, , 0.29,-0.530,-2.309,-0.720,-1.013, PHS= 0.585,-1.251, 0.249, RAW= 140.1,   5.0, CAL= 139.9,   5.7, ROT=  10.1,  -5.7

2025-08-19T18:23:38.415Z,1755627818.415 [DAT](INFO): unknown deviceResponse_: 18:23:36.4654 LVL= 23008, 7522, 327546, , 0.29,-0.530,-2.309,-0.720,-1.013, PHS= 0.585,-1.251, 0.249, RAW= 140.1,   5.0, CAL= 139.9,   5.7, ROT=  10.1,  -5.7

2025-08-19T18:23:38.416Z,1755627818.416 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-08-19T18:23:38.417Z,1755627818.417 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=22.671440
2025-08-19T18:23:38.604Z,1755627818.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.503659 s,
      deltaX: -0.500000 m,
      approachRate: -0.992735 m/s,
      rangeRepo size: 4

2025-08-19T18:23:38.610Z,1755627818.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-08-19T18:23:38.612Z,1755627818.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 7.093335 m,
      bearing: 184.456661 deg,
      approach rate: -0.576150 m/s,
      LOS rate: 0.071807 deg/s,
      cmd heading: 168.738826 deg,
      new cmd heading: 168.846284 deg.

2025-08-19T18:23:38.622Z,1755627818.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.946923 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:38.661Z,1755627818.661 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=22.915331
2025-08-19T18:23:38.917Z,1755627818.917 [DAT](INFO): DAT read: Rx Time:18:23:36.9652 

2025-08-19T18:23:38.917Z,1755627818.917 [DAT](INFO): Rx dataTimestamp_ set to:1755627818.916886
2025-08-19T18:23:38.919Z,1755627818.919 [DAT](INFO): DAT read: Bearing 320.3,  12.4 (Local)

2025-08-19T18:23:38.919Z,1755627818.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.3,  12.4 (Local)

2025-08-19T18:23:38.921Z,1755627818.921 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed 0.4

2025-08-19T18:23:38.926Z,1755627818.926 [DAT](INFO): DAT read: 18:23:36.9652 LVL= 22224, 29025, 25138, 32755, AGC= 46, IDX= 510, 0.43, 0.874,-0.923, 0.689, 0.383, PHS= 0.593,-1.260, 0.263, RAW= 140.4,   4.8, CAL= 140.1,   5.4, ROT=   9.9,  -5.4

2025-08-19T18:23:38.927Z,1755627818.927 [DAT](INFO): got valid direction response:
 18:23:36.9652 LVL= 22224, 29025, 25138, 32755, AGC= 46, IDX= 510, 0.43, 0.874,-0.923, 0.689, 0.383, PHS= 0.593,-1.260, 0.263, RAW= 140.4,   4.8, CAL= 140.1,   5.4, ROT=   9.9,  -5.4

2025-08-19T18:23:38.927Z,1755627818.927 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-19T18:23:38.928Z,1755627818.928 [DAT](INFO): direction in FSK: [0.980737,0.171166,0.094108]
2025-08-19T18:23:38.928Z,1755627818.928 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:38.932Z,1755627818.932 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=23.186483
2025-08-19T18:23:39.003Z,1755627819.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.509839 s,
      deltaX: -0.300000 m,
      approachRate: -0.588421 m/s,
      rangeRepo size: 4

2025-08-19T18:23:39.005Z,1755627819.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.900000 m,
      bearing: 184.001189 deg,
      lat: 36.779361 deg,
      lon: -121.859514 deg,
      deltaT: 4.541539 s,
      deltaX: -2.600000 m,
      approachRate: -0.572493 m/s,
      posRepo size: 4

2025-08-19T18:23:39.011Z,1755627819.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.90 m. 9.50 m.
2025-08-19T18:23:39.013Z,1755627819.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 6.870852 m,
      bearing: 184.494795 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 168.846279 deg,
      new cmd heading: 168.492009 deg.

2025-08-19T18:23:39.018Z,1755627819.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.940740 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:39.167Z,1755627819.167 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=23.421890
2025-08-19T18:23:39.419Z,1755627819.419 [DAT](INFO): DAT read: Rx Time:18:23:37.4650 

2025-08-19T18:23:39.420Z,1755627819.420 [DAT](INFO): Rx dataTimestamp_ set to:1755627819.419314
2025-08-19T18:23:39.421Z,1755627819.421 [DAT](INFO): DAT read: Bearing 320.2,  12.7 (Local)

2025-08-19T18:23:39.421Z,1755627819.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.2,  12.7 (Local)

2025-08-19T18:23:39.423Z,1755627819.423 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.4

2025-08-19T18:23:39.433Z,1755627819.433 [DAT](INFO): DAT read: 18:23:37.4650 LVL= 22496, 29009, 24146, 32755, AGC= 45, IDX= 508,-0.30,-1.471, 3.037,-1.668,-1.957, PHS= 0.588,-1.244, 0.245, RAW= 139.8,   4.9, CAL= 139.6,   5.6, ROT=  10.4,  -5.6

2025-08-19T18:23:39.442Z,1755627819.442 [DAT](INFO): got valid direction response:
 18:23:37.4650 LVL= 22496, 29009, 24146, 32755, AGC= 45, IDX= 508,-0.30,-1.471, 3.037,-1.668,-1.957, PHS= 0.588,-1.244, 0.245, RAW= 139.8,   4.9, CAL= 139.6,   5.6, ROT=  10.4,  -5.6

2025-08-19T18:23:39.442Z,1755627819.442 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-19T18:23:39.443Z,1755627819.443 [DAT](INFO): direction in FSK: [0.978877,0.179658,0.097583]
2025-08-19T18:23:39.443Z,1755627819.443 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:39.451Z,1755627819.451 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=23.705881
2025-08-19T18:23:39.491Z,1755627819.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.502428 s,
      deltaX: -0.300000 m,
      approachRate: -0.597101 m/s,
      rangeRepo size: 4

2025-08-19T18:23:39.493Z,1755627819.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.600000 m,
      bearing: 183.504164 deg,
      lat: 36.779361 deg,
      lon: -121.859513 deg,
      deltaT: 5.043967 s,
      deltaX: -2.900000 m,
      approachRate: -0.574944 m/s,
      posRepo size: 4

2025-08-19T18:23:39.502Z,1755627819.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.60 m. 9.50 m.
2025-08-19T18:23:39.504Z,1755627819.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 6.583894 m,
      bearing: 184.585820 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 168.492011 deg,
      new cmd heading: 168.058693 deg.

2025-08-19T18:23:39.510Z,1755627819.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.933177 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:39.671Z,1755627819.671 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=23.925289
2025-08-19T18:23:39.850Z,1755627819.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:39.852Z,1755627819.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-08-19T18:23:39.859Z,1755627819.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 6.357903 m,
      bearing: 184.684335 deg,
      approach rate: -0.623861 m/s,
      LOS rate: 0.281622 deg/s,
      cmd heading: 168.058690 deg,
      new cmd heading: 168.364736 deg.

2025-08-19T18:23:39.860Z,1755627819.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.938519 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:39.924Z,1755627819.924 [DAT](INFO): DAT read: Rx Time:18:23:37.9649 

2025-08-19T18:23:39.925Z,1755627819.925 [DAT](INFO): Rx dataTimestamp_ set to:1755627819.924251
2025-08-19T18:23:39.927Z,1755627819.927 [DAT](INFO): DAT read: Bearing 319.5,  12.3 (Local)

2025-08-19T18:23:39.927Z,1755627819.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.5,  12.3 (Local)

2025-08-19T18:23:39.934Z,1755627819.934 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed 0.4

2025-08-19T18:23:39.952Z,1755627819.952 [DAT](INFO): DAT read: 18:23:37.9649 LVL= 22320, 28193, 25618, 32755, AGC= 45, IDX= 507,-0.10, 0.637,-1.154, 0.440, 0.141, PHS= 0.598,-1.250, 0.255, RAW= 139.9,   4.7, CAL= 139.7,   5.4, ROT=  10.3,  -5.4

2025-08-19T18:23:39.954Z,1755627819.954 [DAT](INFO): got valid direction response:
 18:23:37.9649 LVL= 22320, 28193, 25618, 32755, AGC= 45, IDX= 507,-0.10, 0.637,-1.154, 0.440, 0.141, PHS= 0.598,-1.250, 0.255, RAW= 139.9,   4.7, CAL= 139.7,   5.4, ROT=  10.3,  -5.4

2025-08-19T18:23:39.954Z,1755627819.954 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-19T18:23:39.956Z,1755627819.956 [DAT](INFO): direction in FSK: [0.979519,0.178009,0.094108]
2025-08-19T18:23:39.956Z,1755627819.956 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:39.964Z,1755627819.964 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=24.218513
2025-08-19T18:23:40.175Z,1755627820.175 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=24.429672
2025-08-19T18:23:40.304Z,1755627820.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.504937 s,
      deltaX: -0.100000 m,
      approachRate: -0.198044 m/s,
      rangeRepo size: 4

2025-08-19T18:23:40.310Z,1755627820.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.500000 m,
      bearing: 183.339155 deg,
      lat: 36.779361 deg,
      lon: -121.859513 deg,
      deltaT: 5.548904 s,
      deltaX: -3.000000 m,
      approachRate: -0.540647 m/s,
      posRepo size: 4

2025-08-19T18:23:40.311Z,1755627820.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.50 m. 9.50 m.
2025-08-19T18:23:40.318Z,1755627820.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 6.143761 m,
      bearing: 184.795003 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 168.364737 deg,
      new cmd heading: 167.964050 deg.

2025-08-19T18:23:40.319Z,1755627820.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.931526 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:40.427Z,1755627820.427 [DAT](INFO): DAT read: Rx Time:18:23:38.4646 

2025-08-19T18:23:40.428Z,1755627820.428 [DAT](INFO): Rx dataTimestamp_ set to:1755627820.427463
2025-08-19T18:23:40.429Z,1755627820.429 [DAT](INFO): DAT read: Bearing 318.6,  12.1 (Local)

2025-08-19T18:23:40.429Z,1755627820.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.6,  12.1 (Local)

2025-08-19T18:23:40.431Z,1755627820.431 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-08-19T18:23:40.437Z,1755627820.437 [DAT](INFO): DAT read: 18:23:38.4646 LVL= 21856, 29057, 24466, 32755, AGC= 44, IDX= 504, 0.10, 1.154,-0.649, 0.956, 0.643, PHS= 0.613,-1.247, 0.269, RAW= 140.0,   4.3, CAL= 139.8,   5.0, ROT=  10.2,  -5.0

2025-08-19T18:23:40.438Z,1755627820.438 [DAT](INFO): got valid direction response:
 18:23:38.4646 LVL= 21856, 29057, 24466, 32755, AGC= 44, IDX= 504, 0.10, 1.154,-0.649, 0.956, 0.643, PHS= 0.613,-1.247, 0.269, RAW= 140.0,   4.3, CAL= 139.8,   5.0, ROT=  10.2,  -5.0

2025-08-19T18:23:40.438Z,1755627820.438 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-19T18:23:40.439Z,1755627820.439 [DAT](INFO): direction in FSK: [0.980450,0.176411,0.087156]
2025-08-19T18:23:40.439Z,1755627820.439 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:40.451Z,1755627820.451 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=24.705807
2025-08-19T18:23:40.641Z,1755627820.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.503212 s,
      deltaX: -0.300000 m,
      approachRate: -0.596171 m/s,
      rangeRepo size: 4

2025-08-19T18:23:40.643Z,1755627820.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.200000 m,
      bearing: 182.813361 deg,
      lat: 36.779360 deg,
      lon: -121.859512 deg,
      deltaT: 6.052116 s,
      deltaX: -3.300000 m,
      approachRate: -0.545264 m/s,
      posRepo size: 4

2025-08-19T18:23:40.644Z,1755627820.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.20 m. 9.50 m.
2025-08-19T18:23:40.651Z,1755627820.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 5.913644 m,
      bearing: 184.927056 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 167.964051 deg,
      new cmd heading: 167.667599 deg.

2025-08-19T18:23:40.652Z,1755627820.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.926352 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:40.679Z,1755627820.679 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=24.933290
2025-08-19T18:23:40.931Z,1755627820.931 [DAT](INFO): DAT read: Rx Time:18:23:38.9645 

2025-08-19T18:23:40.932Z,1755627820.932 [DAT](INFO): Rx dataTimestamp_ set to:1755627820.931356
2025-08-19T18:23:40.933Z,1755627820.933 [DAT](INFO): DAT read: Bearing 318.0,  12.0 (Local)

2025-08-19T18:23:40.934Z,1755627820.934 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.0,  12.0 (Local)

2025-08-19T18:23:40.936Z,1755627820.936 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed 0.4

2025-08-19T18:23:40.941Z,1755627820.941 [DAT](INFO): DAT read: 18:23:38.9645 LVL= 22032, 29329, 24738, 32755, AGC= 44, IDX= 503, 0.34, 2.679, 0.878, 2.475, 2.159, PHS= 0.622,-1.237, 0.272, RAW= 139.8,   4.0, CAL= 139.7,   4.7, ROT=  10.3,  -4.7

2025-08-19T18:23:40.942Z,1755627820.942 [DAT](INFO): got valid direction response:
 18:23:38.9645 LVL= 22032, 29329, 24738, 32755, AGC= 44, IDX= 503, 0.34, 2.679, 0.878, 2.475, 2.159, PHS= 0.622,-1.237, 0.272, RAW= 139.8,   4.0, CAL= 139.7,   4.7, ROT=  10.3,  -4.7

2025-08-19T18:23:40.942Z,1755627820.942 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-19T18:23:40.943Z,1755627820.943 [DAT](INFO): direction in FSK: [0.980577,0.178201,0.081939]
2025-08-19T18:23:40.944Z,1755627820.944 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:40.977Z,1755627820.977 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=25.231647
2025-08-19T18:23:41.052Z,1755627821.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.503893 s,
      deltaX: -0.200000 m,
      approachRate: -0.396909 m/s,
      rangeRepo size: 4

2025-08-19T18:23:41.058Z,1755627821.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.000000 m,
      bearing: 182.373765 deg,
      lat: 36.779359 deg,
      lon: -121.859512 deg,
      deltaT: 6.556009 s,
      deltaX: -3.500000 m,
      approachRate: -0.533861 m/s,
      posRepo size: 4

2025-08-19T18:23:41.059Z,1755627821.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.00 m. 9.50 m.
2025-08-19T18:23:41.066Z,1755627821.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 5.683663 m,
      bearing: 185.092966 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 167.667593 deg,
      new cmd heading: 167.299182 deg.

2025-08-19T18:23:41.067Z,1755627821.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.919922 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:41.184Z,1755627821.184 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=25.438574
2025-08-19T18:23:41.436Z,1755627821.436 [DAT](INFO): DAT read: Rx Time:18:23:39.4643 

2025-08-19T18:23:41.436Z,1755627821.436 [DAT](INFO): Rx dataTimestamp_ set to:1755627821.436168
2025-08-19T18:23:41.438Z,1755627821.438 [DAT](INFO): DAT read: Bearing 317.6,  12.3 (Local)

2025-08-19T18:23:41.438Z,1755627821.438 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.6,  12.3 (Local)

2025-08-19T18:23:41.440Z,1755627821.440 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed 0.4

2025-08-19T18:23:41.453Z,1755627821.453 [DAT](INFO): DAT read: 18:23:39.4643 LVL= 22688, 32657, 27250, 32755, AGC= 43, IDX= 501,-0.27,-0.227,-2.002,-0.444,-0.747, PHS= 0.622,-1.210, 0.259, RAW= 139.2,   4.0, CAL= 139.1,   4.7, ROT=  10.9,  -4.7

2025-08-19T18:23:41.454Z,1755627821.454 [DAT](INFO): got valid direction response:
 18:23:39.4643 LVL= 22688, 32657, 27250, 32755, AGC= 43, IDX= 501,-0.27,-0.227,-2.002,-0.444,-0.747, PHS= 0.622,-1.210, 0.259, RAW= 139.2,   4.0, CAL= 139.1,   4.7, ROT=  10.9,  -4.7

2025-08-19T18:23:41.454Z,1755627821.454 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-19T18:23:41.455Z,1755627821.455 [DAT](INFO): direction in FSK: [0.978657,0.188460,0.081939]
2025-08-19T18:23:41.456Z,1755627821.456 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:41.465Z,1755627821.465 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=25.719332
2025-08-19T18:23:41.490Z,1755627821.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.504812 s,
      deltaX: -0.300000 m,
      approachRate: -0.594281 m/s,
      rangeRepo size: 4

2025-08-19T18:23:41.492Z,1755627821.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.700000 m,
      bearing: 182.297518 deg,
      lat: 36.779359 deg,
      lon: -121.859511 deg,
      deltaT: 7.060821 s,
      deltaX: -3.800000 m,
      approachRate: -0.538181 m/s,
      posRepo size: 4

2025-08-19T18:23:41.498Z,1755627821.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.70 m. 9.50 m.
2025-08-19T18:23:41.501Z,1755627821.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 5.419878 m,
      bearing: 185.332047 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 167.299186 deg,
      new cmd heading: 166.913628 deg.

2025-08-19T18:23:41.506Z,1755627821.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.913192 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:41.687Z,1755627821.687 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=25.941423
2025-08-19T18:23:41.869Z,1755627821.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:41.872Z,1755627821.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-08-19T18:23:41.883Z,1755627821.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 5.196005 m,
      bearing: 185.566959 deg,
      approach rate: -0.578901 m/s,
      LOS rate: 0.633618 deg/s,
      cmd heading: 166.913622 deg,
      new cmd heading: 167.648682 deg.

2025-08-19T18:23:41.884Z,1755627821.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.926022 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:41.939Z,1755627821.939 [DAT](INFO): DAT read: Rx Time:18:23:39.9641 

2025-08-19T18:23:41.940Z,1755627821.940 [DAT](INFO): Rx dataTimestamp_ set to:1755627821.939346
2025-08-19T18:23:41.941Z,1755627821.941 [DAT](INFO): DAT read: Bearing 316.8,  12.4 (Local)

2025-08-19T18:23:41.941Z,1755627821.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.8,  12.4 (Local)

2025-08-19T18:23:41.943Z,1755627821.943 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed 0.4

2025-08-19T18:23:41.950Z,1755627821.950 [DAT](INFO): DAT read: 18:23:39.9641 LVL= 21872, 29169, 26098, 32755, AGC= 42, IDX= 499,-0.00,-0.029,-1.800,-0.255,-0.564, PHS= 0.637,-1.191, 0.265, RAW= 138.9,   3.5, CAL= 138.9,   4.2, ROT=  11.1,  -4.2

2025-08-19T18:23:41.951Z,1755627821.951 [DAT](INFO): got valid direction response:
 18:23:39.9641 LVL= 21872, 29169, 26098, 32755, AGC= 42, IDX= 499,-0.00,-0.029,-1.800,-0.255,-0.564, PHS= 0.637,-1.191, 0.265, RAW= 138.9,   3.5, CAL= 138.9,   4.2, ROT=  11.1,  -4.2

2025-08-19T18:23:41.952Z,1755627821.952 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-19T18:23:41.953Z,1755627821.953 [DAT](INFO): direction in FSK: [0.978657,0.192005,0.073238]
2025-08-19T18:23:41.962Z,1755627821.962 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:41.968Z,1755627821.968 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=26.222391
2025-08-19T18:23:42.191Z,1755627822.191 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=26.445868
2025-08-19T18:23:42.351Z,1755627822.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.503178 s,
      deltaX: -0.300000 m,
      approachRate: -0.596210 m/s,
      rangeRepo size: 4

2025-08-19T18:23:42.354Z,1755627822.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.400000 m,
      bearing: 182.187573 deg,
      lat: 36.779359 deg,
      lon: -121.859511 deg,
      deltaT: 7.563999 s,
      deltaX: -4.100000 m,
      approachRate: -0.542041 m/s,
      posRepo size: 4

2025-08-19T18:23:42.355Z,1755627822.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.40 m. 9.50 m.
2025-08-19T18:23:42.357Z,1755627822.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 4.925630 m,
      bearing: 185.895005 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 167.648687 deg,
      new cmd heading: 167.222768 deg.

2025-08-19T18:23:42.358Z,1755627822.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.918588 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:42.444Z,1755627822.444 [DAT](INFO): DAT read: Rx Time:18:23:40.4638 

2025-08-19T18:23:42.445Z,1755627822.445 [DAT](INFO): Rx dataTimestamp_ set to:1755627822.444242
2025-08-19T18:23:42.447Z,1755627822.447 [DAT](INFO): DAT read: Bearing 315.7,  11.8 (Local)

2025-08-19T18:23:42.447Z,1755627822.447 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.7,  11.8 (Local)

2025-08-19T18:23:42.450Z,1755627822.450 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed 0.4

2025-08-19T18:23:42.455Z,1755627822.455 [DAT](INFO): DAT read: 18:23:40.4638 LVL= 20848, 28529, 26386, 32755, AGC= 44, IDX= 496, 0.19,-0.366,-2.140,-0.583,-0.916, PHS= 0.652,-1.179, 0.289, RAW= 139.2,   2.9, CAL= 139.2,   3.5, ROT=  10.8,  -3.5

2025-08-19T18:23:42.456Z,1755627822.456 [DAT](INFO): got valid direction response:
 18:23:40.4638 LVL= 20848, 28529, 26386, 32755, AGC= 44, IDX= 496, 0.19,-0.366,-2.140,-0.583,-0.916, PHS= 0.652,-1.179, 0.289, RAW= 139.2,   2.9, CAL= 139.2,   3.5, ROT=  10.8,  -3.5

2025-08-19T18:23:42.456Z,1755627822.456 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-19T18:23:42.457Z,1755627822.457 [DAT](INFO): direction in FSK: [0.980455,0.187032,0.061049]
2025-08-19T18:23:42.460Z,1755627822.460 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:42.472Z,1755627822.472 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=26.726768
2025-08-19T18:23:42.684Z,1755627822.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.504896 s,
      deltaX: -0.400000 m,
      approachRate: -0.792243 m/s,
      rangeRepo size: 4

2025-08-19T18:23:42.690Z,1755627822.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.000000 m,
      bearing: 182.032520 deg,
      lat: 36.779359 deg,
      lon: -121.859511 deg,
      deltaT: 8.068895 s,
      deltaX: -4.500000 m,
      approachRate: -0.557697 m/s,
      posRepo size: 4

2025-08-19T18:23:42.691Z,1755627822.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.00 m. 9.50 m.
2025-08-19T18:23:42.695Z,1755627822.695 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=26.949381
2025-08-19T18:23:42.697Z,1755627822.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 4.744784 m,
      bearing: 186.135421 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 167.222770 deg,
      new cmd heading: 166.927590 deg.

2025-08-19T18:23:42.698Z,1755627822.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.913436 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:42.948Z,1755627822.948 [DAT](INFO): DAT read: Rx Time:18:23:40.9638 

2025-08-19T18:23:42.948Z,1755627822.948 [DAT](INFO): Rx dataTimestamp_ set to:1755627822.947894
2025-08-19T18:23:42.950Z,1755627822.950 [DAT](INFO): DAT read: Bearing 312.1,   1.8 (Local)

2025-08-19T18:23:42.951Z,1755627822.951 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,   1.8 (Local)

2025-08-19T18:23:42.955Z,1755627822.955 [DAT](INFO): DAT read: Range 11 to 50 :     5.0 m (trip time 3.3 ms) speed 0.4

2025-08-19T18:23:42.959Z,1755627822.959 [DAT](INFO): DAT read: 18:23:40.9638 LVL= 21056, 29649, 27634, 32755, AGC= 41, IDX= 512,-0.33,-0.920,-2.198,-0.768,-1.240, PHS= 0.422,-0.913, 0.428, RAW= 150.2,   0.9, CAL= 149.1,   0.5, ROT=   0.9,  -0.5

2025-08-19T18:23:42.960Z,1755627822.960 [DAT](INFO): got valid direction response:
 18:23:40.9638 LVL= 21056, 29649, 27634, 32755, AGC= 41, IDX= 512,-0.33,-0.920,-2.198,-0.768,-1.240, PHS= 0.422,-0.913, 0.428, RAW= 150.2,   0.9, CAL= 149.1,   0.5, ROT=   0.9,  -0.5

2025-08-19T18:23:42.961Z,1755627822.961 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-19T18:23:43.002Z,1755627823.002 [DAT](INFO): direction in FSK: [0.999839,0.015707,0.008727]
2025-08-19T18:23:43.002Z,1755627823.002 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:43.011Z,1755627823.011 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=27.265280
2025-08-19T18:23:43.095Z,1755627823.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.000000 m,
      deltaT: 0.503652 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:43.097Z,1755627823.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.000000 m,
      bearing: 181.453468 deg,
      lat: 36.779359 deg,
      lon: -121.859510 deg,
      deltaT: 8.572547 s,
      deltaX: -4.500000 m,
      approachRate: -0.524931 m/s,
      posRepo size: 4

2025-08-19T18:23:43.106Z,1755627823.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.00 m. 9.50 m.
2025-08-19T18:23:43.109Z,1755627823.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 4.515469 m,
      bearing: 186.497765 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 166.927597 deg,
      new cmd heading: 166.562050 deg.

2025-08-19T18:23:43.114Z,1755627823.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.907056 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:43.199Z,1755627823.199 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=27.453545
2025-08-19T18:23:43.451Z,1755627823.451 [DAT](INFO): DAT read: Rx Time:18:23:41.4635 

2025-08-19T18:23:43.452Z,1755627823.452 [DAT](INFO): Rx dataTimestamp_ set to:1755627823.451305
2025-08-19T18:23:43.453Z,1755627823.453 [DAT](INFO): DAT read: Bearing 314.1,  11.8 (Local)

2025-08-19T18:23:43.453Z,1755627823.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.1,  11.8 (Local)

2025-08-19T18:23:43.455Z,1755627823.455 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.4

2025-08-19T18:23:43.460Z,1755627823.460 [DAT](INFO): DAT read: 18:23:41.4635 LVL= 20624, 29089, 27266, 32755, AGC= 42, IDX= 509, 0.04, 2.957, 1.196, 2.726, 2.383, PHS= 0.676,-1.142, 0.299, RAW= 138.7,   2.0, CAL= 138.8,   2.7, ROT=  11.2,  -2.7

2025-08-19T18:23:43.461Z,1755627823.461 [DAT](INFO): got valid direction response:
 18:23:41.4635 LVL= 20624, 29089, 27266, 32755, AGC= 42, IDX= 509, 0.04, 2.957, 1.196, 2.726, 2.383, PHS= 0.676,-1.142, 0.299, RAW= 138.7,   2.0, CAL= 138.8,   2.7, ROT=  11.2,  -2.7

2025-08-19T18:23:43.462Z,1755627823.462 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-19T18:23:43.462Z,1755627823.462 [DAT](INFO): direction in FSK: [0.979866,0.194019,0.047106]
2025-08-19T18:23:43.463Z,1755627823.463 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:43.487Z,1755627823.487 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=27.741201
2025-08-19T18:23:43.578Z,1755627823.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.503411 s,
      deltaX: -0.500000 m,
      approachRate: -0.993224 m/s,
      rangeRepo size: 4

2025-08-19T18:23:43.580Z,1755627823.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.500000 m,
      bearing: 181.145393 deg,
      lat: 36.779359 deg,
      lon: -121.859510 deg,
      deltaT: 9.075958 s,
      deltaX: -5.000000 m,
      approachRate: -0.550906 m/s,
      posRepo size: 4

2025-08-19T18:23:43.581Z,1755627823.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.50 m. 9.50 m.
2025-08-19T18:23:43.588Z,1755627823.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 4.260646 m,
      bearing: 186.956068 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 166.562045 deg,
      new cmd heading: 166.139921 deg.

2025-08-19T18:23:43.589Z,1755627823.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.899689 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:43.703Z,1755627823.703 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=27.957321
2025-08-19T18:23:43.930Z,1755627823.930 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:43.932Z,1755627823.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.50 m.
2025-08-19T18:23:43.939Z,1755627823.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 4.047184 m,
      bearing: 187.397856 deg,
      approach rate: -0.588782 m/s,
      LOS rate: 1.282821 deg/s,
      cmd heading: 166.139926 deg,
      new cmd heading: 167.534906 deg.

2025-08-19T18:23:43.940Z,1755627823.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.924036 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:43.955Z,1755627823.955 [DAT](INFO): DAT read: Rx Time:18:23:41.9634 

2025-08-19T18:23:43.956Z,1755627823.956 [DAT](INFO): Rx dataTimestamp_ set to:1755627823.955374
2025-08-19T18:23:43.957Z,1755627823.957 [DAT](INFO): DAT read: Bearing 313.0,  11.6 (Local)

2025-08-19T18:23:43.957Z,1755627823.957 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.0,  11.6 (Local)

2025-08-19T18:23:43.960Z,1755627823.960 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.4

2025-08-19T18:23:43.964Z,1755627823.964 [DAT](INFO): DAT read: 18:23:41.9634 LVL= 20784, 30993, 27634, 32755, AGC= 41, IDX= 508, 0.35,-2.714, 1.804,-2.949, 2.974, PHS= 0.697,-1.125, 0.316, RAW= 138.6,   1.4, CAL= 138.7,   2.0, ROT=  11.3,  -2.0

2025-08-19T18:23:43.965Z,1755627823.965 [DAT](INFO): got valid direction response:
 18:23:41.9634 LVL= 20784, 30993, 27634, 32755, AGC= 41, IDX= 508, 0.35,-2.714, 1.804,-2.949, 2.974, PHS= 0.697,-1.125, 0.316, RAW= 138.6,   1.4, CAL= 138.7,   2.0, ROT=  11.3,  -2.0

2025-08-19T18:23:43.966Z,1755627823.966 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-19T18:23:43.967Z,1755627823.967 [DAT](INFO): direction in FSK: [0.980017,0.195827,0.034899]
2025-08-19T18:23:43.967Z,1755627823.967 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:43.971Z,1755627823.971 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=28.225288
2025-08-19T18:23:44.207Z,1755627824.207 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=28.461605
2025-08-19T18:23:44.402Z,1755627824.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.504069 s,
      deltaX: -0.100000 m,
      approachRate: -0.198385 m/s,
      rangeRepo size: 4

2025-08-19T18:23:44.404Z,1755627824.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.400000 m,
      bearing: 180.744584 deg,
      lat: 36.779358 deg,
      lon: -121.859509 deg,
      deltaT: 9.580027 s,
      deltaX: -5.100000 m,
      approachRate: -0.532358 m/s,
      posRepo size: 4

2025-08-19T18:23:44.405Z,1755627824.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.40 m. 9.50 m.
2025-08-19T18:23:44.408Z,1755627824.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 3.781532 m,
      bearing: 188.094854 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 167.534910 deg,
      new cmd heading: 167.117512 deg.

2025-08-19T18:23:44.409Z,1755627824.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.916751 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:44.459Z,1755627824.459 [DAT](INFO): DAT read: Rx Time:18:23:42.4632 

2025-08-19T18:23:44.460Z,1755627824.460 [DAT](INFO): Rx dataTimestamp_ set to:1755627824.459337
2025-08-19T18:23:44.461Z,1755627824.461 [DAT](INFO): DAT read: Bearing 312.9,  11.4 (Local)

2025-08-19T18:23:44.461Z,1755627824.461 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.9,  11.4 (Local)

2025-08-19T18:23:44.464Z,1755627824.464 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.4

2025-08-19T18:23:44.471Z,1755627824.471 [DAT](INFO): DAT read: 18:23:42.4632 LVL= 21120, 31825, 28834, 32755, AGC= 41, IDX= 506,-0.22,-0.223,-1.965,-0.453,-0.803, PHS= 0.682,-1.117, 0.306, RAW= 138.6,   1.6, CAL= 138.7,   2.3, ROT=  11.3,  -2.3

2025-08-19T18:23:44.472Z,1755627824.472 [DAT](INFO): got valid direction response:
 18:23:42.4632 LVL= 21120, 31825, 28834, 32755, AGC= 41, IDX= 506,-0.22,-0.223,-1.965,-0.453,-0.803, PHS= 0.682,-1.117, 0.306, RAW= 138.6,   1.6, CAL= 138.7,   2.3, ROT=  11.3,  -2.3

2025-08-19T18:23:44.473Z,1755627824.473 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-19T18:23:44.475Z,1755627824.475 [DAT](INFO): direction in FSK: [0.979825,0.195788,0.040132]
2025-08-19T18:23:44.475Z,1755627824.475 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:44.480Z,1755627824.480 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=28.734715
2025-08-19T18:23:44.752Z,1755627824.752 [DAT](INFO): DAT read: Rx Time:18:23:42.9631 

2025-08-19T18:23:44.754Z,1755627824.754 [DAT](INFO): Rx dataTimestamp_ set to:1755627824.752602
2025-08-19T18:23:44.757Z,1755627824.757 [DAT](INFO): DAT read: Bearing 311.8,  11.1 (Local)

2025-08-19T18:23:44.760Z,1755627824.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8,  11.1 (Local)

2025-08-19T18:23:44.763Z,1755627824.763 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.017801
2025-08-19T18:23:44.830Z,1755627824.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.503963 s,
      deltaX: -0.300000 m,
      approachRate: -0.595282 m/s,
      rangeRepo size: 4

2025-08-19T18:23:44.832Z,1755627824.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.100000 m,
      bearing: 180.211278 deg,
      lat: 36.779358 deg,
      lon: -121.859509 deg,
      deltaT: 10.083990 s,
      deltaX: -5.400000 m,
      approachRate: -0.535502 m/s,
      posRepo size: 4

2025-08-19T18:23:44.833Z,1755627824.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.10 m. 9.50 m.
2025-08-19T18:23:44.848Z,1755627824.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 3.556411 m,
      bearing: 188.784527 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 167.117517 deg,
      new cmd heading: 166.740766 deg.

2025-08-19T18:23:44.849Z,1755627824.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.910175 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:45.000Z,1755627825.000 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.5

2025-08-19T18:23:45.005Z,1755627825.005 [DAT](INFO): DAT read: 18:23:42.9631 LVL= 21136, 32753, 28738, 32755, AGC= 40, IDX= 505, 0.04, 1.764, 0.018, 1.539, 1.166, PHS= 0.700,-1.103, 0.329, RAW= 138.8,   0.9, CAL= 138.9,   1.6, ROT=  11.1,  -1.6

2025-08-19T18:23:45.007Z,1755627825.007 [DAT](INFO): got valid direction response:
 18:23:42.9631 LVL= 21136, 32753, 28738, 32755, AGC= 40, IDX= 505, 0.04, 1.764, 0.018, 1.539, 1.166, PHS= 0.700,-1.103, 0.329, RAW= 138.8,   0.9, CAL= 138.9,   1.6, ROT=  11.1,  -1.6

2025-08-19T18:23:45.007Z,1755627825.007 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-19T18:23:45.008Z,1755627825.008 [DAT](INFO): direction in FSK: [0.980910,0.192447,0.027922]
2025-08-19T18:23:45.008Z,1755627825.008 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:45.012Z,1755627825.012 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=29.266764
2025-08-19T18:23:45.170Z,1755627825.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.538744 s,
      deltaX: -0.200000 m,
      approachRate: -0.371233 m/s,
      rangeRepo size: 4

2025-08-19T18:23:45.175Z,1755627825.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.900000 m,
      bearing: 179.942375 deg,
      lat: 36.779357 deg,
      lon: -121.859508 deg,
      deltaT: 10.622734 s,
      deltaX: -5.600000 m,
      approachRate: -0.527171 m/s,
      posRepo size: 4

2025-08-19T18:23:45.176Z,1755627825.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.90 m. 9.50 m.
2025-08-19T18:23:45.180Z,1755627825.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 3.362754 m,
      bearing: 189.465406 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 166.740764 deg,
      new cmd heading: 166.435386 deg.

2025-08-19T18:23:45.182Z,1755627825.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.904845 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:45.263Z,1755627825.263 [DAT](INFO): DAT read: Rx Time:18:23:43.4628 

2025-08-19T18:23:45.265Z,1755627825.265 [DAT](INFO): Rx dataTimestamp_ set to:1755627825.263511
2025-08-19T18:23:45.269Z,1755627825.269 [DAT](INFO): DAT read: Bearing 312.0,  11.1 (Local)

2025-08-19T18:23:45.270Z,1755627825.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,  11.1 (Local)

2025-08-19T18:23:45.277Z,1755627825.277 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.4

2025-08-19T18:23:45.284Z,1755627825.284 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-08-19T18:23:45.296Z,1755627825.296 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=29.549925
2025-08-19T18:23:45.514Z,1755627825.514 [DAT](INFO): DAT read: 18:23:43.4628 LVL= 22752, 32753, 31218, 32755, AGC= 39, IDX= 502, 0.25, 1.593,-0.137, 1.366, 1.013, PHS= 0.682,-1.105, 0.309, RAW= 138.6,   1.4, CAL= 138.7,   2.1, ROT=  11.3,  -2.1

2025-08-19T18:23:45.515Z,1755627825.515 [DAT](INFO): got valid direction response:
 18:23:43.4628 LVL= 22752, 32753, 31218, 32755, AGC= 39, IDX= 502, 0.25, 1.593,-0.137, 1.366, 1.013, PHS= 0.682,-1.105, 0.309, RAW= 138.6,   1.4, CAL= 138.7,   2.1, ROT=  11.3,  -2.1

2025-08-19T18:23:45.516Z,1755627825.516 [DAT](INFO): #Rx 67: Read direction message, but no range.
2025-08-19T18:23:45.517Z,1755627825.517 [DAT](INFO): direction in FSK: [0.979956,0.195815,0.036644]
2025-08-19T18:23:45.528Z,1755627825.528 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=29.782541
2025-08-19T18:23:45.619Z,1755627825.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.265430 s,
      deltaX: -0.400000 m,
      approachRate: -1.506989 m/s,
      rangeRepo size: 4

2025-08-19T18:23:45.621Z,1755627825.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.500000 m,
      bearing: 180.062791 deg,
      lat: 36.779357 deg,
      lon: -121.859508 deg,
      deltaT: 10.888164 s,
      deltaX: -6.000000 m,
      approachRate: -0.551057 m/s,
      posRepo size: 4

2025-08-19T18:23:45.622Z,1755627825.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.50 m. 9.50 m.
2025-08-19T18:23:45.625Z,1755627825.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 3.119267 m,
      bearing: 190.359779 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 166.435386 deg,
      new cmd heading: 166.035669 deg.

2025-08-19T18:23:45.626Z,1755627825.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.897869 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:45.769Z,1755627825.769 [DAT](INFO): DAT read: Rx Time:18:23:43.9627 

2025-08-19T18:23:45.772Z,1755627825.772 [DAT](INFO): Rx dataTimestamp_ set to:1755627825.770952
2025-08-19T18:23:45.775Z,1755627825.775 [DAT](INFO): DAT read: Bearing 312.0,  10.9 (Local)

2025-08-19T18:23:45.776Z,1755627825.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.0,  10.9 (Local)

2025-08-19T18:23:45.792Z,1755627825.792 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed 0.4

2025-08-19T18:23:45.820Z,1755627825.820 [DAT](INFO): DAT read: 18:23:43.9627 LVL= 22384, 32753, 30690, 32755, AGC= 39, IDX= 501,-0.50, 0.677,-0.993, 0.461, 0.125, PHS= 0.655,-1.073, 0.292, RAW= 138.5,   1.6, CAL= 138.7,   2.3, ROT=  11.3,  -2.3

2025-08-19T18:23:45.821Z,1755627825.821 [DAT](INFO): got valid direction response:
 18:23:43.9627 LVL= 22384, 32753, 30690, 32755, AGC= 39, IDX= 501,-0.50, 0.677,-0.993, 0.461, 0.125, PHS= 0.655,-1.073, 0.292, RAW= 138.5,   1.6, CAL= 138.7,   2.3, ROT=  11.3,  -2.3

2025-08-19T18:23:45.821Z,1755627825.821 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-19T18:23:45.831Z,1755627825.831 [DAT](INFO): direction in FSK: [0.979825,0.195788,0.040132]
2025-08-19T18:23:45.832Z,1755627825.832 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:45.845Z,1755627825.845 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=30.099819
2025-08-19T18:23:46.003Z,1755627826.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.507441 s,
      deltaX: -0.200000 m,
      approachRate: -0.394135 m/s,
      rangeRepo size: 4

2025-08-19T18:23:46.010Z,1755627826.010 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:23:46.011Z,1755627826.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.300000 m,
      bearing: 179.566330 deg,
      lat: 36.779357 deg,
      lon: -121.859508 deg,
      deltaT: 11.395605 s,
      deltaX: -6.200000 m,
      approachRate: -0.544069 m/s,
      posRepo size: 4

2025-08-19T18:23:46.012Z,1755627826.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.30 m. 9.50 m.
2025-08-19T18:23:46.019Z,1755627826.019 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=30.273264
2025-08-19T18:23:46.020Z,1755627826.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.500000 m,
      nav range: 2.920032 m,
      bearing: 191.205330 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.296267 deg/s,
      cmd heading: 166.035670 deg,
      new cmd heading: 165.694135 deg.

2025-08-19T18:23:46.021Z,1755627826.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.891908 target range: 9.500000 and range: 9.50 m.
2025-08-19T18:23:46.275Z,1755627826.275 [DAT](INFO): DAT read: Rx Time:18:23:44.4625 

2025-08-19T18:23:46.277Z,1755627826.277 [DAT](INFO): Rx dataTimestamp_ set to:1755627826.275860
2025-08-19T18:23:46.281Z,1755627826.281 [DAT](INFO): DAT read: Bearing 312.7,  10.8 (Local)

2025-08-19T18:23:46.290Z,1755627826.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.7,  10.8 (Local)

2025-08-19T18:23:46.346Z,1755627826.346 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.4

2025-08-19T18:23:46.380Z,1755627826.380 [DAT](INFO): DAT read: 18:23:44.4625 LVL= 24272, 32753, 32754, 32755, AGC= 39, IDX= 498,-0.17,-0.496,-2.116,-0.702,-1.006, PHS= 0.611,-1.065, 0.260, RAW= 138.5,   2.6, CAL= 138.6,   3.3, ROT=  11.4,  -3.3

2025-08-19T18:23:46.381Z,1755627826.381 [DAT](INFO): got valid direction response:
 18:23:44.4625 LVL= 24272, 32753, 32754, 32755, AGC= 39, IDX= 498,-0.17,-0.496,-2.116,-0.702,-1.006, PHS= 0.611,-1.065, 0.260, RAW= 138.5,   2.6, CAL= 138.6,   3.3, ROT=  11.4,  -3.3

2025-08-19T18:23:46.381Z,1755627826.381 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-19T18:23:46.390Z,1755627826.390 [DAT](INFO): direction in FSK: [0.978646,0.197330,0.057564]
2025-08-19T18:23:46.391Z,1755627826.391 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:46.403Z,1755627826.403 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=30.657442
2025-08-19T18:23:46.515Z,1755627826.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504908 s,
      deltaX: -0.400000 m,
      approachRate: -0.792223 m/s,
      rangeRepo size: 4

2025-08-19T18:23:46.517Z,1755627826.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.900000 m,
      bearing: 179.789170 deg,
      lat: 36.779358 deg,
      lon: -121.859508 deg,
      deltaT: 11.900513 s,
      deltaX: -6.600000 m,
      approachRate: -0.554598 m/s,
      posRepo size: 4

2025-08-19T18:23:46.523Z,1755627826.523 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=30.777384
2025-08-19T18:23:46.524Z,1755627826.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-08-19T18:23:46.524Z,1755627826.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-19T18:23:46.779Z,1755627826.779 [DAT](INFO): DAT read: Rx Time:18:23:44.9624 

2025-08-19T18:23:46.781Z,1755627826.781 [DAT](INFO): Rx dataTimestamp_ set to:1755627826.779591
2025-08-19T18:23:46.785Z,1755627826.785 [DAT](INFO): DAT read: Bearing 309.8,  10.3 (Local)

2025-08-19T18:23:46.786Z,1755627826.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.8,  10.3 (Local)

2025-08-19T18:23:46.794Z,1755627826.794 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.4

2025-08-19T18:23:46.796Z,1755627826.796 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-08-19T18:23:46.800Z,1755627826.800 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=31.053738
2025-08-19T18:23:46.902Z,1755627826.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:46.905Z,1755627826.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503731 s,
      deltaX: -0.200000 m,
      approachRate: -0.397037 m/s,
      rangeRepo size: 4

2025-08-19T18:23:47.015Z,1755627827.015 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:23:47.032Z,1755627827.032 [DAT](INFO): DAT read: 18:23:44.9624 LVL= 23504, 32753, 31378, 32755, AGC= 39, IDX= 497, 0.01, 3.057, 1.465, 2.861, 2.497, PHS= 0.661,-0.987, 0.320, RAW= 138.7,   0.1, CAL= 138.9,   0.7, ROT=  11.1,  -0.7

2025-08-19T18:23:47.033Z,1755627827.033 [DAT](INFO): got valid direction response:
 18:23:44.9624 LVL= 23504, 32753, 31378, 32755, AGC= 39, IDX= 497, 0.01, 3.057, 1.465, 2.861, 2.497, PHS= 0.661,-0.987, 0.320, RAW= 138.7,   0.1, CAL= 138.9,   0.7, ROT=  11.1,  -0.7

2025-08-19T18:23:47.033Z,1755627827.033 [DAT](INFO): #Rx 71: Read direction message, but no range.
2025-08-19T18:23:47.034Z,1755627827.034 [DAT](INFO): direction in FSK: [0.981219,0.192508,0.012217]
2025-08-19T18:23:47.048Z,1755627827.048 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=31.302380
2025-08-19T18:23:47.283Z,1755627827.283 [DAT](INFO): DAT read: Rx Time:18:23:45.4621 

2025-08-19T18:23:47.286Z,1755627827.286 [DAT](INFO): Rx dataTimestamp_ set to:1755627827.284178
2025-08-19T18:23:47.289Z,1755627827.289 [DAT](INFO): DAT read: Bearing 303.8,  10.4 (Local)

2025-08-19T18:23:47.290Z,1755627827.290 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.8,  10.4 (Local)

2025-08-19T18:23:47.319Z,1755627827.319 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.4

2025-08-19T18:23:47.365Z,1755627827.365 [DAT](INFO): DAT read: 18:23:45.4621 LVL= 31392, 32753, 32242, 31331, AGC= 40, IDX= 510, 0.27,-2.967, 1.780, 3.124, 2.666, PHS= 0.751,-0.841, 0.414, RAW= 138.4,  -4.5, CAL= 138.6,  -4.9, ROT=  11.4,   4.9

2025-08-19T18:23:47.378Z,1755627827.378 [DAT](INFO): got valid direction response:
 18:23:45.4621 LVL= 31392, 32753, 32242, 31331, AGC= 40, IDX= 510, 0.27,-2.967, 1.780, 3.124, 2.666, PHS= 0.751,-0.841, 0.414, RAW= 138.4,  -4.5, CAL= 138.6,  -4.9, ROT=  11.4,   4.9

2025-08-19T18:23:47.379Z,1755627827.379 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-19T18:23:47.380Z,1755627827.380 [DAT](INFO): direction in FSK: [0.976689,0.196935,-0.085417]
2025-08-19T18:23:47.380Z,1755627827.380 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:47.392Z,1755627827.392 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=31.646307
2025-08-19T18:23:47.422Z,1755627827.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504587 s,
      deltaX: -0.400000 m,
      approachRate: -0.792728 m/s,
      rangeRepo size: 4

2025-08-19T18:23:47.424Z,1755627827.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.300000 m,
      bearing: 180.458546 deg,
      lat: 36.779358 deg,
      lon: -121.859508 deg,
      deltaT: 1.008318 s,
      deltaX: -0.600000 m,
      approachRate: -0.595051 m/s,
      posRepo size: 4

2025-08-19T18:23:47.531Z,1755627827.531 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=31.785295
2025-08-19T18:23:47.786Z,1755627827.786 [DAT](INFO): DAT read: Rx Time:18:23:45.9621 

2025-08-19T18:23:47.788Z,1755627827.788 [DAT](INFO): Rx dataTimestamp_ set to:1755627827.786802
2025-08-19T18:23:47.791Z,1755627827.791 [DAT](INFO): DAT read: Bearing 288.0,  12.0 (Local)

2025-08-19T18:23:47.792Z,1755627827.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.0,  12.0 (Local)

2025-08-19T18:23:47.798Z,1755627827.798 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.4

2025-08-19T18:23:47.801Z,1755627827.801 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-08-19T18:23:47.803Z,1755627827.803 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=32.058094
2025-08-19T18:23:47.817Z,1755627827.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502624 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:48.038Z,1755627828.038 [DAT](INFO): DAT read: 18:23:45.9621 LVL= 27504, 32753, 27490, 31299, AGC= 33, IDX= 509, 0.34, 2.407, 0.886, 2.171, 1.454, PHS= 1.055,-0.522, 0.673, RAW= 136.6, -16.7, CAL= 136.0, -20.1, ROT=  14.0,  20.1

2025-08-19T18:23:48.039Z,1755627828.039 [DAT](INFO): got valid direction response:
 18:23:45.9621 LVL= 27504, 32753, 27490, 31299, AGC= 33, IDX= 509, 0.34, 2.407, 0.886, 2.171, 1.454, PHS= 1.055,-0.522, 0.673, RAW= 136.6, -16.7, CAL= 136.0, -20.1, ROT=  14.0,  20.1

2025-08-19T18:23:48.040Z,1755627828.040 [DAT](INFO): #Rx 74: Read direction message, but no range.
2025-08-19T18:23:48.040Z,1755627828.040 [DAT](INFO): direction in FSK: [0.911199,0.227187,-0.343660]
2025-08-19T18:23:48.044Z,1755627828.044 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=32.298473
2025-08-19T18:23:48.291Z,1755627828.291 [DAT](INFO): DAT read: Rx Time:18:23:46.4619 

2025-08-19T18:23:48.292Z,1755627828.292 [DAT](INFO): Rx dataTimestamp_ set to:1755627828.291383
2025-08-19T18:23:48.296Z,1755627828.296 [DAT](INFO): DAT read: Bearing 278.8,  13.3 (Local)

2025-08-19T18:23:48.300Z,1755627828.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.8,  13.3 (Local)

2025-08-19T18:23:48.304Z,1755627828.304 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.4

2025-08-19T18:23:48.310Z,1755627828.310 [DAT](INFO): DAT read: 18:23:46.4619 LVL= 26032, 30497, 26146, 25155, AGC= 30, IDX= 507, 0.15,-1.466,-2.904,-1.770,-2.669, PHS= 1.305,-0.190, 0.855, RAW= 133.0, -27.7, CAL= 133.4, -28.7, ROT=  16.6,  28.7

2025-08-19T18:23:48.313Z,1755627828.313 [DAT](INFO): got valid direction response:
 18:23:46.4619 LVL= 26032, 30497, 26146, 25155, AGC= 30, IDX= 507, 0.15,-1.466,-2.904,-1.770,-2.669, PHS= 1.305,-0.190, 0.855, RAW= 133.0, -27.7, CAL= 133.4, -28.7, ROT=  16.6,  28.7

2025-08-19T18:23:48.323Z,1755627828.323 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-19T18:23:48.368Z,1755627828.368 [DAT](INFO): direction in FSK: [0.840589,0.250590,-0.480224]
2025-08-19T18:23:48.369Z,1755627828.369 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:48.397Z,1755627828.397 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.651791
2025-08-19T18:23:48.539Z,1755627828.539 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.793331
2025-08-19T18:23:48.550Z,1755627828.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504581 s,
      deltaX: -0.300000 m,
      approachRate: -0.594553 m/s,
      rangeRepo size: 4

2025-08-19T18:23:48.552Z,1755627828.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.000000 m,
      bearing: 182.169573 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 1.007205 s,
      deltaX: -0.300000 m,
      approachRate: -0.297854 m/s,
      posRepo size: 4

2025-08-19T18:23:48.795Z,1755627828.795 [DAT](INFO): DAT read: Rx Time:18:23:46.9618 

2025-08-19T18:23:48.796Z,1755627828.796 [DAT](INFO): Rx dataTimestamp_ set to:1755627828.795357
2025-08-19T18:23:48.800Z,1755627828.800 [DAT](INFO): DAT read: Bearing 275.9,  11.4 (Local)

2025-08-19T18:23:48.802Z,1755627828.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.9,  11.4 (Local)

2025-08-19T18:23:48.805Z,1755627828.805 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.3

2025-08-19T18:23:48.809Z,1755627828.809 [DAT](INFO): DAT read: 18:23:46.9618 LVL= 25536, 29809, 26946, 31843, AGC= 27, IDX= 507, 0.22, 2.017, 0.741, 1.785, 0.866, PHS= 1.253,-0.081, 0.875, RAW= 134.0, -31.3, CAL= 134.9, -31.6, ROT=  15.1,  31.6

2025-08-19T18:23:48.810Z,1755627828.810 [DAT](INFO): got valid direction response:
 18:23:46.9618 LVL= 25536, 29809, 26946, 31843, AGC= 27, IDX= 507, 0.22, 2.017, 0.741, 1.785, 0.866, PHS= 1.253,-0.081, 0.875, RAW= 134.0, -31.3, CAL= 134.9, -31.6, ROT=  15.1,  31.6

2025-08-19T18:23:48.811Z,1755627828.811 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-19T18:23:48.812Z,1755627828.812 [DAT](INFO): direction in FSK: [0.822319,0.221879,-0.523986]
2025-08-19T18:23:48.812Z,1755627828.812 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:48.816Z,1755627828.816 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=33.070763
2025-08-19T18:23:48.960Z,1755627828.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503974 s,
      deltaX: -0.200000 m,
      approachRate: -0.396846 m/s,
      rangeRepo size: 4

2025-08-19T18:23:48.967Z,1755627828.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.800000 m,
      bearing: 182.544120 deg,
      lat: 36.779359 deg,
      lon: -121.859507 deg,
      deltaT: 0.503974 s,
      deltaX: -0.200000 m,
      approachRate: -0.396846 m/s,
      posRepo size: 4

2025-08-19T18:23:49.044Z,1755627829.044 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=33.298229
2025-08-19T18:23:49.299Z,1755627829.299 [DAT](INFO): DAT read: Rx Time:18:23:47.4616 

2025-08-19T18:23:49.301Z,1755627829.301 [DAT](INFO): Rx dataTimestamp_ set to:1755627829.299926
2025-08-19T18:23:49.304Z,1755627829.304 [DAT](INFO): DAT read: Bearing 263.7,  13.0 (Local)

2025-08-19T18:23:49.304Z,1755627829.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.7,  13.0 (Local)

2025-08-19T18:23:49.307Z,1755627829.307 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.1

2025-08-19T18:23:49.315Z,1755627829.315 [DAT](INFO): DAT read: 18:23:47.4616 LVL= 32752, 32753, 32754, 32755, AGC= 27, IDX= 505,-0.00, 2.081, 0.956, 1.762, 0.649, PHS= 1.534, 0.352, 1.069, RAW= 127.0, -45.4, CAL= 130.3, -42.9, ROT=  19.7,  42.9

2025-08-19T18:23:49.316Z,1755627829.316 [DAT](INFO): got valid direction response:
 18:23:47.4616 LVL= 32752, 32753, 32754, 32755, AGC= 27, IDX= 505,-0.00, 2.081, 0.956, 1.762, 0.649, PHS= 1.534, 0.352, 1.069, RAW= 127.0, -45.4, CAL= 130.3, -42.9, ROT=  19.7,  42.9

2025-08-19T18:23:49.316Z,1755627829.316 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-19T18:23:49.322Z,1755627829.322 [DAT](INFO): direction in FSK: [0.689668,0.246937,-0.680721]
2025-08-19T18:23:49.322Z,1755627829.322 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:49.336Z,1755627829.336 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.590393
2025-08-19T18:23:49.530Z,1755627829.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504569 s,
      deltaX: -0.300000 m,
      approachRate: -0.594567 m/s,
      rangeRepo size: 4

2025-08-19T18:23:49.532Z,1755627829.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 184.107027 deg,
      lat: 36.779359 deg,
      lon: -121.859507 deg,
      deltaT: 0.504569 s,
      deltaX: -0.300000 m,
      approachRate: -0.594567 m/s,
      posRepo size: 4

2025-08-19T18:23:49.547Z,1755627829.547 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.801327
2025-08-19T18:23:49.803Z,1755627829.803 [DAT](INFO): DAT read: Rx Time:18:23:47.9616 

2025-08-19T18:23:49.804Z,1755627829.804 [DAT](INFO): Rx dataTimestamp_ set to:1755627829.803583
2025-08-19T18:23:49.806Z,1755627829.806 [DAT](INFO): DAT read: Bearing 240.9,  12.7 (Local)

2025-08-19T18:23:49.807Z,1755627829.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.9,  12.7 (Local)

2025-08-19T18:23:49.812Z,1755627829.812 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:23:49.834Z,1755627829.834 [DAT](INFO): DAT read: 18:23:47.9616 LVL= 32752, 32753, 32754, 32755, AGC= 27, IDX= 504,-0.09,-0.020,-0.740,-0.367,-1.780, PHS= 1.861, 1.085, 1.369, RAW= 111.2, -66.0, CAL= 117.8, -63.8, ROT=  32.2,  63.8

2025-08-19T18:23:49.835Z,1755627829.835 [DAT](INFO): got valid direction response:
 18:23:47.9616 LVL= 32752, 32753, 32754, 32755, AGC= 27, IDX= 504,-0.09,-0.020,-0.740,-0.367,-1.780, PHS= 1.861, 1.085, 1.369, RAW= 111.2, -66.0, CAL= 117.8, -63.8, ROT=  32.2,  63.8

2025-08-19T18:23:49.835Z,1755627829.835 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-19T18:23:49.836Z,1755627829.836 [DAT](INFO): direction in FSK: [0.373599,0.235268,-0.897258]
2025-08-19T18:23:49.836Z,1755627829.836 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:49.872Z,1755627829.872 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=34.126881
2025-08-19T18:23:49.962Z,1755627829.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503657 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:49.964Z,1755627829.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 189.931317 deg,
      lat: 36.779360 deg,
      lon: -121.859508 deg,
      deltaT: 0.503657 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:23:50.051Z,1755627830.051 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=34.305374
2025-08-19T18:23:50.305Z,1755627830.305 [DAT](INFO): DAT read: Rx Time:18:23:48.4615 

2025-08-19T18:23:50.305Z,1755627830.305 [DAT](INFO): Rx dataTimestamp_ set to:1755627830.304990
2025-08-19T18:23:50.307Z,1755627830.307 [DAT](INFO): DAT read: Bearing 226.5,   9.9 (Local)

2025-08-19T18:23:50.307Z,1755627830.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.5,   9.9 (Local)

2025-08-19T18:23:50.309Z,1755627830.309 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:23:50.322Z,1755627830.322 [DAT](INFO): DAT read: 18:23:48.4615 LVL= 32752, 32753, 32754, 29587, AGC= 28, IDX= 503, 0.02, 0.487, 0.129, 0.266,-1.314, PHS= 1.903, 1.488, 1.535, RAW=  96.0, -77.3, CAL=  98.8, -76.6, ROT=  51.2,  76.6

2025-08-19T18:23:50.323Z,1755627830.323 [DAT](INFO): got valid direction response:
 18:23:48.4615 LVL= 32752, 32753, 32754, 29587, AGC= 28, IDX= 503, 0.02, 0.487, 0.129, 0.266,-1.314, PHS= 1.903, 1.488, 1.535, RAW=  96.0, -77.3, CAL=  98.8, -76.6, ROT=  51.2,  76.6

2025-08-19T18:23:50.323Z,1755627830.323 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-19T18:23:50.324Z,1755627830.324 [DAT](INFO): direction in FSK: [0.145214,0.180610,-0.972776]
2025-08-19T18:23:50.324Z,1755627830.324 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:50.356Z,1755627830.356 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.609837
2025-08-19T18:23:50.492Z,1755627830.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.501407 s,
      deltaX: -0.100000 m,
      approachRate: -0.199439 m/s,
      rangeRepo size: 4

2025-08-19T18:23:50.502Z,1755627830.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 199.323694 deg,
      lat: 36.779360 deg,
      lon: -121.859508 deg,
      deltaT: 0.501407 s,
      deltaX: -0.100000 m,
      approachRate: -0.199439 m/s,
      posRepo size: 4

2025-08-19T18:23:50.555Z,1755627830.555 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.809883
2025-08-19T18:23:50.807Z,1755627830.807 [DAT](INFO): DAT read: Rx Time:18:23:48.9616 

2025-08-19T18:23:50.808Z,1755627830.808 [DAT](INFO): Rx dataTimestamp_ set to:1755627830.807305
2025-08-19T18:23:50.809Z,1755627830.809 [DAT](INFO): DAT read: Bearing 221.2,   1.4 (Local)

2025-08-19T18:23:50.809Z,1755627830.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.2,   1.4 (Local)

2025-08-19T18:23:50.811Z,1755627830.811 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:23:50.817Z,1755627830.817 [DAT](INFO): DAT read: 18:23:48.9616 LVL= 30112, 28625, 29170, 25139, AGC= 27, IDX= 504, 0.18,-0.142,-0.271,-0.143,-2.015, PHS= 1.975, 1.788, 1.827, RAW= 101.4, -85.1, CAL= 102.6, -84.8, ROT=  47.4,  84.8

2025-08-19T18:23:50.818Z,1755627830.818 [DAT](INFO): got valid direction response:
 18:23:48.9616 LVL= 30112, 28625, 29170, 25139, AGC= 27, IDX= 504, 0.18,-0.142,-0.271,-0.143,-2.015, PHS= 1.975, 1.788, 1.827, RAW= 101.4, -85.1, CAL= 102.6, -84.8, ROT=  47.4,  84.8

2025-08-19T18:23:50.818Z,1755627830.818 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-19T18:23:50.819Z,1755627830.819 [DAT](INFO): direction in FSK: [0.061347,0.066714,-0.995884]
2025-08-19T18:23:50.819Z,1755627830.819 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:50.823Z,1755627830.823 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=35.078056
2025-08-19T18:23:50.980Z,1755627830.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.502315 s,
      deltaX: 0.100000 m,
      approachRate: 0.199078 m/s,
      rangeRepo size: 4

2025-08-19T18:23:50.986Z,1755627830.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 245.746191 deg,
      lat: 36.779362 deg,
      lon: -121.859508 deg,
      deltaT: 0.502315 s,
      deltaX: 0.100000 m,
      approachRate: 0.199078 m/s,
      posRepo size: 4

2025-08-19T18:23:50.987Z,1755627830.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.50 m.
2025-08-19T18:23:50.987Z,1755627830.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.50 m.
2025-08-19T18:23:50.988Z,1755627830.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-19T18:23:51.061Z,1755627831.061 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=35.315578
2025-08-19T18:23:51.311Z,1755627831.311 [DAT](INFO): DAT read: Rx Time:18:23:49.4615 

2025-08-19T18:23:51.312Z,1755627831.312 [DAT](INFO): Rx dataTimestamp_ set to:1755627831.311258
2025-08-19T18:23:51.313Z,1755627831.313 [DAT](INFO): DAT read: Bearing 219.7,   8.7 (Local)

2025-08-19T18:23:51.313Z,1755627831.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.7,   8.7 (Local)

2025-08-19T18:23:51.315Z,1755627831.315 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:23:51.328Z,1755627831.328 [DAT](INFO): DAT read: 18:23:49.4615 LVL= 26512, 28513, 29410, 25395, AGC= 33, IDX= 503, 0.48,-1.967,-2.156,-2.168, 2.343, PHS= 2.075, 1.829, 1.728, RAW=  73.6, -81.2, CAL=  74.8, -80.7, ROT=  75.2,  80.7

2025-08-19T18:23:51.329Z,1755627831.329 [DAT](INFO): got valid direction response:
 18:23:49.4615 LVL= 26512, 28513, 29410, 25395, AGC= 33, IDX= 503, 0.48,-1.967,-2.156,-2.168, 2.343, PHS= 2.075, 1.829, 1.728, RAW=  73.6, -81.2, CAL=  74.8, -80.7, ROT=  75.2,  80.7

2025-08-19T18:23:51.330Z,1755627831.330 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-19T18:23:51.331Z,1755627831.331 [DAT](INFO): direction in FSK: [0.041281,0.156242,-0.986856]
2025-08-19T18:23:51.331Z,1755627831.331 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:51.345Z,1755627831.345 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.599594
2025-08-19T18:23:51.496Z,1755627831.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503953 s,
      deltaX: -0.100000 m,
      approachRate: -0.198431 m/s,
      rangeRepo size: 4

2025-08-19T18:23:51.502Z,1755627831.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 312.285721 deg,
      lat: 36.779362 deg,
      lon: -121.859508 deg,
      deltaT: 0.503953 s,
      deltaX: -0.100000 m,
      approachRate: -0.198431 m/s,
      posRepo size: 4

2025-08-19T18:23:51.528Z,1755627831.528 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:23:51.563Z,1755627831.563 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.817898
2025-08-19T18:23:51.816Z,1755627831.816 [DAT](INFO): DAT read: Rx Time:18:23:49.9616 

2025-08-19T18:23:51.816Z,1755627831.816 [DAT](INFO): Rx dataTimestamp_ set to:1755627831.815694
2025-08-19T18:23:51.817Z,1755627831.817 [DAT](INFO): DAT read: Bearing 218.2,   9.2 (Local)

2025-08-19T18:23:51.818Z,1755627831.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.2,   9.2 (Local)

2025-08-19T18:23:51.820Z,1755627831.820 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:23:51.824Z,1755627831.824 [DAT](INFO): DAT read: 18:23:49.9616 LVL= 29808, 30881, 32754, 29875, AGC= 35, IDX= 505,-0.29,-2.485,-2.662,-2.704, 1.826, PHS= 2.075, 1.840, 1.710, RAW=  69.3, -80.9, CAL=  70.4, -80.4, ROT=  79.6,  80.4

2025-08-19T18:23:51.838Z,1755627831.838 [DAT](INFO): got valid direction response:
 18:23:49.9616 LVL= 29808, 30881, 32754, 29875, AGC= 35, IDX= 505,-0.29,-2.485,-2.662,-2.704, 1.826, PHS= 2.075, 1.840, 1.710, RAW=  69.3, -80.9, CAL=  70.4, -80.4, ROT=  79.6,  80.4

2025-08-19T18:23:51.838Z,1755627831.838 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-19T18:23:51.839Z,1755627831.839 [DAT](INFO): direction in FSK: [0.030105,0.164029,-0.985996]
2025-08-19T18:23:51.840Z,1755627831.840 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:51.868Z,1755627831.868 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=36.122784
2025-08-19T18:23:51.978Z,1755627831.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504436 s,
      deltaX: 0.100000 m,
      approachRate: 0.198241 m/s,
      rangeRepo size: 4

2025-08-19T18:23:51.980Z,1755627831.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 326.453168 deg,
      lat: 36.779362 deg,
      lon: -121.859509 deg,
      deltaT: 0.504436 s,
      deltaX: 0.100000 m,
      approachRate: 0.198241 m/s,
      posRepo size: 4

2025-08-19T18:23:52.067Z,1755627832.067 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=36.321472
2025-08-19T18:23:52.319Z,1755627832.319 [DAT](INFO): DAT read: Rx Time:18:23:50.4615 

2025-08-19T18:23:52.320Z,1755627832.320 [DAT](INFO): Rx dataTimestamp_ set to:1755627832.319471
2025-08-19T18:23:52.321Z,1755627832.321 [DAT](INFO): DAT read: Bearing 218.0,   8.4 (Local)

2025-08-19T18:23:52.322Z,1755627832.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.0,   8.4 (Local)

2025-08-19T18:23:52.324Z,1755627832.324 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:23:52.328Z,1755627832.328 [DAT](INFO): DAT read: 18:23:50.4615 LVL= 27600, 27697, 31042, 26483, AGC= 34, IDX= 504,-0.19,-2.633,-2.815,-2.829, 1.720, PHS= 2.032, 1.793, 1.690, RAW=  72.9, -81.1, CAL=  74.1, -80.7, ROT=  75.9,  80.7

2025-08-19T18:23:52.334Z,1755627832.334 [DAT](INFO): got valid direction response:
 18:23:50.4615 LVL= 27600, 27697, 31042, 26483, AGC= 34, IDX= 504,-0.19,-2.633,-2.815,-2.829, 1.720, PHS= 2.032, 1.793, 1.690, RAW=  72.9, -81.1, CAL=  74.1, -80.7, ROT=  75.9,  80.7

2025-08-19T18:23:52.334Z,1755627832.334 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-19T18:23:52.335Z,1755627832.335 [DAT](INFO): direction in FSK: [0.039369,0.156735,-0.986856]
2025-08-19T18:23:52.335Z,1755627832.335 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:52.339Z,1755627832.339 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.593712
2025-08-19T18:23:52.357Z,1755627832.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503777 s,
      deltaX: -0.100000 m,
      approachRate: -0.198501 m/s,
      rangeRepo size: 4

2025-08-19T18:23:52.360Z,1755627832.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 319.362379 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.503777 s,
      deltaX: -0.100000 m,
      approachRate: -0.198501 m/s,
      posRepo size: 4

2025-08-19T18:23:52.571Z,1755627832.571 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.825417
2025-08-19T18:23:52.823Z,1755627832.823 [DAT](INFO): DAT read: Rx Time:18:23:50.9617 

2025-08-19T18:23:52.824Z,1755627832.824 [DAT](INFO): Rx dataTimestamp_ set to:1755627832.823304
2025-08-19T18:23:52.825Z,1755627832.825 [DAT](INFO): DAT read: Bearing 219.8,   9.2 (Local)

2025-08-19T18:23:52.825Z,1755627832.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.8,   9.2 (Local)

2025-08-19T18:23:52.827Z,1755627832.827 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-19T18:23:52.832Z,1755627832.832 [DAT](INFO): DAT read: 18:23:50.9617 LVL= 32608, 31681, 32754, 26083, AGC= 35, IDX= 505,-0.26, 1.335, 1.084, 1.132,-0.562, PHS= 1.999, 1.691, 1.650, RAW=  83.7, -80.1, CAL=  85.4, -79.6, ROT=  64.6,  79.6

2025-08-19T18:23:52.833Z,1755627832.833 [DAT](INFO): got valid direction response:
 18:23:50.9617 LVL= 32608, 31681, 32754, 26083, AGC= 35, IDX= 505,-0.26, 1.335, 1.084, 1.132,-0.562, PHS= 1.999, 1.691, 1.650, RAW=  83.7, -80.1, CAL=  85.4, -79.6, ROT=  64.6,  79.6

2025-08-19T18:23:52.834Z,1755627832.834 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-19T18:23:52.835Z,1755627832.835 [DAT](INFO): direction in FSK: [0.077431,0.163069,-0.983571]
2025-08-19T18:23:52.835Z,1755627832.835 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:52.843Z,1755627832.843 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.097237
2025-08-19T18:23:52.938Z,1755627832.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503833 s,
      deltaX: 0.300000 m,
      approachRate: 0.595436 m/s,
      rangeRepo size: 4

2025-08-19T18:23:52.940Z,1755627832.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.700000 m,
      bearing: 300.180465 deg,
      lat: 36.779358 deg,
      lon: -121.859508 deg,
      deltaT: 0.503833 s,
      deltaX: 0.300000 m,
      approachRate: 0.595436 m/s,
      posRepo size: 4

2025-08-19T18:23:53.075Z,1755627833.075 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.329357
2025-08-19T18:23:53.209Z,1755627833.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:53.327Z,1755627833.327 [DAT](INFO): DAT read: Rx Time:18:23:51.4616 

2025-08-19T18:23:53.328Z,1755627833.328 [DAT](INFO): Rx dataTimestamp_ set to:1755627833.327306
2025-08-19T18:23:53.329Z,1755627833.329 [DAT](INFO): DAT read: Bearing 221.1,   8.8 (Local)

2025-08-19T18:23:53.330Z,1755627833.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.1,   8.8 (Local)

2025-08-19T18:23:53.352Z,1755627833.352 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:23:53.365Z,1755627833.365 [DAT](INFO): DAT read: 18:23:51.4616 LVL= 29808, 29393, 32210, 25395, AGC= 34, IDX= 504,-0.20, 1.300, 0.996, 1.088,-0.584, PHS= 1.985, 1.625, 1.627, RAW=  90.4, -79.0, CAL=  92.5, -78.4, ROT=  57.5,  78.4

2025-08-19T18:23:53.371Z,1755627833.371 [DAT](INFO): got valid direction response:
 18:23:51.4616 LVL= 29808, 29393, 32210, 25395, AGC= 34, IDX= 504,-0.20, 1.300, 0.996, 1.088,-0.584, PHS= 1.985, 1.625, 1.627, RAW=  90.4, -79.0, CAL=  92.5, -78.4, ROT=  57.5,  78.4

2025-08-19T18:23:53.373Z,1755627833.373 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-19T18:23:53.379Z,1755627833.379 [DAT](INFO): direction in FSK: [0.108039,0.169587,-0.979575]
2025-08-19T18:23:53.379Z,1755627833.379 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:53.400Z,1755627833.400 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.654202
2025-08-19T18:23:53.611Z,1755627833.611 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.865269
2025-08-19T18:23:53.654Z,1755627833.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504002 s,
      deltaX: -0.200000 m,
      approachRate: -0.396824 m/s,
      rangeRepo size: 4

2025-08-19T18:23:53.656Z,1755627833.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 277.624920 deg,
      lat: 36.779356 deg,
      lon: -121.859509 deg,
      deltaT: 0.504002 s,
      deltaX: -0.200000 m,
      approachRate: -0.396824 m/s,
      posRepo size: 4

2025-08-19T18:23:53.869Z,1755627833.869 [DAT](INFO): DAT read: Rx Time:18:23:51.9616 

2025-08-19T18:23:53.869Z,1755627833.869 [DAT](INFO): Rx dataTimestamp_ set to:1755627833.868691
2025-08-19T18:23:53.874Z,1755627833.874 [DAT](INFO): DAT read: Bearing 221.6,   8.0 (Local)

2025-08-19T18:23:53.875Z,1755627833.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.6,   8.0 (Local)

2025-08-19T18:23:53.877Z,1755627833.877 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:23:53.881Z,1755627833.881 [DAT](INFO): DAT read: 18:23:51.9616 LVL= 27072, 31089, 32754, 26899, AGC= 33, IDX= 504,-0.12, 1.498, 1.169, 1.301,-0.385, PHS= 1.985, 1.599, 1.642, RAW=  95.7, -78.8, CAL=  98.2, -78.2, ROT=  51.8,  78.2

2025-08-19T18:23:53.882Z,1755627833.882 [DAT](INFO): got valid direction response:
 18:23:51.9616 LVL= 27072, 31089, 32754, 26899, AGC= 33, IDX= 504,-0.12, 1.498, 1.169, 1.301,-0.385, PHS= 1.985, 1.599, 1.642, RAW=  95.7, -78.8, CAL=  98.2, -78.2, ROT=  51.8,  78.2

2025-08-19T18:23:53.883Z,1755627833.883 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-19T18:23:53.884Z,1755627833.884 [DAT](INFO): direction in FSK: [0.126462,0.160705,-0.978867]
2025-08-19T18:23:53.884Z,1755627833.884 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:53.888Z,1755627833.888 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.142536
2025-08-19T18:23:54.033Z,1755627834.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.541385 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:54.035Z,1755627834.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 245.303997 deg,
      lat: 36.779355 deg,
      lon: -121.859509 deg,
      deltaT: 0.541385 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:23:54.119Z,1755627834.119 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.373837
2025-08-19T18:23:54.371Z,1755627834.371 [DAT](INFO): DAT read: Rx Time:18:23:52.4615 

2025-08-19T18:23:54.371Z,1755627834.371 [DAT](INFO): Rx dataTimestamp_ set to:1755627834.371164
2025-08-19T18:23:54.373Z,1755627834.373 [DAT](INFO): DAT read: Bearing 220.6,   8.5 (Local)

2025-08-19T18:23:54.373Z,1755627834.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.6,   8.5 (Local)

2025-08-19T18:23:54.375Z,1755627834.375 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:23:54.380Z,1755627834.380 [DAT](INFO): DAT read: 18:23:52.4615 LVL= 29568, 29985, 32754, 26803, AGC= 33, IDX= 503,-0.02, 1.324, 0.996, 1.122,-0.574, PHS= 2.000, 1.615, 1.652, RAW=  94.9, -78.8, CAL=  97.3, -78.2, ROT=  52.7,  78.2

2025-08-19T18:23:54.381Z,1755627834.381 [DAT](INFO): got valid direction response:
 18:23:52.4615 LVL= 29568, 29985, 32754, 26803, AGC= 33, IDX= 503,-0.02, 1.324, 0.996, 1.122,-0.574, PHS= 2.000, 1.615, 1.652, RAW=  94.9, -78.8, CAL=  97.3, -78.2, ROT=  52.7,  78.2

2025-08-19T18:23:54.389Z,1755627834.389 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-19T18:23:54.390Z,1755627834.390 [DAT](INFO): direction in FSK: [0.123922,0.162671,-0.978867]
2025-08-19T18:23:54.391Z,1755627834.391 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:54.394Z,1755627834.394 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.648930
2025-08-19T18:23:54.526Z,1755627834.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.502473 s,
      deltaX: -0.100000 m,
      approachRate: -0.199016 m/s,
      rangeRepo size: 4

2025-08-19T18:23:54.528Z,1755627834.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 228.686989 deg,
      lat: 36.779354 deg,
      lon: -121.859508 deg,
      deltaT: 0.502473 s,
      deltaX: -0.100000 m,
      approachRate: -0.199016 m/s,
      posRepo size: 4

2025-08-19T18:23:54.623Z,1755627834.623 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.877411
2025-08-19T18:23:54.875Z,1755627834.875 [DAT](INFO): DAT read: Rx Time:18:23:52.9616 

2025-08-19T18:23:54.876Z,1755627834.876 [DAT](INFO): Rx dataTimestamp_ set to:1755627834.875327
2025-08-19T18:23:54.877Z,1755627834.877 [DAT](INFO): DAT read: Bearing 219.7,  10.2 (Local)

2025-08-19T18:23:54.877Z,1755627834.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.7,  10.2 (Local)

2025-08-19T18:23:54.879Z,1755627834.879 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:23:54.884Z,1755627834.884 [DAT](INFO): DAT read: 18:23:52.9616 LVL= 26544, 30545, 32754, 27587, AGC= 31, IDX= 504, 0.11,-2.893, 3.059,-3.121, 1.514, PHS= 1.979, 1.590, 1.605, RAW=  92.0, -78.2, CAL=  94.4, -77.6, ROT=  55.6,  77.6

2025-08-19T18:23:54.885Z,1755627834.885 [DAT](INFO): got valid direction response:
 18:23:52.9616 LVL= 26544, 30545, 32754, 27587, AGC= 31, IDX= 504, 0.11,-2.893, 3.059,-3.121, 1.514, PHS= 1.979, 1.590, 1.605, RAW=  92.0, -78.2, CAL=  94.4, -77.6, ROT=  55.6,  77.6

2025-08-19T18:23:54.886Z,1755627834.886 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-19T18:23:54.887Z,1755627834.887 [DAT](INFO): direction in FSK: [0.121318,0.177181,-0.976672]
2025-08-19T18:23:54.887Z,1755627834.887 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:54.896Z,1755627834.896 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.150558
2025-08-19T18:23:55.027Z,1755627835.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504163 s,
      deltaX: 0.100000 m,
      approachRate: 0.198349 m/s,
      rangeRepo size: 4

2025-08-19T18:23:55.042Z,1755627835.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 223.063874 deg,
      lat: 36.779354 deg,
      lon: -121.859508 deg,
      deltaT: 0.504163 s,
      deltaX: 0.100000 m,
      approachRate: 0.198349 m/s,
      posRepo size: 4

2025-08-19T18:23:55.127Z,1755627835.127 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.381443
2025-08-19T18:23:55.379Z,1755627835.379 [DAT](INFO): DAT read: Rx Time:18:23:53.4614 

2025-08-19T18:23:55.380Z,1755627835.380 [DAT](INFO): Rx dataTimestamp_ set to:1755627835.379237
2025-08-19T18:23:55.381Z,1755627835.381 [DAT](INFO): DAT read: Bearing 218.0,   9.6 (Local)

2025-08-19T18:23:55.381Z,1755627835.381 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.0,   9.6 (Local)

2025-08-19T18:23:55.383Z,1755627835.383 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-19T18:23:55.389Z,1755627835.389 [DAT](INFO): DAT read: 18:23:53.4614 LVL= 26832, 28401, 32306, 24627, AGC= 32, IDX= 503, 0.24, 2.507, 2.201, 2.296, 0.588, PHS= 2.021, 1.658, 1.664, RAW=  90.9, -79.2, CAL=  93.0, -78.7, ROT=  57.0,  78.7

2025-08-19T18:23:55.391Z,1755627835.391 [DAT](INFO): got valid direction response:
 18:23:53.4614 LVL= 26832, 28401, 32306, 24627, AGC= 32, IDX= 503, 0.24, 2.507, 2.201, 2.296, 0.588, PHS= 2.021, 1.658, 1.664, RAW=  90.9, -79.2, CAL=  93.0, -78.7, ROT=  57.0,  78.7

2025-08-19T18:23:55.392Z,1755627835.392 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-19T18:23:55.393Z,1755627835.393 [DAT](INFO): direction in FSK: [0.106720,0.164334,-0.980615]
2025-08-19T18:23:55.393Z,1755627835.393 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:55.464Z,1755627835.464 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.708096
2025-08-19T18:23:55.619Z,1755627835.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.503910 s,
      deltaX: -0.300000 m,
      approachRate: -0.595344 m/s,
      rangeRepo size: 4

2025-08-19T18:23:55.626Z,1755627835.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 218.627367 deg,
      lat: 36.779354 deg,
      lon: -121.859508 deg,
      deltaT: 0.503910 s,
      deltaX: -0.300000 m,
      approachRate: -0.595344 m/s,
      posRepo size: 4

2025-08-19T18:23:55.631Z,1755627835.631 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.885384
2025-08-19T18:23:55.883Z,1755627835.883 [DAT](INFO): DAT read: Rx Time:18:23:53.9615 

2025-08-19T18:23:55.883Z,1755627835.883 [DAT](INFO): Rx dataTimestamp_ set to:1755627835.883058
2025-08-19T18:23:55.885Z,1755627835.885 [DAT](INFO): DAT read: Bearing 217.1,   8.4 (Local)

2025-08-19T18:23:55.885Z,1755627835.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.1,   8.4 (Local)

2025-08-19T18:23:55.887Z,1755627835.887 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:23:55.892Z,1755627835.892 [DAT](INFO): DAT read: 18:23:53.9615 LVL= 27632, 29425, 32754, 26675, AGC= 30, IDX= 504, 0.44, 2.160, 1.864, 1.970, 0.284, PHS= 1.978, 1.625, 1.642, RAW=  92.4, -79.5, CAL=  94.6, -78.9, ROT=  55.4,  78.9

2025-08-19T18:23:55.893Z,1755627835.893 [DAT](INFO): got valid direction response:
 18:23:53.9615 LVL= 27632, 29425, 32754, 26675, AGC= 30, IDX= 504, 0.44, 2.160, 1.864, 1.970, 0.284, PHS= 1.978, 1.625, 1.642, RAW=  92.4, -79.5, CAL=  94.6, -78.9, ROT=  55.4,  78.9

2025-08-19T18:23:55.893Z,1755627835.893 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-19T18:23:55.898Z,1755627835.898 [DAT](INFO): direction in FSK: [0.109322,0.158472,-0.981293]
2025-08-19T18:23:55.899Z,1755627835.899 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:55.902Z,1755627835.902 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.156940
2025-08-19T18:23:56.025Z,1755627836.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503821 s,
      deltaX: 0.200000 m,
      approachRate: 0.396966 m/s,
      rangeRepo size: 4

2025-08-19T18:23:56.031Z,1755627836.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 215.644240 deg,
      lat: 36.779354 deg,
      lon: -121.859508 deg,
      deltaT: 0.503821 s,
      deltaX: 0.200000 m,
      approachRate: 0.396966 m/s,
      posRepo size: 4

2025-08-19T18:23:56.135Z,1755627836.135 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.389721
2025-08-19T18:23:56.387Z,1755627836.387 [DAT](INFO): DAT read: Rx Time:18:23:54.4615 

2025-08-19T18:23:56.388Z,1755627836.388 [DAT](INFO): Rx dataTimestamp_ set to:1755627836.387366
2025-08-19T18:23:56.389Z,1755627836.389 [DAT](INFO): DAT read: Bearing 215.3,   8.2 (Local)

2025-08-19T18:23:56.390Z,1755627836.390 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.3,   8.2 (Local)

2025-08-19T18:23:56.392Z,1755627836.392 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:23:56.396Z,1755627836.396 [DAT](INFO): DAT read: 18:23:54.4615 LVL= 26304, 27681, 31218, 25587, AGC= 31, IDX= 504,-0.31,-0.843,-1.116,-1.016,-2.705, PHS= 1.964, 1.635, 1.645, RAW=  91.6, -80.1, CAL=  93.6, -79.6, ROT=  56.4,  79.6

2025-08-19T18:23:56.397Z,1755627836.397 [DAT](INFO): got valid direction response:
 18:23:54.4615 LVL= 26304, 27681, 31218, 25587, AGC= 31, IDX= 504,-0.31,-0.843,-1.116,-1.016,-2.705, PHS= 1.964, 1.635, 1.645, RAW=  91.6, -80.1, CAL=  93.6, -79.6, ROT=  56.4,  79.6

2025-08-19T18:23:56.398Z,1755627836.398 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-19T18:23:56.399Z,1755627836.399 [DAT](INFO): direction in FSK: [0.099898,0.150358,-0.983571]
2025-08-19T18:23:56.399Z,1755627836.399 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:56.403Z,1755627836.403 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.657410
2025-08-19T18:23:56.487Z,1755627836.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504308 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:56.507Z,1755627836.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 218.979400 deg,
      lat: 36.779354 deg,
      lon: -121.859508 deg,
      deltaT: 0.504308 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:23:56.642Z,1755627836.642 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.897079
2025-08-19T18:23:56.852Z,1755627836.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:56.897Z,1755627836.897 [DAT](INFO): DAT read: Rx Time:18:23:54.9616 

2025-08-19T18:23:56.897Z,1755627836.897 [DAT](INFO): Rx dataTimestamp_ set to:1755627836.896766
2025-08-19T18:23:56.906Z,1755627836.906 [DAT](INFO): DAT read: Bearing 214.9,   9.8 (Local)

2025-08-19T18:23:56.906Z,1755627836.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing 214.9,   9.8 (Local)

2025-08-19T18:23:56.909Z,1755627836.909 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:23:56.923Z,1755627836.923 [DAT](INFO): DAT read: 18:23:54.9616 LVL= 30160, 30833, 32754, 28291, AGC= 30, IDX= 505,-0.14, 0.789, 0.478, 0.583,-1.075, PHS= 1.966, 1.597, 1.613, RAW=  92.2, -78.8, CAL=  94.5, -78.3, ROT=  55.5,  78.3

2025-08-19T18:23:56.924Z,1755627836.924 [DAT](INFO): got valid direction response:
 18:23:54.9616 LVL= 30160, 30833, 32754, 28291, AGC= 30, IDX= 505,-0.14, 0.789, 0.478, 0.583,-1.075, PHS= 1.966, 1.597, 1.613, RAW=  92.2, -78.8, CAL=  94.5, -78.3, ROT=  55.5,  78.3

2025-08-19T18:23:56.924Z,1755627836.924 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-19T18:23:56.927Z,1755627836.927 [DAT](INFO): direction in FSK: [0.114860,0.167122,-0.979223]
2025-08-19T18:23:56.928Z,1755627836.928 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:56.941Z,1755627836.941 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=41.195381
2025-08-19T18:23:57.148Z,1755627837.148 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=41.402325
2025-08-19T18:23:57.240Z,1755627837.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.509400 s,
      deltaX: 0.100000 m,
      approachRate: 0.196309 m/s,
      rangeRepo size: 4

2025-08-19T18:23:57.268Z,1755627837.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 213.655011 deg,
      lat: 36.779354 deg,
      lon: -121.859508 deg,
      deltaT: 0.509400 s,
      deltaX: 0.100000 m,
      approachRate: 0.196309 m/s,
      posRepo size: 4

2025-08-19T18:23:57.400Z,1755627837.400 [DAT](INFO): DAT read: Rx Time:18:23:55.4615 

2025-08-19T18:23:57.400Z,1755627837.400 [DAT](INFO): Rx dataTimestamp_ set to:1755627837.400181
2025-08-19T18:23:57.402Z,1755627837.402 [DAT](INFO): DAT read: Bearing 213.9,   9.2 (Local)

2025-08-19T18:23:57.403Z,1755627837.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.9,   9.2 (Local)

2025-08-19T18:23:57.406Z,1755627837.406 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:23:57.411Z,1755627837.411 [DAT](INFO): DAT read: 18:23:55.4615 LVL= 29936, 31025, 32754, 28579, AGC= 31, IDX= 504,-0.05,-0.078,-0.395,-0.275,-1.939, PHS= 1.963, 1.588, 1.620, RAW=  94.4, -78.9, CAL=  96.7, -78.3, ROT=  53.3,  78.3

2025-08-19T18:23:57.412Z,1755627837.412 [DAT](INFO): got valid direction response:
 18:23:55.4615 LVL= 29936, 31025, 32754, 28579, AGC= 31, IDX= 504,-0.05,-0.078,-0.395,-0.275,-1.939, PHS= 1.963, 1.588, 1.620, RAW=  94.4, -78.9, CAL=  96.7, -78.3, ROT=  53.3,  78.3

2025-08-19T18:23:57.412Z,1755627837.412 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-19T18:23:57.414Z,1755627837.414 [DAT](INFO): direction in FSK: [0.121191,0.162590,-0.979223]
2025-08-19T18:23:57.414Z,1755627837.414 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:57.417Z,1755627837.417 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=41.671860
2025-08-19T18:23:57.651Z,1755627837.651 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=41.905254
2025-08-19T18:23:57.690Z,1755627837.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503415 s,
      deltaX: -0.100000 m,
      approachRate: -0.198643 m/s,
      rangeRepo size: 4

2025-08-19T18:23:57.692Z,1755627837.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 208.098106 deg,
      lat: 36.779354 deg,
      lon: -121.859508 deg,
      deltaT: 0.503415 s,
      deltaX: -0.100000 m,
      approachRate: -0.198643 m/s,
      posRepo size: 4

2025-08-19T18:23:57.903Z,1755627837.903 [DAT](INFO): DAT read: Rx Time:18:23:55.9615 

2025-08-19T18:23:57.904Z,1755627837.904 [DAT](INFO): Rx dataTimestamp_ set to:1755627837.903356
2025-08-19T18:23:57.905Z,1755627837.905 [DAT](INFO): DAT read: Bearing 213.0,   8.7 (Local)

2025-08-19T18:23:57.905Z,1755627837.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 213.0,   8.7 (Local)

2025-08-19T18:23:57.907Z,1755627837.907 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:23:57.913Z,1755627837.913 [DAT](INFO): DAT read: 18:23:55.9615 LVL= 26496, 29425, 32754, 26563, AGC= 31, IDX= 504, 0.03, 1.622, 1.291, 1.428,-0.263, PHS= 1.986, 1.599, 1.647, RAW=  96.5, -78.8, CAL=  99.0, -78.2, ROT=  51.0,  78.2

2025-08-19T18:23:57.914Z,1755627837.914 [DAT](INFO): got valid direction response:
 18:23:55.9615 LVL= 26496, 29425, 32754, 26563, AGC= 31, IDX= 504, 0.03, 1.622, 1.291, 1.428,-0.263, PHS= 1.986, 1.599, 1.647, RAW=  96.5, -78.8, CAL=  99.0, -78.2, ROT=  51.0,  78.2

2025-08-19T18:23:57.914Z,1755627837.914 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-19T18:23:57.915Z,1755627837.915 [DAT](INFO): direction in FSK: [0.128694,0.158923,-0.978867]
2025-08-19T18:23:57.915Z,1755627837.915 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:57.919Z,1755627837.919 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.173588
2025-08-19T18:23:58.052Z,1755627838.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503175 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:23:58.059Z,1755627838.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 207.604598 deg,
      lat: 36.779355 deg,
      lon: -121.859508 deg,
      deltaT: 0.503175 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:23:58.155Z,1755627838.155 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.409248
2025-08-19T18:23:58.407Z,1755627838.407 [DAT](INFO): DAT read: Rx Time:18:23:56.4614 

2025-08-19T18:23:58.408Z,1755627838.408 [DAT](INFO): Rx dataTimestamp_ set to:1755627838.407671
2025-08-19T18:23:58.409Z,1755627838.409 [DAT](INFO): DAT read: Bearing 211.9,   9.2 (Local)

2025-08-19T18:23:58.410Z,1755627838.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.9,   9.2 (Local)

2025-08-19T18:23:58.412Z,1755627838.412 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-19T18:23:58.433Z,1755627838.433 [DAT](INFO): DAT read: 18:23:56.4614 LVL= 25808, 28721, 32754, 26211, AGC= 31, IDX= 503, 0.13, 0.740, 0.398, 0.533,-1.141, PHS= 1.983, 1.584, 1.630, RAW=  96.0, -78.4, CAL=  98.6, -77.7, ROT=  51.4,  77.7

2025-08-19T18:23:58.434Z,1755627838.434 [DAT](INFO): got valid direction response:
 18:23:56.4614 LVL= 25808, 28721, 32754, 26211, AGC= 31, IDX= 503, 0.13, 0.740, 0.398, 0.533,-1.141, PHS= 1.983, 1.584, 1.630, RAW=  96.0, -78.4, CAL=  98.6, -77.7, ROT=  51.4,  77.7

2025-08-19T18:23:58.435Z,1755627838.435 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-19T18:23:58.436Z,1755627838.436 [DAT](INFO): direction in FSK: [0.132905,0.166488,-0.977046]
2025-08-19T18:23:58.436Z,1755627838.436 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:58.452Z,1755627838.452 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.706310
2025-08-19T18:23:58.576Z,1755627838.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.504315 s,
      deltaX: -0.200000 m,
      approachRate: -0.396577 m/s,
      rangeRepo size: 4

2025-08-19T18:23:58.582Z,1755627838.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 206.315099 deg,
      lat: 36.779355 deg,
      lon: -121.859508 deg,
      deltaT: 0.504315 s,
      deltaX: -0.200000 m,
      approachRate: -0.396577 m/s,
      posRepo size: 4

2025-08-19T18:23:58.659Z,1755627838.659 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.914062
2025-08-19T18:23:58.904Z,1755627838.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:23:58.911Z,1755627838.911 [DAT](INFO): DAT read: Rx Time:18:23:56.9615 

2025-08-19T18:23:58.912Z,1755627838.912 [DAT](INFO): Rx dataTimestamp_ set to:1755627838.911433
2025-08-19T18:23:58.913Z,1755627838.913 [DAT](INFO): DAT read: Bearing 210.5,   8.9 (Local)

2025-08-19T18:23:58.913Z,1755627838.913 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.5,   8.9 (Local)

2025-08-19T18:23:58.915Z,1755627838.915 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:23:58.920Z,1755627838.920 [DAT](INFO): DAT read: 18:23:56.9615 LVL= 24976, 27969, 31986, 26099, AGC= 31, IDX= 504, 0.26, 2.145, 1.811, 1.943, 0.258, PHS= 1.990, 1.598, 1.641, RAW=  95.7, -78.6, CAL=  98.2, -78.0, ROT=  51.8,  78.0

2025-08-19T18:23:58.925Z,1755627838.925 [DAT](INFO): got valid direction response:
 18:23:56.9615 LVL= 24976, 27969, 31986, 26099, AGC= 31, IDX= 504, 0.26, 2.145, 1.811, 1.943, 0.258, PHS= 1.990, 1.598, 1.641, RAW=  95.7, -78.6, CAL=  98.2, -78.0, ROT=  51.8,  78.0

2025-08-19T18:23:58.925Z,1755627838.925 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-19T18:23:58.926Z,1755627838.926 [DAT](INFO): direction in FSK: [0.128574,0.163389,-0.978148]
2025-08-19T18:23:58.927Z,1755627838.927 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:58.942Z,1755627838.942 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.196987
2025-08-19T18:23:59.163Z,1755627839.163 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.417671
2025-08-19T18:23:59.322Z,1755627839.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503762 s,
      deltaX: 0.200000 m,
      approachRate: 0.397013 m/s,
      rangeRepo size: 4

2025-08-19T18:23:59.325Z,1755627839.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 201.459880 deg,
      lat: 36.779356 deg,
      lon: -121.859508 deg,
      deltaT: 0.503762 s,
      deltaX: 0.200000 m,
      approachRate: 0.397013 m/s,
      posRepo size: 4

2025-08-19T18:23:59.415Z,1755627839.415 [DAT](INFO): DAT read: Rx Time:18:23:57.4614 

2025-08-19T18:23:59.416Z,1755627839.416 [DAT](INFO): Rx dataTimestamp_ set to:1755627839.415543
2025-08-19T18:23:59.417Z,1755627839.417 [DAT](INFO): DAT read: Bearing 208.8,   9.1 (Local)

2025-08-19T18:23:59.418Z,1755627839.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing 208.8,   9.1 (Local)

2025-08-19T18:23:59.420Z,1755627839.420 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-19T18:23:59.424Z,1755627839.424 [DAT](INFO): DAT read: 18:23:57.4614 LVL= 24688, 27633, 31346, 25587, AGC= 31, IDX= 503, 0.46, 0.469, 0.150, 0.268,-1.416, PHS= 1.987, 1.611, 1.639, RAW=  93.9, -78.9, CAL=  96.2, -78.3, ROT=  53.8,  78.3

2025-08-19T18:23:59.426Z,1755627839.426 [DAT](INFO): got valid direction response:
 18:23:57.4614 LVL= 24688, 27633, 31346, 25587, AGC= 31, IDX= 503, 0.46, 0.469, 0.150, 0.268,-1.416, PHS= 1.987, 1.611, 1.639, RAW=  93.9, -78.9, CAL=  96.2, -78.3, ROT=  53.8,  78.3

2025-08-19T18:23:59.426Z,1755627839.426 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-19T18:23:59.427Z,1755627839.427 [DAT](INFO): direction in FSK: [0.119767,0.163641,-0.979223]
2025-08-19T18:23:59.427Z,1755627839.427 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:59.431Z,1755627839.431 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.685638
2025-08-19T18:23:59.667Z,1755627839.667 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.921246
2025-08-19T18:23:59.791Z,1755627839.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.504110 s,
      deltaX: -0.200000 m,
      approachRate: -0.396739 m/s,
      rangeRepo size: 4

2025-08-19T18:23:59.799Z,1755627839.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 203.158326 deg,
      lat: 36.779357 deg,
      lon: -121.859507 deg,
      deltaT: 0.504110 s,
      deltaX: -0.200000 m,
      approachRate: -0.396739 m/s,
      posRepo size: 4

2025-08-19T18:23:59.920Z,1755627839.920 [DAT](INFO): DAT read: Rx Time:18:23:57.9616 

2025-08-19T18:23:59.920Z,1755627839.920 [DAT](INFO): Rx dataTimestamp_ set to:1755627839.920152
2025-08-19T18:23:59.922Z,1755627839.922 [DAT](INFO): DAT read: Bearing 207.3,   9.1 (Local)

2025-08-19T18:23:59.922Z,1755627839.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.3,   9.1 (Local)

2025-08-19T18:23:59.924Z,1755627839.924 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:23:59.936Z,1755627839.936 [DAT](INFO): DAT read: 18:23:57.9616 LVL= 25152, 27729, 31058, 25555, AGC= 31, IDX= 505,-0.26,-0.220,-0.519,-0.414,-2.089, PHS= 1.972, 1.615, 1.631, RAW=  92.3, -79.3, CAL=  94.5, -78.7, ROT=  55.5,  78.7

2025-08-19T18:23:59.939Z,1755627839.939 [DAT](INFO): got valid direction response:
 18:23:57.9616 LVL= 25152, 27729, 31058, 25555, AGC= 31, IDX= 505,-0.26,-0.220,-0.519,-0.414,-2.089, PHS= 1.972, 1.615, 1.631, RAW=  92.3, -79.3, CAL=  94.5, -78.7, ROT=  55.5,  78.7

2025-08-19T18:23:59.939Z,1755627839.939 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-19T18:23:59.940Z,1755627839.940 [DAT](INFO): direction in FSK: [0.110985,0.161484,-0.980615]
2025-08-19T18:23:59.940Z,1755627839.940 [DAT](INFO): publishing direction and range info
2025-08-19T18:23:59.944Z,1755627839.944 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=44.198559
2025-08-19T18:24:00.165Z,1755627840.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504609 s,
      deltaX: 0.300000 m,
      approachRate: 0.594520 m/s,
      rangeRepo size: 4

2025-08-19T18:24:00.168Z,1755627840.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 207.749105 deg,
      lat: 36.779357 deg,
      lon: -121.859507 deg,
      deltaT: 0.504609 s,
      deltaX: 0.300000 m,
      approachRate: 0.594520 m/s,
      posRepo size: 4

2025-08-19T18:24:00.171Z,1755627840.171 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=44.426010
2025-08-19T18:24:00.423Z,1755627840.423 [DAT](INFO): DAT read: Rx Time:18:23:58.4615 

2025-08-19T18:24:00.423Z,1755627840.423 [DAT](INFO): Rx dataTimestamp_ set to:1755627840.423047
2025-08-19T18:24:00.425Z,1755627840.425 [DAT](INFO): DAT read: Bearing 206.0,   9.0 (Local)

2025-08-19T18:24:00.425Z,1755627840.425 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.0,   9.0 (Local)

2025-08-19T18:24:00.427Z,1755627840.427 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:00.432Z,1755627840.432 [DAT](INFO): DAT read: 18:23:58.4615 LVL= 28832, 30289, 32754, 27555, AGC= 31, IDX= 504,-0.13,-1.299,-1.581,-1.486, 3.120, PHS= 1.966, 1.628, 1.633, RAW=  90.8, -79.7, CAL=  92.8, -79.2, ROT=  57.2,  79.2

2025-08-19T18:24:00.433Z,1755627840.433 [DAT](INFO): got valid direction response:
 18:23:58.4615 LVL= 28832, 30289, 32754, 27555, AGC= 31, IDX= 504,-0.13,-1.299,-1.581,-1.486, 3.120, PHS= 1.966, 1.628, 1.633, RAW=  90.8, -79.7, CAL=  92.8, -79.2, ROT=  57.2,  79.2

2025-08-19T18:24:00.433Z,1755627840.433 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-19T18:24:00.434Z,1755627840.434 [DAT](INFO): direction in FSK: [0.101506,0.157507,-0.982287]
2025-08-19T18:24:00.434Z,1755627840.434 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:00.438Z,1755627840.438 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.692497
2025-08-19T18:24:00.675Z,1755627840.675 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.929230
2025-08-19T18:24:00.689Z,1755627840.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.502895 s,
      deltaX: -0.100000 m,
      approachRate: -0.198849 m/s,
      rangeRepo size: 4

2025-08-19T18:24:00.695Z,1755627840.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 208.848054 deg,
      lat: 36.779358 deg,
      lon: -121.859507 deg,
      deltaT: 0.502895 s,
      deltaX: -0.100000 m,
      approachRate: -0.198849 m/s,
      posRepo size: 4

2025-08-19T18:24:00.927Z,1755627840.927 [DAT](INFO): DAT read: Rx Time:18:23:58.9616 

2025-08-19T18:24:00.928Z,1755627840.928 [DAT](INFO): Rx dataTimestamp_ set to:1755627840.927221
2025-08-19T18:24:00.929Z,1755627840.929 [DAT](INFO): DAT read: Bearing 204.9,   9.0 (Local)

2025-08-19T18:24:00.929Z,1755627840.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.9,   9.0 (Local)

2025-08-19T18:24:00.942Z,1755627840.942 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:00.968Z,1755627840.968 [DAT](INFO): DAT read: 18:23:58.9616 LVL= 25984, 27553, 30578, 25315, AGC= 31, IDX= 505,-0.01, 0.119,-0.156,-0.067,-1.761, PHS= 1.983, 1.651, 1.651, RAW=  90.0, -79.9, CAL=  91.9, -79.4, ROT=  58.1,  79.4

2025-08-19T18:24:00.970Z,1755627840.970 [DAT](INFO): got valid direction response:
 18:23:58.9616 LVL= 25984, 27553, 30578, 25315, AGC= 31, IDX= 505,-0.01, 0.119,-0.156,-0.067,-1.761, PHS= 1.983, 1.651, 1.651, RAW=  90.0, -79.9, CAL=  91.9, -79.4, ROT=  58.1,  79.4

2025-08-19T18:24:00.970Z,1755627840.970 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-19T18:24:00.971Z,1755627840.971 [DAT](INFO): direction in FSK: [0.097207,0.156169,-0.982935]
2025-08-19T18:24:00.971Z,1755627840.971 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:01.015Z,1755627841.015 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=45.269642
2025-08-19T18:24:01.046Z,1755627841.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504174 s,
      deltaX: 0.100000 m,
      approachRate: 0.198344 m/s,
      rangeRepo size: 4

2025-08-19T18:24:01.048Z,1755627841.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 205.369712 deg,
      lat: 36.779358 deg,
      lon: -121.859507 deg,
      deltaT: 0.504174 s,
      deltaX: 0.100000 m,
      approachRate: 0.198344 m/s,
      posRepo size: 4

2025-08-19T18:24:01.179Z,1755627841.179 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=45.434090
2025-08-19T18:24:01.415Z,1755627841.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:01.431Z,1755627841.431 [DAT](INFO): DAT read: Rx Time:18:23:59.4615 

2025-08-19T18:24:01.432Z,1755627841.432 [DAT](INFO): Rx dataTimestamp_ set to:1755627841.431296
2025-08-19T18:24:01.433Z,1755627841.433 [DAT](INFO): DAT read: Bearing 204.4,   9.4 (Local)

2025-08-19T18:24:01.433Z,1755627841.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4,   9.4 (Local)

2025-08-19T18:24:01.435Z,1755627841.435 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:01.440Z,1755627841.440 [DAT](INFO): DAT read: 18:23:59.4615 LVL= 28400, 29681, 32754, 26803, AGC= 31, IDX= 504, 0.11,-0.026,-0.307,-0.222,-1.921, PHS= 1.997, 1.660, 1.655, RAW=  89.3, -79.7, CAL=  91.2, -79.2, ROT=  58.8,  79.2

2025-08-19T18:24:01.441Z,1755627841.441 [DAT](INFO): got valid direction response:
 18:23:59.4615 LVL= 28400, 29681, 32754, 26803, AGC= 31, IDX= 504, 0.11,-0.026,-0.307,-0.222,-1.921, PHS= 1.997, 1.660, 1.655, RAW=  89.3, -79.7, CAL=  91.2, -79.2, ROT=  58.8,  79.2

2025-08-19T18:24:01.441Z,1755627841.441 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-19T18:24:01.442Z,1755627841.442 [DAT](INFO): direction in FSK: [0.097069,0.160279,-0.982287]
2025-08-19T18:24:01.443Z,1755627841.443 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:01.456Z,1755627841.456 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.711163
2025-08-19T18:24:01.683Z,1755627841.683 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.937260
2025-08-19T18:24:01.846Z,1755627841.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504075 s,
      deltaX: -0.100000 m,
      approachRate: -0.198383 m/s,
      rangeRepo size: 4

2025-08-19T18:24:01.848Z,1755627841.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 206.266417 deg,
      lat: 36.779359 deg,
      lon: -121.859507 deg,
      deltaT: 0.504075 s,
      deltaX: -0.100000 m,
      approachRate: -0.198383 m/s,
      posRepo size: 4

2025-08-19T18:24:01.936Z,1755627841.936 [DAT](INFO): DAT read: Rx Time:18:23:59.9615 

2025-08-19T18:24:01.937Z,1755627841.937 [DAT](INFO): Rx dataTimestamp_ set to:1755627841.936235
2025-08-19T18:24:01.938Z,1755627841.938 [DAT](INFO): DAT read: Bearing 204.2,   9.6 (Local)

2025-08-19T18:24:01.939Z,1755627841.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.2,   9.6 (Local)

2025-08-19T18:24:01.942Z,1755627841.942 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:01.949Z,1755627841.949 [DAT](INFO): DAT read: 18:23:59.9615 LVL= 30064, 31217, 32754, 28403, AGC= 31, IDX= 504, 0.22, 0.283,-0.005, 0.082,-1.609, PHS= 1.995, 1.649, 1.647, RAW=  89.8, -79.5, CAL=  91.8, -79.0, ROT=  58.2,  79.0

2025-08-19T18:24:01.954Z,1755627841.954 [DAT](INFO): got valid direction response:
 18:23:59.9615 LVL= 30064, 31217, 32754, 28403, AGC= 31, IDX= 504, 0.22, 0.283,-0.005, 0.082,-1.609, PHS= 1.995, 1.649, 1.647, RAW=  89.8, -79.5, CAL=  91.8, -79.0, ROT=  58.2,  79.0

2025-08-19T18:24:01.954Z,1755627841.954 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-19T18:24:01.955Z,1755627841.955 [DAT](INFO): direction in FSK: [0.100548,0.162167,-0.981627]
2025-08-19T18:24:01.956Z,1755627841.956 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:01.976Z,1755627841.976 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.231075
2025-08-19T18:24:02.187Z,1755627842.187 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.441666
2025-08-19T18:24:02.302Z,1755627842.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504939 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:02.304Z,1755627842.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 206.106863 deg,
      lat: 36.779359 deg,
      lon: -121.859507 deg,
      deltaT: 0.504939 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:02.439Z,1755627842.439 [DAT](INFO): DAT read: Rx Time:18:24:00.4614 

2025-08-19T18:24:02.440Z,1755627842.440 [DAT](INFO): Rx dataTimestamp_ set to:1755627842.439262
2025-08-19T18:24:02.441Z,1755627842.441 [DAT](INFO): DAT read: Bearing 203.7,   9.4 (Local)

2025-08-19T18:24:02.441Z,1755627842.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.7,   9.4 (Local)

2025-08-19T18:24:02.443Z,1755627842.443 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-19T18:24:02.452Z,1755627842.452 [DAT](INFO): DAT read: 18:24:00.4614 LVL= 26768, 28145, 31666, 24211, AGC= 32, IDX= 503, 0.37,-0.522,-0.806,-0.720,-2.433, PHS= 2.012, 1.672, 1.669, RAW=  89.5, -79.8, CAL=  91.5, -79.2, ROT=  58.5,  79.2

2025-08-19T18:24:02.454Z,1755627842.454 [DAT](INFO): got valid direction response:
 18:24:00.4614 LVL= 26768, 28145, 31666, 24211, AGC= 32, IDX= 503, 0.37,-0.522,-0.806,-0.720,-2.433, PHS= 2.012, 1.672, 1.669, RAW=  89.5, -79.8, CAL=  91.5, -79.2, ROT=  58.5,  79.2

2025-08-19T18:24:02.454Z,1755627842.454 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-19T18:24:02.456Z,1755627842.456 [DAT](INFO): direction in FSK: [0.097906,0.159769,-0.982287]
2025-08-19T18:24:02.456Z,1755627842.456 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:02.462Z,1755627842.462 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.716557
2025-08-19T18:24:02.691Z,1755627842.691 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.945431
2025-08-19T18:24:02.719Z,1755627842.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.503027 s,
      deltaX: -0.200000 m,
      approachRate: -0.397593 m/s,
      rangeRepo size: 4

2025-08-19T18:24:02.727Z,1755627842.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 207.208799 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.503027 s,
      deltaX: -0.200000 m,
      approachRate: -0.397593 m/s,
      posRepo size: 4

2025-08-19T18:24:02.898Z,1755627842.898 [DockingStepper](FAULT): Timed out moving from: 10288 to: 14700 response: ÿ
2025-08-19T18:24:02.898Z,1755627842.898 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-19T18:24:02.898Z,1755627842.898 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:24:02.943Z,1755627842.943 [DAT](INFO): DAT read: Rx Time:18:24:00.9616 

2025-08-19T18:24:02.944Z,1755627842.944 [DAT](INFO): Rx dataTimestamp_ set to:1755627842.943418
2025-08-19T18:24:02.945Z,1755627842.945 [DAT](INFO): DAT read: Bearing 204.0,  10.0 (Local)

2025-08-19T18:24:02.945Z,1755627842.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.0,  10.0 (Local)

2025-08-19T18:24:02.947Z,1755627842.947 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:02.952Z,1755627842.952 [DAT](INFO): DAT read: 18:24:00.9616 LVL= 27760, 30801, 32754, 27219, AGC= 31, IDX= 505,-0.39,-1.209,-1.506,-1.417,-3.072, PHS= 1.965, 1.611, 1.611, RAW=  90.0, -79.1, CAL=  92.1, -78.5, ROT=  57.9,  78.5

2025-08-19T18:24:02.953Z,1755627842.953 [DAT](INFO): got valid direction response:
 18:24:00.9616 LVL= 27760, 30801, 32754, 27219, AGC= 31, IDX= 505,-0.39,-1.209,-1.506,-1.417,-3.072, PHS= 1.965, 1.611, 1.611, RAW=  90.0, -79.1, CAL=  92.1, -78.5, ROT=  57.9,  78.5

2025-08-19T18:24:02.957Z,1755627842.957 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-19T18:24:02.958Z,1755627842.958 [DAT](INFO): direction in FSK: [0.105944,0.168889,-0.979925]
2025-08-19T18:24:02.958Z,1755627842.958 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:02.962Z,1755627842.962 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.216625
2025-08-19T18:24:03.111Z,1755627843.111 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:24:03.186Z,1755627843.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504156 s,
      deltaX: 0.300000 m,
      approachRate: 0.595054 m/s,
      rangeRepo size: 4

2025-08-19T18:24:03.189Z,1755627843.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 207.565769 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.504156 s,
      deltaX: 0.300000 m,
      approachRate: 0.595054 m/s,
      posRepo size: 4

2025-08-19T18:24:03.196Z,1755627843.196 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.449936
2025-08-19T18:24:03.286Z,1755627843.286 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:24:03.286Z,1755627843.286 [DockingStepper](INFO): Powering down
2025-08-19T18:24:03.447Z,1755627843.447 [DAT](INFO): DAT read: Rx Time:18:24:01.4615 

2025-08-19T18:24:03.447Z,1755627843.447 [DAT](INFO): Rx dataTimestamp_ set to:1755627843.447180
2025-08-19T18:24:03.449Z,1755627843.449 [DAT](INFO): DAT read: Bearing 204.1,   9.9 (Local)

2025-08-19T18:24:03.449Z,1755627843.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.1,   9.9 (Local)

2025-08-19T18:24:03.451Z,1755627843.451 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:03.464Z,1755627843.464 [DAT](INFO): DAT read: 18:24:01.4615 LVL= 24224, 27825, 30754, 25283, AGC= 31, IDX= 504,-0.23,-2.750,-3.045,-2.954, 1.673, PHS= 1.963, 1.610, 1.613, RAW=  90.3, -79.2, CAL=  92.5, -78.6, ROT=  57.5,  78.6

2025-08-19T18:24:03.465Z,1755627843.465 [DAT](INFO): got valid direction response:
 18:24:01.4615 LVL= 24224, 27825, 30754, 25283, AGC= 31, IDX= 504,-0.23,-2.750,-3.045,-2.954, 1.673, PHS= 1.963, 1.610, 1.613, RAW=  90.3, -79.2, CAL=  92.5, -78.6, ROT=  57.5,  78.6

2025-08-19T18:24:03.465Z,1755627843.465 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-19T18:24:03.466Z,1755627843.466 [DAT](INFO): direction in FSK: [0.106201,0.166703,-0.980271]
2025-08-19T18:24:03.467Z,1755627843.467 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:03.499Z,1755627843.499 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.753681
2025-08-19T18:24:03.633Z,1755627843.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503762 s,
      deltaX: -0.100000 m,
      approachRate: -0.198506 m/s,
      rangeRepo size: 4

2025-08-19T18:24:03.639Z,1755627843.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 207.667894 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.503762 s,
      deltaX: -0.100000 m,
      approachRate: -0.198506 m/s,
      posRepo size: 4

2025-08-19T18:24:03.699Z,1755627843.699 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.953503
2025-08-19T18:24:03.951Z,1755627843.951 [DAT](INFO): DAT read: Rx Time:18:24:01.9616 

2025-08-19T18:24:03.952Z,1755627843.952 [DAT](INFO): Rx dataTimestamp_ set to:1755627843.951242
2025-08-19T18:24:03.953Z,1755627843.953 [DAT](INFO): DAT read: Bearing 204.2,   9.7 (Local)

2025-08-19T18:24:03.953Z,1755627843.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.2,   9.7 (Local)

2025-08-19T18:24:03.955Z,1755627843.955 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:03.964Z,1755627843.964 [DAT](INFO): DAT read: 18:24:01.9616 LVL= 23664, 27457, 30322, 25075, AGC= 31, IDX= 505,-0.10,-1.312,-1.605,-1.516, 3.111, PHS= 1.963, 1.612, 1.612, RAW=  90.1, -79.2, CAL=  92.1, -78.6, ROT=  57.9,  78.6

2025-08-19T18:24:03.965Z,1755627843.965 [DAT](INFO): got valid direction response:
 18:24:01.9616 LVL= 23664, 27457, 30322, 25075, AGC= 31, IDX= 505,-0.10,-1.312,-1.605,-1.516, 3.111, PHS= 1.963, 1.612, 1.612, RAW=  90.1, -79.2, CAL=  92.1, -78.6, ROT=  57.9,  78.6

2025-08-19T18:24:03.965Z,1755627843.965 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-19T18:24:03.967Z,1755627843.967 [DAT](INFO): direction in FSK: [0.105035,0.167440,-0.980271]
2025-08-19T18:24:03.967Z,1755627843.967 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:03.973Z,1755627843.973 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.227283
2025-08-19T18:24:04.080Z,1755627844.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504062 s,
      deltaX: 0.100000 m,
      approachRate: 0.198388 m/s,
      rangeRepo size: 4

2025-08-19T18:24:04.086Z,1755627844.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 210.130743 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.504062 s,
      deltaX: 0.100000 m,
      approachRate: 0.198388 m/s,
      posRepo size: 4

2025-08-19T18:24:04.204Z,1755627844.204 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.458843
2025-08-19T18:24:04.367Z,1755627844.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:04.456Z,1755627844.456 [DAT](INFO): DAT read: Rx Time:18:24:02.4615 

2025-08-19T18:24:04.457Z,1755627844.457 [DAT](INFO): Rx dataTimestamp_ set to:1755627844.456150
2025-08-19T18:24:04.459Z,1755627844.459 [DAT](INFO): DAT read: Bearing 204.4,   9.5 (Local)

2025-08-19T18:24:04.459Z,1755627844.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4,   9.5 (Local)

2025-08-19T18:24:04.461Z,1755627844.461 [DAT](INFO): DAT read: Range 11 to 50 :     rip time 0.9 ms) speed 0.0

2025-08-19T18:24:04.462Z,1755627844.462 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 :     rip time 0.9 ms) speed 0.0

2025-08-19T18:24:04.466Z,1755627844.466 [DAT](INFO): DAT read: 18:24:02.4615 LVL= 23664, 27425, 30258, 24723, AGC= 31, IDX= 504, 0.01,-1.505,-1.797,-1.710, 2.903, PHS= 1.978, 1.629, 1.627, RAW=  89.7, -79.3, CAL=  91.8, -78.7, ROT=  58.2,  78.7

2025-08-19T18:24:04.467Z,1755627844.467 [DAT](INFO): got valid direction response:
 18:24:02.4615 LVL= 23664, 27425, 30258, 24723, AGC= 31, IDX= 504, 0.01,-1.505,-1.797,-1.710, 2.903, PHS= 1.978, 1.629, 1.627, RAW=  89.7, -79.3, CAL=  91.8, -78.7, ROT=  58.2,  78.7

2025-08-19T18:24:04.467Z,1755627844.467 [DAT](INFO): #Rx 107: Read direction message, but no range.
2025-08-19T18:24:04.468Z,1755627844.468 [DAT](INFO): direction in FSK: [0.103255,0.166533,-0.980615]
2025-08-19T18:24:04.472Z,1755627844.472 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.726757
2025-08-19T18:24:04.708Z,1755627844.708 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.962502
2025-08-19T18:24:04.959Z,1755627844.959 [DAT](INFO): DAT read: Rx Time:18:24:02.9616 

2025-08-19T18:24:04.959Z,1755627844.959 [DAT](INFO): Rx dataTimestamp_ set to:1755627844.959145
2025-08-19T18:24:04.961Z,1755627844.961 [DAT](INFO): DAT read: Bearing 204.7,   9.6 (Local)

2025-08-19T18:24:04.961Z,1755627844.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.7,   9.6 (Local)

2025-08-19T18:24:04.968Z,1755627844.968 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:04.973Z,1755627844.973 [DAT](INFO): DAT read: 18:24:02.9616 LVL= 26208, 29425, 32754, 26003, AGC= 31, IDX= 505, 0.12, 0.623, 0.331, 0.413,-1.266, PHS= 1.991, 1.641, 1.635, RAW=  89.1, -79.3, CAL=  91.1, -78.7, ROT=  58.9,  78.7

2025-08-19T18:24:04.982Z,1755627844.982 [DAT](INFO): got valid direction response:
 18:24:02.9616 LVL= 26208, 29425, 32754, 26003, AGC= 31, IDX= 505, 0.12, 0.623, 0.331, 0.413,-1.266, PHS= 1.991, 1.641, 1.635, RAW=  89.1, -79.3, CAL=  91.1, -78.7, ROT=  58.9,  78.7

2025-08-19T18:24:04.984Z,1755627844.984 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-19T18:24:04.985Z,1755627844.985 [DAT](INFO): direction in FSK: [0.101213,0.167782,-0.980615]
2025-08-19T18:24:04.985Z,1755627844.985 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:05.023Z,1755627845.023 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.277431
2025-08-19T18:24:05.212Z,1755627845.212 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.465923
2025-08-19T18:24:05.226Z,1755627845.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 1.007903 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:05.234Z,1755627845.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 210.887079 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 1.007903 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:05.463Z,1755627845.463 [DAT](INFO): DAT read: Rx Time:18:24:03.4615 

2025-08-19T18:24:05.464Z,1755627845.464 [DAT](INFO): Rx dataTimestamp_ set to:1755627845.463241
2025-08-19T18:24:05.465Z,1755627845.465 [DAT](INFO): DAT read: Bearing 205.1,   9.5 (Local)

2025-08-19T18:24:05.465Z,1755627845.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.1,   9.5 (Local)

2025-08-19T18:24:05.467Z,1755627845.467 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:05.472Z,1755627845.472 [DAT](INFO): DAT read: 18:24:03.4615 LVL= 24016, 27569, 30162, 25171, AGC= 31, IDX= 504, 0.26,-0.982,-1.269,-1.188,-2.867, PHS= 1.986, 1.643, 1.635, RAW=  88.9, -79.4, CAL=  90.9, -78.9, ROT=  59.1,  78.9

2025-08-19T18:24:05.473Z,1755627845.473 [DAT](INFO): got valid direction response:
 18:24:03.4615 LVL= 24016, 27569, 30162, 25171, AGC= 31, IDX= 504, 0.26,-0.982,-1.269,-1.188,-2.867, PHS= 1.986, 1.643, 1.635, RAW=  88.9, -79.4, CAL=  90.9, -78.9, ROT=  59.1,  78.9

2025-08-19T18:24:05.473Z,1755627845.473 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-19T18:24:05.474Z,1755627845.474 [DAT](INFO): direction in FSK: [0.098868,0.165196,-0.981293]
2025-08-19T18:24:05.475Z,1755627845.475 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:05.478Z,1755627845.478 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.732784
2025-08-19T18:24:05.661Z,1755627845.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504096 s,
      deltaX: -0.100000 m,
      approachRate: -0.198375 m/s,
      rangeRepo size: 4

2025-08-19T18:24:05.667Z,1755627845.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 212.601066 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.504096 s,
      deltaX: -0.100000 m,
      approachRate: -0.198375 m/s,
      posRepo size: 4

2025-08-19T18:24:05.716Z,1755627845.716 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.970547
2025-08-19T18:24:05.967Z,1755627845.967 [DAT](INFO): DAT read: Rx Time:18:24:03.9615 

2025-08-19T18:24:05.968Z,1755627845.968 [DAT](INFO): Rx dataTimestamp_ set to:1755627845.967410
2025-08-19T18:24:05.969Z,1755627845.969 [DAT](INFO): DAT read: Bearing 205.7,   9.3 (Local)

2025-08-19T18:24:05.969Z,1755627845.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.7,   9.3 (Local)

2025-08-19T18:24:05.971Z,1755627845.971 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:05.976Z,1755627845.976 [DAT](INFO): DAT read: 18:24:03.9615 LVL= 26608, 29393, 32754, 26435, AGC= 31, IDX= 504, 0.45,-1.397,-1.687,-1.600, 3.009, PHS= 1.979, 1.631, 1.630, RAW=  89.8, -79.3, CAL=  91.8, -78.8, ROT=  58.2,  78.8

2025-08-19T18:24:05.977Z,1755627845.977 [DAT](INFO): got valid direction response:
 18:24:03.9615 LVL= 26608, 29393, 32754, 26435, AGC= 31, IDX= 504, 0.45,-1.397,-1.687,-1.600, 3.009, PHS= 1.979, 1.631, 1.630, RAW=  89.8, -79.3, CAL=  91.8, -78.8, ROT=  58.2,  78.8

2025-08-19T18:24:05.977Z,1755627845.977 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-19T18:24:05.978Z,1755627845.978 [DAT](INFO): direction in FSK: [0.102353,0.165078,-0.980955]
2025-08-19T18:24:05.979Z,1755627845.979 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:05.982Z,1755627845.982 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.237064
2025-08-19T18:24:06.138Z,1755627846.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504169 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:06.140Z,1755627846.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 219.433363 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.504169 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:06.220Z,1755627846.220 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.474522
2025-08-19T18:24:06.452Z,1755627846.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:06.471Z,1755627846.471 [DAT](INFO): DAT read: Rx Time:18:24:04.4615 

2025-08-19T18:24:06.472Z,1755627846.472 [DAT](INFO): Rx dataTimestamp_ set to:1755627846.471268
2025-08-19T18:24:06.473Z,1755627846.473 [DAT](INFO): DAT read: Bearing 206.4,   9.1 (Local)

2025-08-19T18:24:06.473Z,1755627846.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.4,   9.1 (Local)

2025-08-19T18:24:06.475Z,1755627846.475 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:06.480Z,1755627846.480 [DAT](INFO): DAT read: 18:24:04.4615 LVL= 26608, 29601, 32754, 26531, AGC= 31, IDX= 504,-0.34, 2.572, 2.280, 2.377, 0.708, PHS= 1.966, 1.616, 1.625, RAW=  91.3, -79.4, CAL=  93.4, -78.8, ROT=  56.6,  78.8

2025-08-19T18:24:06.481Z,1755627846.481 [DAT](INFO): got valid direction response:
 18:24:04.4615 LVL= 26608, 29601, 32754, 26531, AGC= 31, IDX= 504,-0.34, 2.572, 2.280, 2.377, 0.708, PHS= 1.966, 1.616, 1.625, RAW=  91.3, -79.4, CAL=  93.4, -78.8, ROT=  56.6,  78.8

2025-08-19T18:24:06.481Z,1755627846.481 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-19T18:24:06.482Z,1755627846.482 [DAT](INFO): direction in FSK: [0.106922,0.162156,-0.980955]
2025-08-19T18:24:06.483Z,1755627846.483 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:06.494Z,1755627846.494 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.749138
2025-08-19T18:24:06.724Z,1755627846.724 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.978230
2025-08-19T18:24:06.956Z,1755627846.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503858 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:06.958Z,1755627846.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 220.490642 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.503858 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:06.977Z,1755627846.977 [DAT](INFO): DAT read: Rx Time:18:24:04.9616 

2025-08-19T18:24:06.994Z,1755627846.994 [DAT](INFO): Rx dataTimestamp_ set to:1755627846.993284
2025-08-19T18:24:06.996Z,1755627846.996 [DAT](INFO): DAT read: Bearing 207.0,   9.1 (Local)

2025-08-19T18:24:06.996Z,1755627846.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.0,   9.1 (Local)

2025-08-19T18:24:07.002Z,1755627847.002 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:07.007Z,1755627847.007 [DAT](INFO): DAT read: 18:24:04.9616 LVL= 23328, 27681, 30130, 24819, AGC= 31, IDX= 505,-0.19,-2.219,-2.518,-2.417, 2.203, PHS= 1.963, 1.607, 1.619, RAW=  91.7, -79.2, CAL=  93.9, -78.6, ROT=  56.1,  78.6

2025-08-19T18:24:07.008Z,1755627847.008 [DAT](INFO): got valid direction response:
 18:24:04.9616 LVL= 23328, 27681, 30130, 24819, AGC= 31, IDX= 505,-0.19,-2.219,-2.518,-2.417, 2.203, PHS= 1.963, 1.607, 1.619, RAW=  91.7, -79.2, CAL=  93.9, -78.6, ROT=  56.1,  78.6

2025-08-19T18:24:07.008Z,1755627847.008 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-19T18:24:07.009Z,1755627847.009 [DAT](INFO): direction in FSK: [0.110242,0.164058,-0.980271]
2025-08-19T18:24:07.018Z,1755627847.018 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:07.021Z,1755627847.021 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.275772
2025-08-19T18:24:07.228Z,1755627847.228 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.482254
2025-08-19T18:24:07.331Z,1755627847.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.522016 s,
      deltaX: 0.100000 m,
      approachRate: 0.191565 m/s,
      rangeRepo size: 4

2025-08-19T18:24:07.333Z,1755627847.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 220.392559 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.522016 s,
      deltaX: 0.100000 m,
      approachRate: 0.191565 m/s,
      posRepo size: 4

2025-08-19T18:24:07.482Z,1755627847.482 [DAT](INFO): DAT read: Rx Time:18:24:05.4615 

2025-08-19T18:24:07.482Z,1755627847.482 [DAT](INFO): Rx dataTimestamp_ set to:1755627847.481937
2025-08-19T18:24:07.484Z,1755627847.484 [DAT](INFO): DAT read: Bearing 207.4,   9.1 (Local)

2025-08-19T18:24:07.484Z,1755627847.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.4,   9.1 (Local)

2025-08-19T18:24:07.486Z,1755627847.486 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:07.492Z,1755627847.492 [DAT](INFO): DAT read: 18:24:05.4615 LVL= 23088, 27601, 30290, 24867, AGC= 31, IDX= 504,-0.08,-3.073, 2.906, 3.014, 1.352, PHS= 1.960, 1.599, 1.617, RAW=  92.7, -79.1, CAL=  94.9, -78.5, ROT=  55.1,  78.5

2025-08-19T18:24:07.493Z,1755627847.493 [DAT](INFO): got valid direction response:
 18:24:05.4615 LVL= 23088, 27601, 30290, 24867, AGC= 31, IDX= 504,-0.08,-3.073, 2.906, 3.014, 1.352, PHS= 1.960, 1.599, 1.617, RAW=  92.7, -79.1, CAL=  94.9, -78.5, ROT=  55.1,  78.5

2025-08-19T18:24:07.494Z,1755627847.494 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-19T18:24:07.495Z,1755627847.495 [DAT](INFO): direction in FSK: [0.114068,0.163512,-0.979925]
2025-08-19T18:24:07.496Z,1755627847.496 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:07.499Z,1755627847.499 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.754066
2025-08-19T18:24:07.731Z,1755627847.731 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.985367
2025-08-19T18:24:07.815Z,1755627847.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.488653 s,
      deltaX: -0.100000 m,
      approachRate: -0.204644 m/s,
      rangeRepo size: 4

2025-08-19T18:24:07.822Z,1755627847.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 215.121633 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.488653 s,
      deltaX: -0.100000 m,
      approachRate: -0.204644 m/s,
      posRepo size: 4

2025-08-19T18:24:07.983Z,1755627847.983 [DAT](INFO): DAT read: Rx Time:18:24:05.9616 

2025-08-19T18:24:07.983Z,1755627847.983 [DAT](INFO): Rx dataTimestamp_ set to:1755627847.983211
2025-08-19T18:24:07.985Z,1755627847.985 [DAT](INFO): DAT read: Bearing 207.1,   8.6 (Local)

2025-08-19T18:24:07.985Z,1755627847.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.1,   8.6 (Local)

2025-08-19T18:24:07.987Z,1755627847.987 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:07.996Z,1755627847.996 [DAT](INFO): DAT read: 18:24:05.9616 LVL= 29744, 31793, 32754, 28403, AGC= 33, IDX= 505, 0.02,-0.745,-1.039,-0.934,-2.640, PHS= 1.997, 1.646, 1.662, RAW=  92.3, -79.6, CAL=  94.4, -79.1, ROT=  55.6,  79.1

2025-08-19T18:24:07.997Z,1755627847.997 [DAT](INFO): got valid direction response:
 18:24:05.9616 LVL= 29744, 31793, 32754, 28403, AGC= 33, IDX= 505, 0.02,-0.745,-1.039,-0.934,-2.640, PHS= 1.997, 1.646, 1.662, RAW=  92.3, -79.6, CAL=  94.4, -79.1, ROT=  55.6,  79.1

2025-08-19T18:24:07.998Z,1755627847.998 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-19T18:24:07.999Z,1755627847.999 [DAT](INFO): direction in FSK: [0.106833,0.156025,-0.981959]
2025-08-19T18:24:07.999Z,1755627847.999 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:08.007Z,1755627848.007 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.261471
2025-08-19T18:24:08.201Z,1755627848.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.501274 s,
      deltaX: 0.100000 m,
      approachRate: 0.199492 m/s,
      rangeRepo size: 4

2025-08-19T18:24:08.205Z,1755627848.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 215.452352 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.501274 s,
      deltaX: 0.100000 m,
      approachRate: 0.199492 m/s,
      posRepo size: 4

2025-08-19T18:24:08.235Z,1755627848.235 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.489326
2025-08-19T18:24:08.487Z,1755627848.487 [DAT](INFO): DAT read: Rx Time:18:24:06.4615 

2025-08-19T18:24:08.488Z,1755627848.488 [DAT](INFO): Rx dataTimestamp_ set to:1755627848.487235
2025-08-19T18:24:08.489Z,1755627848.489 [DAT](INFO): DAT read: Bearing 206.9,   8.3 (Local)

2025-08-19T18:24:08.489Z,1755627848.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.9,   8.3 (Local)

2025-08-19T18:24:08.491Z,1755627848.491 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:08.496Z,1755627848.496 [DAT](INFO): DAT read: 18:24:06.4615 LVL= 29104, 28305, 30162, 24851, AGC= 33, IDX= 504, 0.12,-0.933,-1.225,-1.120,-2.839, PHS= 2.007, 1.659, 1.675, RAW=  92.3, -79.8, CAL=  94.4, -79.2, ROT=  55.6,  79.2

2025-08-19T18:24:08.497Z,1755627848.497 [DAT](INFO): got valid direction response:
 18:24:06.4615 LVL= 29104, 28305, 30162, 24851, AGC= 33, IDX= 504, 0.12,-0.933,-1.225,-1.120,-2.839, PHS= 2.007, 1.659, 1.675, RAW=  92.3, -79.8, CAL=  94.4, -79.2, ROT=  55.6,  79.2

2025-08-19T18:24:08.497Z,1755627848.497 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-19T18:24:08.498Z,1755627848.498 [DAT](INFO): direction in FSK: [0.105864,0.154611,-0.982287]
2025-08-19T18:24:08.499Z,1755627848.499 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:08.502Z,1755627848.502 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.756935
2025-08-19T18:24:08.626Z,1755627848.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504024 s,
      deltaX: -0.100000 m,
      approachRate: -0.198403 m/s,
      rangeRepo size: 4

2025-08-19T18:24:08.655Z,1755627848.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 214.475456 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.504024 s,
      deltaX: -0.100000 m,
      approachRate: -0.198403 m/s,
      posRepo size: 4

2025-08-19T18:24:08.741Z,1755627848.741 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.994637
2025-08-19T18:24:08.991Z,1755627848.991 [DAT](INFO): DAT read: Rx Time:18:24:06.9615 

2025-08-19T18:24:08.992Z,1755627848.992 [DAT](INFO): Rx dataTimestamp_ set to:1755627848.991260
2025-08-19T18:24:08.993Z,1755627848.993 [DAT](INFO): DAT read: Bearing 207.0,   8.7 (Local)

2025-08-19T18:24:08.993Z,1755627848.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.0,   8.7 (Local)

2025-08-19T18:24:08.999Z,1755627848.999 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:09.004Z,1755627849.004 [DAT](INFO): DAT read: 18:24:06.9615 LVL= 24880, 29649, 32754, 26515, AGC= 32, IDX= 504, 0.29,-1.356,-1.657,-1.555, 3.052, PHS= 1.977, 1.619, 1.632, RAW=  91.8, -79.2, CAL=  94.0, -78.7, ROT=  56.0,  78.7

2025-08-19T18:24:09.005Z,1755627849.005 [DAT](INFO): got valid direction response:
 18:24:06.9615 LVL= 24880, 29649, 32754, 26515, AGC= 32, IDX= 504, 0.29,-1.356,-1.657,-1.555, 3.052, PHS= 1.977, 1.619, 1.632, RAW=  91.8, -79.2, CAL=  94.0, -78.7, ROT=  56.0,  78.7

2025-08-19T18:24:09.005Z,1755627849.005 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-19T18:24:09.006Z,1755627849.006 [DAT](INFO): direction in FSK: [0.109572,0.162447,-0.980615]
2025-08-19T18:24:09.007Z,1755627849.007 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:09.030Z,1755627849.030 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.285126
2025-08-19T18:24:09.076Z,1755627849.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504025 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:09.084Z,1755627849.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 218.214426 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.504025 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:09.246Z,1755627849.246 [DAT](INFO): DAT read: Rx Time:18:24:07.4614 

2025-08-19T18:24:09.248Z,1755627849.248 [DAT](INFO): Rx dataTimestamp_ set to:1755627849.246673
2025-08-19T18:24:09.252Z,1755627849.252 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.504078
2025-08-19T18:24:09.398Z,1755627849.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:09.495Z,1755627849.495 [DAT](INFO): DAT read: Bearing 206.9,   8.7 (Local)

2025-08-19T18:24:09.495Z,1755627849.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.9,   8.7 (Local)

2025-08-19T18:24:09.498Z,1755627849.498 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-19T18:24:09.503Z,1755627849.503 [DAT](INFO): DAT read: 18:24:07.4614 LVL= 25568, 29809, 32754, 26611, AGC= 31, IDX= 503, 0.49,-2.997, 2.977, 3.085, 1.409, PHS= 1.979, 1.613, 1.633, RAW=  92.7, -79.1, CAL=  95.0, -78.5, ROT=  55.0,  78.5

2025-08-19T18:24:09.504Z,1755627849.504 [DAT](INFO): got valid direction response:
 18:24:07.4614 LVL= 25568, 29809, 32754, 26611, AGC= 31, IDX= 503, 0.49,-2.997, 2.977, 3.085, 1.409, PHS= 1.979, 1.613, 1.633, RAW=  92.7, -79.1, CAL=  95.0, -78.5, ROT=  55.0,  78.5

2025-08-19T18:24:09.504Z,1755627849.504 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-19T18:24:09.506Z,1755627849.506 [DAT](INFO): direction in FSK: [0.114353,0.163313,-0.979925]
2025-08-19T18:24:09.506Z,1755627849.506 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:09.510Z,1755627849.510 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.764294
2025-08-19T18:24:09.750Z,1755627849.750 [DAT](INFO): DAT read: Rx Time:18:24:07.9616 

2025-08-19T18:24:09.752Z,1755627849.752 [DAT](INFO): Rx dataTimestamp_ set to:1755627849.750507
2025-08-19T18:24:09.755Z,1755627849.755 [DAT](INFO): DAT read: Bearing 206.3,   8.6 (Local)

2025-08-19T18:24:09.756Z,1755627849.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.3,   8.6 (Local)

2025-08-19T18:24:09.759Z,1755627849.759 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.012825
2025-08-19T18:24:09.890Z,1755627849.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.502587 s,
      deltaX: -0.200000 m,
      approachRate: -0.397941 m/s,
      rangeRepo size: 4

2025-08-19T18:24:09.892Z,1755627849.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 222.861676 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.502587 s,
      deltaX: -0.200000 m,
      approachRate: -0.397941 m/s,
      posRepo size: 4

2025-08-19T18:24:10.002Z,1755627850.002 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:10.009Z,1755627850.009 [DAT](INFO): DAT read: 18:24:07.9616 LVL= 23600, 27633, 30514, 24915, AGC= 31, IDX= 505,-0.28, 2.627, 2.327, 2.436, 0.765, PHS= 1.964, 1.607, 1.626, RAW=  92.8, -79.3, CAL=  95.0, -78.7, ROT=  55.0,  78.7

2025-08-19T18:24:10.010Z,1755627850.010 [DAT](INFO): got valid direction response:
 18:24:07.9616 LVL= 23600, 27633, 30514, 24915, AGC= 31, IDX= 505,-0.28, 2.627, 2.327, 2.436, 0.765, PHS= 1.964, 1.607, 1.626, RAW=  92.8, -79.3, CAL=  95.0, -78.7, ROT=  55.0,  78.7

2025-08-19T18:24:10.011Z,1755627850.011 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-19T18:24:10.012Z,1755627850.012 [DAT](INFO): direction in FSK: [0.112390,0.160510,-0.980615]
2025-08-19T18:24:10.012Z,1755627850.012 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:10.022Z,1755627850.022 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.275928
2025-08-19T18:24:10.235Z,1755627850.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.505285 s,
      deltaX: 0.300000 m,
      approachRate: 0.593724 m/s,
      rangeRepo size: 4

2025-08-19T18:24:10.237Z,1755627850.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 220.483426 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.505285 s,
      deltaX: 0.300000 m,
      approachRate: 0.593724 m/s,
      posRepo size: 4

2025-08-19T18:24:10.254Z,1755627850.254 [DAT](INFO): DAT read: Rx Time:18:24:08.4615 

2025-08-19T18:24:10.256Z,1755627850.256 [DAT](INFO): Rx dataTimestamp_ set to:1755627850.254950
2025-08-19T18:24:10.259Z,1755627850.259 [DAT](INFO): DAT read: Bearing 205.7,   8.7 (Local)

2025-08-19T18:24:10.261Z,1755627850.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.7,   8.7 (Local)

2025-08-19T18:24:10.271Z,1755627850.271 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:10.276Z,1755627850.276 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-08-19T18:24:10.284Z,1755627850.284 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.538376
2025-08-19T18:24:10.506Z,1755627850.506 [DAT](INFO): DAT read: 18:24:08.4615 LVL= 26352, 29793, 32754, 26771, AGC= 31, IDX= 504,-0.15, 1.657, 1.356, 1.463,-0.208, PHS= 1.968, 1.609, 1.627, RAW=  92.6, -79.2, CAL=  94.8, -78.7, ROT=  55.2,  78.7

2025-08-19T18:24:10.507Z,1755627850.507 [DAT](INFO): got valid direction response:
 18:24:08.4615 LVL= 26352, 29793, 32754, 26771, AGC= 31, IDX= 504,-0.15, 1.657, 1.356, 1.463,-0.208, PHS= 1.968, 1.609, 1.627, RAW=  92.6, -79.2, CAL=  94.8, -78.7, ROT=  55.2,  78.7

2025-08-19T18:24:10.507Z,1755627850.507 [DAT](INFO): #Rx 120: Read direction message, but no range.
2025-08-19T18:24:10.508Z,1755627850.508 [DAT](INFO): direction in FSK: [0.111829,0.160901,-0.980615]
2025-08-19T18:24:10.511Z,1755627850.511 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:24:10.512Z,1755627850.512 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:24:10.512Z,1755627850.512 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:10.758Z,1755627850.758 [DAT](INFO): DAT read: Rx Time:18:24:08.9616 

2025-08-19T18:24:10.760Z,1755627850.760 [DAT](INFO): Rx dataTimestamp_ set to:1755627850.758880
2025-08-19T18:24:10.764Z,1755627850.764 [DAT](INFO): DAT read: Bearing 205.0,   8.6 (Local)

2025-08-19T18:24:10.765Z,1755627850.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.0,   8.6 (Local)

2025-08-19T18:24:10.774Z,1755627850.774 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:10.777Z,1755627850.777 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-19T18:24:10.822Z,1755627850.822 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:10.822Z,1755627850.822 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:10.901Z,1755627850.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.759748 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:10.907Z,1755627850.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 222.592456 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.759748 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:11.010Z,1755627851.010 [DAT](INFO): DAT read: 18:24:08.9616 LVL= 26656, 30513, 32754, 27571, AGC= 31, IDX= 505,-0.04, 3.043, 2.743, 2.852, 1.175, PHS= 1.970, 1.613, 1.632, RAW=  92.8, -79.3, CAL=  95.0, -78.8, ROT=  55.0,  78.8

2025-08-19T18:24:11.011Z,1755627851.011 [DAT](INFO): got valid direction response:
 18:24:08.9616 LVL= 26656, 30513, 32754, 27571, AGC= 31, IDX= 505,-0.04, 3.043, 2.743, 2.852, 1.175, PHS= 1.970, 1.613, 1.632, RAW=  92.8, -79.3, CAL=  95.0, -78.8, ROT=  55.0,  78.8

2025-08-19T18:24:11.012Z,1755627851.012 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-19T18:24:11.013Z,1755627851.013 [DAT](INFO): direction in FSK: [0.111408,0.159107,-0.980955]
2025-08-19T18:24:11.016Z,1755627851.016 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:11.016Z,1755627851.016 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:11.016Z,1755627851.016 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:11.263Z,1755627851.263 [DAT](INFO): DAT read: Rx Time:18:24:09.4615 

2025-08-19T18:24:11.265Z,1755627851.265 [DAT](INFO): Rx dataTimestamp_ set to:1755627851.263353
2025-08-19T18:24:11.273Z,1755627851.273 [DAT](INFO): DAT read: Bearing 204.2,   8.9 (Local)

2025-08-19T18:24:11.274Z,1755627851.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.2,   8.9 (Local)

2025-08-19T18:24:11.285Z,1755627851.285 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:11.292Z,1755627851.292 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-19T18:24:11.299Z,1755627851.299 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:11.300Z,1755627851.300 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:11.514Z,1755627851.514 [DAT](INFO): DAT read: 18:24:09.4615 LVL= 26560, 29841, 32754, 26915, AGC= 31, IDX= 504, 0.07, 2.876, 2.569, 2.676, 0.998, PHS= 1.980, 1.616, 1.634, RAW=  92.5, -79.1, CAL=  94.7, -78.6, ROT=  55.3,  78.6

2025-08-19T18:24:11.515Z,1755627851.515 [DAT](INFO): got valid direction response:
 18:24:09.4615 LVL= 26560, 29841, 32754, 26915, AGC= 31, IDX= 504, 0.07, 2.876, 2.569, 2.676, 0.998, PHS= 1.980, 1.616, 1.634, RAW=  92.5, -79.1, CAL=  94.7, -78.6, ROT=  55.3,  78.6

2025-08-19T18:24:11.516Z,1755627851.516 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-19T18:24:11.517Z,1755627851.517 [DAT](INFO): direction in FSK: [0.112522,0.162503,-0.980271]
2025-08-19T18:24:11.520Z,1755627851.520 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:11.520Z,1755627851.520 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:11.520Z,1755627851.520 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:11.689Z,1755627851.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504473 s,
      deltaX: -0.100000 m,
      approachRate: -0.198227 m/s,
      rangeRepo size: 4

2025-08-19T18:24:11.712Z,1755627851.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 216.010394 deg,
      lat: 36.779358 deg,
      lon: -121.859508 deg,
      deltaT: 0.504473 s,
      deltaX: -0.100000 m,
      approachRate: -0.198227 m/s,
      posRepo size: 4

2025-08-19T18:24:11.766Z,1755627851.766 [DAT](INFO): DAT read: Rx Time:18:24:09.9616 

2025-08-19T18:24:11.768Z,1755627851.768 [DAT](INFO): Rx dataTimestamp_ set to:1755627851.766930
2025-08-19T18:24:11.772Z,1755627851.772 [DAT](INFO): DAT read: Bearing 203.3,   9.2 (Local)

2025-08-19T18:24:11.773Z,1755627851.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.3,   9.2 (Local)

2025-08-19T18:24:11.797Z,1755627851.797 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:11.800Z,1755627851.800 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-19T18:24:11.803Z,1755627851.803 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:11.803Z,1755627851.803 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:12.018Z,1755627852.018 [DAT](INFO): DAT read: 18:24:09.9616 LVL= 26464, 30353, 32754, 27347, AGC= 31, IDX= 505, 0.17,-1.318,-1.627,-1.524, 3.081, PHS= 1.987, 1.621, 1.634, RAW=  91.8, -79.0, CAL=  94.0, -78.5, ROT=  56.0,  78.5

2025-08-19T18:24:12.019Z,1755627852.019 [DAT](INFO): got valid direction response:
 18:24:09.9616 LVL= 26464, 30353, 32754, 27347, AGC= 31, IDX= 505, 0.17,-1.318,-1.627,-1.524, 3.081, PHS= 1.987, 1.621, 1.634, RAW=  91.8, -79.0, CAL=  94.0, -78.5, ROT=  56.0,  78.5

2025-08-19T18:24:12.019Z,1755627852.019 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-19T18:24:12.020Z,1755627852.020 [DAT](INFO): direction in FSK: [0.111485,0.165284,-0.979925]
2025-08-19T18:24:12.027Z,1755627852.027 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:12.027Z,1755627852.027 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:12.028Z,1755627852.028 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:12.147Z,1755627852.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503577 s,
      deltaX: 0.100000 m,
      approachRate: 0.198579 m/s,
      rangeRepo size: 4

2025-08-19T18:24:12.149Z,1755627852.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 213.303217 deg,
      lat: 36.779358 deg,
      lon: -121.859508 deg,
      deltaT: 0.503577 s,
      deltaX: 0.100000 m,
      approachRate: 0.198579 m/s,
      posRepo size: 4

2025-08-19T18:24:12.274Z,1755627852.274 [DAT](INFO): DAT read: Rx Time:18:24:10.4615 

2025-08-19T18:24:12.276Z,1755627852.276 [DAT](INFO): Rx dataTimestamp_ set to:1755627852.274456
2025-08-19T18:24:12.280Z,1755627852.280 [DAT](INFO): DAT read: Bearing 202.4,   9.0 (Local)

2025-08-19T18:24:12.282Z,1755627852.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.4,   9.0 (Local)

2025-08-19T18:24:12.288Z,1755627852.288 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:12.291Z,1755627852.291 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-19T18:24:12.300Z,1755627852.300 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:12.301Z,1755627852.301 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:12.448Z,1755627852.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:12.451Z,1755627852.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.507526 s,
      deltaX: -0.100000 m,
      approachRate: -0.197034 m/s,
      rangeRepo size: 4

2025-08-19T18:24:12.526Z,1755627852.526 [DAT](INFO): DAT read: 18:24:10.4615 LVL= 24160, 27633, 31010, 25043, AGC= 31, IDX= 504, 0.32,-2.884, 3.091,-3.086, 1.517, PHS= 1.984, 1.618, 1.636, RAW=  92.4, -79.1, CAL=  94.6, -78.5, ROT=  55.4,  78.5

2025-08-19T18:24:12.527Z,1755627852.527 [DAT](INFO): got valid direction response:
 18:24:10.4615 LVL= 24160, 27633, 31010, 25043, AGC= 31, IDX= 504, 0.32,-2.884, 3.091,-3.086, 1.517, PHS= 1.984, 1.618, 1.636, RAW=  92.4, -79.1, CAL=  94.6, -78.5, ROT=  55.4,  78.5

2025-08-19T18:24:12.528Z,1755627852.528 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-19T18:24:12.529Z,1755627852.529 [DAT](INFO): direction in FSK: [0.113210,0.164107,-0.979925]
2025-08-19T18:24:12.532Z,1755627852.532 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:12.532Z,1755627852.532 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:12.532Z,1755627852.532 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:12.779Z,1755627852.779 [DAT](INFO): DAT read: Rx Time:18:24:10.9615 

2025-08-19T18:24:12.781Z,1755627852.781 [DAT](INFO): Rx dataTimestamp_ set to:1755627852.779844
2025-08-19T18:24:12.785Z,1755627852.785 [DAT](INFO): DAT read: Bearing 201.1,   8.8 (Local)

2025-08-19T18:24:12.786Z,1755627852.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.1,   8.8 (Local)

2025-08-19T18:24:12.793Z,1755627852.793 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:12.796Z,1755627852.796 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-19T18:24:12.800Z,1755627852.800 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:12.800Z,1755627852.800 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:12.933Z,1755627852.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.505388 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:12.939Z,1755627852.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 214.438684 deg,
      lat: 36.779358 deg,
      lon: -121.859508 deg,
      deltaT: 1.012914 s,
      deltaX: -0.100000 m,
      approachRate: -0.098725 m/s,
      posRepo size: 4

2025-08-19T18:24:13.030Z,1755627853.030 [DAT](INFO): DAT read: 18:24:10.9615 LVL= 26304, 28049, 31042, 25747, AGC= 32, IDX= 505,-0.43, 1.547, 1.247, 1.353,-0.347, PHS= 1.996, 1.639, 1.656, RAW=  92.4, -79.5, CAL=  94.6, -78.9, ROT=  55.4,  78.9

2025-08-19T18:24:13.031Z,1755627853.031 [DAT](INFO): got valid direction response:
 18:24:10.9615 LVL= 26304, 28049, 31042, 25747, AGC= 32, IDX= 505,-0.43, 1.547, 1.247, 1.353,-0.347, PHS= 1.996, 1.639, 1.656, RAW=  92.4, -79.5, CAL=  94.6, -78.9, ROT=  55.4,  78.9

2025-08-19T18:24:13.032Z,1755627853.032 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-19T18:24:13.033Z,1755627853.033 [DAT](INFO): direction in FSK: [0.109322,0.158472,-0.981293]
2025-08-19T18:24:13.036Z,1755627853.036 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:13.036Z,1755627853.036 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:13.037Z,1755627853.037 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:13.283Z,1755627853.283 [DAT](INFO): DAT read: Rx Time:18:24:11.4615 

2025-08-19T18:24:13.285Z,1755627853.285 [DAT](INFO): Rx dataTimestamp_ set to:1755627853.283867
2025-08-19T18:24:13.317Z,1755627853.317 [DAT](INFO): DAT read: Bearing 200.3,   9.2 (Local)

2025-08-19T18:24:13.318Z,1755627853.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.3,   9.2 (Local)

2025-08-19T18:24:13.320Z,1755627853.320 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:13.337Z,1755627853.337 [DAT](INFO): DAT read: 18:24:11.4615 LVL= 26800, 29937, 32754, 27091, AGC= 31, IDX= 504,-0.24,-0.083,-0.383,-0.282,-1.937, PHS= 1.956, 1.599, 1.611, RAW=  91.7, -79.1, CAL=  93.9, -78.6, ROT=  56.1,  78.6

2025-08-19T18:24:13.383Z,1755627853.383 [DAT](INFO): got valid direction response:
 18:24:11.4615 LVL= 26800, 29937, 32754, 27091, AGC= 31, IDX= 504,-0.24,-0.083,-0.383,-0.282,-1.937, PHS= 1.956, 1.599, 1.611, RAW=  91.7, -79.1, CAL=  93.9, -78.6, ROT=  56.1,  78.6

2025-08-19T18:24:13.383Z,1755627853.383 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:13.384Z,1755627853.384 [DAT](INFO): direction in FSK: [0.110242,0.164058,-0.980271]
2025-08-19T18:24:13.385Z,1755627853.385 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:13.396Z,1755627853.396 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:13.396Z,1755627853.396 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:13.451Z,1755627853.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504023 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:13.458Z,1755627853.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 214.749475 deg,
      lat: 36.779358 deg,
      lon: -121.859508 deg,
      deltaT: 0.504023 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:13.530Z,1755627853.530 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:13.531Z,1755627853.531 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:13.531Z,1755627853.531 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:13.786Z,1755627853.786 [DAT](INFO): DAT read: Rx Time:18:24:11.9616 

2025-08-19T18:24:13.788Z,1755627853.788 [DAT](INFO): Rx dataTimestamp_ set to:1755627853.787263
2025-08-19T18:24:13.793Z,1755627853.793 [DAT](INFO): DAT read: Bearing 199.2,   9.2 (Local)

2025-08-19T18:24:13.794Z,1755627853.794 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.2,   9.2 (Local)

2025-08-19T18:24:13.803Z,1755627853.803 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:13.838Z,1755627853.838 [DAT](INFO): DAT read: 18:24:11.9616 LVL= 27376, 30177, 32754, 27155, AGC= 31, IDX= 505,-0.10, 1.369, 1.073, 1.172,-0.499, PHS= 1.971, 1.617, 1.627, RAW=  91.4, -79.3, CAL=  93.5, -78.7, ROT=  56.5,  78.7

2025-08-19T18:24:13.839Z,1755627853.839 [DAT](INFO): got valid direction response:
 18:24:11.9616 LVL= 27376, 30177, 32754, 27155, AGC= 31, IDX= 505,-0.10, 1.369, 1.073, 1.172,-0.499, PHS= 1.971, 1.617, 1.627, RAW=  91.4, -79.3, CAL=  93.5, -78.7, ROT=  56.5,  78.7

2025-08-19T18:24:13.839Z,1755627853.839 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:13.840Z,1755627853.840 [DAT](INFO): direction in FSK: [0.108150,0.163397,-0.980615]
2025-08-19T18:24:13.840Z,1755627853.840 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:13.856Z,1755627853.856 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:13.856Z,1755627853.856 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:13.917Z,1755627853.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503396 s,
      deltaX: 0.100000 m,
      approachRate: 0.198651 m/s,
      rangeRepo size: 4

2025-08-19T18:24:13.923Z,1755627853.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 210.545490 deg,
      lat: 36.779358 deg,
      lon: -121.859508 deg,
      deltaT: 0.503396 s,
      deltaX: 0.100000 m,
      approachRate: 0.198651 m/s,
      posRepo size: 4

2025-08-19T18:24:14.034Z,1755627854.034 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:14.035Z,1755627854.035 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:14.035Z,1755627854.035 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:14.290Z,1755627854.290 [DAT](INFO): DAT read: Rx Time:18:24:12.4615 

2025-08-19T18:24:14.292Z,1755627854.292 [DAT](INFO): Rx dataTimestamp_ set to:1755627854.290807
2025-08-19T18:24:14.295Z,1755627854.295 [DAT](INFO): DAT read: Bearing 198.4,   9.5 (Local)

2025-08-19T18:24:14.297Z,1755627854.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.4,   9.5 (Local)

2025-08-19T18:24:14.301Z,1755627854.301 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:14.306Z,1755627854.306 [DAT](INFO): DAT read: 18:24:12.4615 LVL= 27744, 30593, 32754, 27347, AGC= 31, IDX= 504, 0.01, 1.200, 0.902, 0.995,-0.678, PHS= 1.980, 1.625, 1.629, RAW=  90.6, -79.2, CAL=  92.7, -78.7, ROT=  57.3,  78.7

2025-08-19T18:24:14.307Z,1755627854.307 [DAT](INFO): got valid direction response:
 18:24:12.4615 LVL= 27744, 30593, 32754, 27347, AGC= 31, IDX= 504, 0.01, 1.200, 0.902, 0.995,-0.678, PHS= 1.980, 1.625, 1.629, RAW=  90.6, -79.2, CAL=  92.7, -78.7, ROT=  57.3,  78.7

2025-08-19T18:24:14.307Z,1755627854.307 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:14.308Z,1755627854.308 [DAT](INFO): direction in FSK: [0.105858,0.164891,-0.980615]
2025-08-19T18:24:14.308Z,1755627854.308 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:14.338Z,1755627854.338 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:14.339Z,1755627854.339 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:14.446Z,1755627854.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503544 s,
      deltaX: -0.100000 m,
      approachRate: -0.198592 m/s,
      rangeRepo size: 4

2025-08-19T18:24:14.448Z,1755627854.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 210.613941 deg,
      lat: 36.779358 deg,
      lon: -121.859507 deg,
      deltaT: 0.503544 s,
      deltaX: -0.100000 m,
      approachRate: -0.198592 m/s,
      posRepo size: 4

2025-08-19T18:24:14.538Z,1755627854.538 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:14.539Z,1755627854.539 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:14.539Z,1755627854.539 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:14.795Z,1755627854.795 [DAT](INFO): DAT read: Rx Time:18:24:12.9616 

2025-08-19T18:24:14.796Z,1755627854.796 [DAT](INFO): Rx dataTimestamp_ set to:1755627854.795541
2025-08-19T18:24:14.801Z,1755627854.801 [DAT](INFO): DAT read: Bearing 197.5,   9.3 (Local)

2025-08-19T18:24:14.801Z,1755627854.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.5,   9.3 (Local)

2025-08-19T18:24:14.804Z,1755627854.804 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:14.809Z,1755627854.809 [DAT](INFO): DAT read: 18:24:12.9616 LVL= 24960, 27713, 31106, 25203, AGC= 31, IDX= 505, 0.12,-2.891, 3.101,-3.090, 1.497, PHS= 1.997, 1.650, 1.653, RAW=  90.5, -79.5, CAL=  92.5, -79.0, ROT=  57.5,  79.0

2025-08-19T18:24:14.846Z,1755627854.846 [DAT](INFO): got valid direction response:
 18:24:12.9616 LVL= 24960, 27713, 31106, 25203, AGC= 31, IDX= 505, 0.12,-2.891, 3.101,-3.090, 1.497, PHS= 1.997, 1.650, 1.653, RAW=  90.5, -79.5, CAL=  92.5, -79.0, ROT=  57.5,  79.0

2025-08-19T18:24:14.846Z,1755627854.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:14.847Z,1755627854.847 [DAT](INFO): direction in FSK: [0.102522,0.160927,-0.981627]
2025-08-19T18:24:14.847Z,1755627854.847 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:14.863Z,1755627854.863 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:14.863Z,1755627854.863 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:14.944Z,1755627854.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504734 s,
      deltaX: 0.100000 m,
      approachRate: 0.198124 m/s,
      rangeRepo size: 4

2025-08-19T18:24:14.950Z,1755627854.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 210.331661 deg,
      lat: 36.779358 deg,
      lon: -121.859507 deg,
      deltaT: 0.504734 s,
      deltaX: 0.100000 m,
      approachRate: 0.198124 m/s,
      posRepo size: 4

2025-08-19T18:24:15.042Z,1755627855.042 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:15.042Z,1755627855.042 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:15.043Z,1755627855.043 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:15.235Z,1755627855.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:15.299Z,1755627855.299 [DAT](INFO): DAT read: Rx Time:18:24:13.4615 

2025-08-19T18:24:15.300Z,1755627855.300 [DAT](INFO): Rx dataTimestamp_ set to:1755627855.299476
2025-08-19T18:24:15.302Z,1755627855.302 [DAT](INFO): DAT read: Bearing 197.0,   9.7 (Local)

2025-08-19T18:24:15.302Z,1755627855.302 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.0,   9.7 (Local)

2025-08-19T18:24:15.304Z,1755627855.304 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:15.309Z,1755627855.309 [DAT](INFO): DAT read: 18:24:13.4615 LVL= 27712, 30401, 32754, 27203, AGC= 31, IDX= 504, 0.27, 1.808, 1.513, 1.602,-0.079, PHS= 1.989, 1.637, 1.637, RAW=  90.0, -79.3, CAL=  92.1, -78.7, ROT=  57.9,  78.7

2025-08-19T18:24:15.314Z,1755627855.314 [DAT](INFO): got valid direction response:
 18:24:13.4615 LVL= 27712, 30401, 32754, 27203, AGC= 31, IDX= 504, 0.27, 1.808, 1.513, 1.602,-0.079, PHS= 1.989, 1.637, 1.637, RAW=  90.0, -79.3, CAL=  92.1, -78.7, ROT=  57.9,  78.7

2025-08-19T18:24:15.315Z,1755627855.315 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:15.316Z,1755627855.316 [DAT](INFO): direction in FSK: [0.104126,0.165990,-0.980615]
2025-08-19T18:24:15.316Z,1755627855.316 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:15.327Z,1755627855.327 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:15.328Z,1755627855.328 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:15.546Z,1755627855.546 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:15.546Z,1755627855.546 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:15.547Z,1755627855.547 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:15.646Z,1755627855.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503935 s,
      deltaX: -0.100000 m,
      approachRate: -0.198438 m/s,
      rangeRepo size: 4

2025-08-19T18:24:15.648Z,1755627855.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 210.544582 deg,
      lat: 36.779359 deg,
      lon: -121.859507 deg,
      deltaT: 0.503935 s,
      deltaX: -0.100000 m,
      approachRate: -0.198438 m/s,
      posRepo size: 4

2025-08-19T18:24:15.801Z,1755627855.801 [DAT](INFO): DAT read: Rx Time:18:24:13.9616 

2025-08-19T18:24:15.802Z,1755627855.802 [DAT](INFO): Rx dataTimestamp_ set to:1755627855.801460
2025-08-19T18:24:15.803Z,1755627855.803 [DAT](INFO): DAT read: Bearing 196.2,   9.3 (Local)

2025-08-19T18:24:15.803Z,1755627855.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.2,   9.3 (Local)

2025-08-19T18:24:15.806Z,1755627855.806 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-19T18:24:15.810Z,1755627855.810 [DAT](INFO): DAT read: 18:24:13.9616 LVL= 26192, 27009, 30562, 24563, AGC= 32, IDX= 505, 0.44, 2.659, 2.378, 2.469, 0.749, PHS= 2.012, 1.673, 1.675, RAW=  90.3, -79.9, CAL=  92.3, -79.4, ROT=  57.7,  79.4

2025-08-19T18:24:15.811Z,1755627855.811 [DAT](INFO): got valid direction response:
 18:24:13.9616 LVL= 26192, 27009, 30562, 24563, AGC= 32, IDX= 505, 0.44, 2.659, 2.378, 2.469, 0.749, PHS= 2.012, 1.673, 1.675, RAW=  90.3, -79.9, CAL=  92.3, -79.4, ROT=  57.7,  79.4

2025-08-19T18:24:15.811Z,1755627855.811 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:15.812Z,1755627855.812 [DAT](INFO): direction in FSK: [0.098295,0.155487,-0.982935]
2025-08-19T18:24:15.813Z,1755627855.813 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:15.816Z,1755627855.816 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:15.816Z,1755627855.816 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:16.050Z,1755627856.050 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:16.050Z,1755627856.050 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:16.051Z,1755627856.051 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:16.086Z,1755627856.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.501984 s,
      deltaX: 0.100000 m,
      approachRate: 0.199210 m/s,
      rangeRepo size: 4

2025-08-19T18:24:16.088Z,1755627856.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.500000 m,
      bearing: 208.644450 deg,
      lat: 36.779359 deg,
      lon: -121.859507 deg,
      deltaT: 0.501984 s,
      deltaX: 0.100000 m,
      approachRate: 0.199210 m/s,
      posRepo size: 4

2025-08-19T18:24:16.306Z,1755627856.306 [DAT](INFO): DAT read: Rx Time:18:24:14.4615 

2025-08-19T18:24:16.307Z,1755627856.307 [DAT](INFO): Rx dataTimestamp_ set to:1755627856.306309
2025-08-19T18:24:16.309Z,1755627856.309 [DAT](INFO): DAT read: Bearing 196.4,  10.0 (Local)

2025-08-19T18:24:16.309Z,1755627856.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.4,  10.0 (Local)

2025-08-19T18:24:16.312Z,1755627856.312 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:16.318Z,1755627856.318 [DAT](INFO): DAT read: 18:24:14.4615 LVL= 27616, 30305, 32754, 27379, AGC= 31, IDX= 505,-0.33, 0.216,-0.079, 0.011,-1.649, PHS= 1.967, 1.615, 1.616, RAW=  90.1, -79.2, CAL=  92.2, -78.6, ROT=  57.8,  78.6

2025-08-19T18:24:16.319Z,1755627856.319 [DAT](INFO): got valid direction response:
 18:24:14.4615 LVL= 27616, 30305, 32754, 27379, AGC= 31, IDX= 505,-0.33, 0.216,-0.079, 0.011,-1.649, PHS= 1.967, 1.615, 1.616, RAW=  90.1, -79.2, CAL=  92.2, -78.6, ROT=  57.8,  78.6

2025-08-19T18:24:16.320Z,1755627856.320 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:16.321Z,1755627856.321 [DAT](INFO): direction in FSK: [0.105327,0.167256,-0.980271]
2025-08-19T18:24:16.321Z,1755627856.321 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:16.324Z,1755627856.324 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:16.325Z,1755627856.325 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:16.488Z,1755627856.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504849 s,
      deltaX: -0.100000 m,
      approachRate: -0.198079 m/s,
      rangeRepo size: 4

2025-08-19T18:24:16.494Z,1755627856.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 205.703211 deg,
      lat: 36.779359 deg,
      lon: -121.859506 deg,
      deltaT: 0.504849 s,
      deltaX: -0.100000 m,
      approachRate: -0.198079 m/s,
      posRepo size: 4

2025-08-19T18:24:16.555Z,1755627856.555 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:16.555Z,1755627856.555 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:16.556Z,1755627856.556 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:16.811Z,1755627856.811 [DAT](INFO): DAT read: Rx Time:18:24:14.9615 

2025-08-19T18:24:16.812Z,1755627856.812 [DAT](INFO): Rx dataTimestamp_ set to:1755627856.811507
2025-08-19T18:24:16.814Z,1755627856.814 [DAT](INFO): DAT read: Bearing 196.5,  10.1 (Local)

2025-08-19T18:24:16.815Z,1755627856.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.5,  10.1 (Local)

2025-08-19T18:24:16.818Z,1755627856.818 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:16.831Z,1755627856.831 [DAT](INFO): DAT read: 18:24:14.9615 LVL= 27312, 30385, 32754, 27411, AGC= 31, IDX= 505,-0.18,-0.191,-0.487,-0.396,-2.045, PHS= 1.956, 1.603, 1.605, RAW=  90.2, -79.1, CAL=  92.3, -78.5, ROT=  57.7,  78.5

2025-08-19T18:24:16.832Z,1755627856.832 [DAT](INFO): got valid direction response:
 18:24:14.9615 LVL= 27312, 30385, 32754, 27411, AGC= 31, IDX= 505,-0.18,-0.191,-0.487,-0.396,-2.045, PHS= 1.956, 1.603, 1.605, RAW=  90.2, -79.1, CAL=  92.3, -78.5, ROT=  57.7,  78.5

2025-08-19T18:24:16.833Z,1755627856.833 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:16.841Z,1755627856.841 [DAT](INFO): direction in FSK: [0.106533,0.168518,-0.979925]
2025-08-19T18:24:16.854Z,1755627856.854 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:16.862Z,1755627856.862 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:16.862Z,1755627856.862 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:17.001Z,1755627857.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.505198 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:17.007Z,1755627857.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 205.477943 deg,
      lat: 36.779359 deg,
      lon: -121.859506 deg,
      deltaT: 0.505198 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:17.058Z,1755627857.058 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:17.058Z,1755627857.058 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:17.059Z,1755627857.059 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:17.134Z,1755627857.134 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:24:17.311Z,1755627857.311 [DAT](INFO): DAT read: Rx Time:18:24:15.4614 

2025-08-19T18:24:17.312Z,1755627857.312 [DAT](INFO): Rx dataTimestamp_ set to:1755627857.311226
2025-08-19T18:24:17.313Z,1755627857.313 [DAT](INFO): DAT read: Bearing 196.6,  10.0 (Local)

2025-08-19T18:24:17.313Z,1755627857.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.6,  10.0 (Local)

2025-08-19T18:24:17.315Z,1755627857.315 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-19T18:24:17.321Z,1755627857.321 [DAT](INFO): DAT read: 18:24:15.4614 LVL= 27232, 30321, 32754, 26899, AGC= 31, IDX= 504,-0.06,-1.085,-1.383,-1.290,-2.943, PHS= 1.960, 1.605, 1.609, RAW=  90.5, -79.1, CAL=  92.6, -78.5, ROT=  57.4,  78.5

2025-08-19T18:24:17.322Z,1755627857.322 [DAT](INFO): got valid direction response:
 18:24:15.4614 LVL= 27232, 30321, 32754, 26899, AGC= 31, IDX= 504,-0.06,-1.085,-1.383,-1.290,-2.943, PHS= 1.960, 1.605, 1.609, RAW=  90.5, -79.1, CAL=  92.6, -78.5, ROT=  57.4,  78.5

2025-08-19T18:24:17.322Z,1755627857.322 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:17.323Z,1755627857.323 [DAT](INFO): direction in FSK: [0.107414,0.167958,-0.979925]
2025-08-19T18:24:17.323Z,1755627857.323 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:17.335Z,1755627857.335 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:17.335Z,1755627857.335 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:17.416Z,1755627857.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.499719 s,
      deltaX: -0.200000 m,
      approachRate: -0.400225 m/s,
      rangeRepo size: 4

2025-08-19T18:24:17.423Z,1755627857.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 204.736712 deg,
      lat: 36.779360 deg,
      lon: -121.859506 deg,
      deltaT: 0.499719 s,
      deltaX: -0.200000 m,
      approachRate: -0.400225 m/s,
      posRepo size: 4

2025-08-19T18:24:17.565Z,1755627857.565 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:17.566Z,1755627857.566 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:17.568Z,1755627857.568 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:17.815Z,1755627857.815 [DAT](INFO): DAT read: Rx Time:18:24:15.9615 

2025-08-19T18:24:17.816Z,1755627857.816 [DAT](INFO): Rx dataTimestamp_ set to:1755627857.815308
2025-08-19T18:24:17.817Z,1755627857.817 [DAT](INFO): DAT read: Bearing 196.7,   9.9 (Local)

2025-08-19T18:24:17.817Z,1755627857.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.7,   9.9 (Local)

2025-08-19T18:24:17.819Z,1755627857.819 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-19T18:24:17.824Z,1755627857.824 [DAT](INFO): DAT read: 18:24:15.9615 LVL= 26272, 28129, 30962, 25331, AGC= 32, IDX= 505, 0.05, 1.923, 1.625, 1.715, 0.016, PHS= 2.009, 1.654, 1.655, RAW=  90.2, -79.3, CAL=  92.2, -78.8, ROT=  57.8,  78.8

2025-08-19T18:24:17.825Z,1755627857.825 [DAT](INFO): got valid direction response:
 18:24:15.9615 LVL= 26272, 28129, 30962, 25331, AGC= 32, IDX= 505, 0.05, 1.923, 1.625, 1.715, 0.016, PHS= 2.009, 1.654, 1.655, RAW=  90.2, -79.3, CAL=  92.2, -78.8, ROT=  57.8,  78.8

2025-08-19T18:24:17.826Z,1755627857.826 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:17.827Z,1755627857.827 [DAT](INFO): direction in FSK: [0.103503,0.164360,-0.980955]
2025-08-19T18:24:17.827Z,1755627857.827 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:17.834Z,1755627857.834 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:17.835Z,1755627857.835 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:17.976Z,1755627857.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504082 s,
      deltaX: 0.200000 m,
      approachRate: 0.396761 m/s,
      rangeRepo size: 4

2025-08-19T18:24:17.982Z,1755627857.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.400000 m,
      bearing: 205.517099 deg,
      lat: 36.779360 deg,
      lon: -121.859506 deg,
      deltaT: 0.504082 s,
      deltaX: 0.200000 m,
      approachRate: 0.396761 m/s,
      posRepo size: 4

2025-08-19T18:24:18.067Z,1755627858.067 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:18.067Z,1755627858.067 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:18.067Z,1755627858.067 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:18.139Z,1755627858.139 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:24:18.318Z,1755627858.318 [DAT](INFO): DAT read: user:953>

2025-08-19T18:24:18.319Z,1755627858.319 [DAT](INFO): DAT read: 50

2025-08-19T18:24:18.319Z,1755627858.319 [DAT](INFO): unknown deviceResponse_: 50

2025-08-19T18:24:18.320Z,1755627858.320 [DAT](INFO): DAT read: Ok

2025-08-19T18:24:18.320Z,1755627858.320 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-19T18:24:18.320Z,1755627858.320 [DAT](INFO): Reached modem response timeout
2025-08-19T18:24:18.320Z,1755627858.320 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:24:18.321Z,1755627858.321 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-19T18:24:18.437Z,1755627858.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:18.570Z,1755627858.570 [DAT](INFO): DAT read: user:5>

2025-08-19T18:24:18.571Z,1755627858.571 [DAT](INFO): DAT read: Tx time:18:24:16.9685

2025-08-19T18:24:18.571Z,1755627858.571 [DAT](INFO): Ping request sent.
2025-08-19T18:24:18.571Z,1755627858.571 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:24:18.572Z,1755627858.572 [DAT](INFO): publishing transmit ping time
2025-08-19T18:24:18.572Z,1755627858.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-08-19T18:24:18.826Z,1755627858.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253586
2025-08-19T18:24:19.076Z,1755627859.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504056
2025-08-19T18:24:19.326Z,1755627859.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754967
2025-08-19T18:24:19.579Z,1755627859.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007107
2025-08-19T18:24:19.833Z,1755627859.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261208
2025-08-19T18:24:20.083Z,1755627860.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511225
2025-08-19T18:24:20.334Z,1755627860.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762943
2025-08-19T18:24:20.587Z,1755627860.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015124
2025-08-19T18:24:20.807Z,1755627860.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:20.842Z,1755627860.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269229
2025-08-19T18:24:21.092Z,1755627861.092 [DAT](INFO): DAT read: Rx Time:18:24:19.0990 

2025-08-19T18:24:21.093Z,1755627861.093 [DAT](INFO): Rx dataTimestamp_ set to:1755627861.092282
2025-08-19T18:24:21.095Z,1755627861.095 [DAT](INFO): DAT read: Bearing 202.0,   9.5 (Local)

2025-08-19T18:24:21.095Z,1755627861.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.0,   9.5 (Local)

2025-08-19T18:24:21.098Z,1755627861.098 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:21.102Z,1755627861.102 [DAT](INFO): DAT read: 18:24:19.0990 LVL= 23792, 27809, 31106, 25619, AGC= 32, IDX= 345, 0.01, 0.440, 0.130, 0.235,-1.437, PHS= 1.979, 1.612, 1.628, RAW=  92.2, -79.0, CAL=  94.5, -78.4, ROT=  55.5,  78.4

2025-08-19T18:24:21.103Z,1755627861.103 [DAT](INFO): got valid direction response:
 18:24:19.0990 LVL= 23792, 27809, 31106, 25619, AGC= 32, IDX= 345, 0.01, 0.440, 0.130, 0.235,-1.437, PHS= 1.979, 1.612, 1.628, RAW=  92.2, -79.0, CAL=  94.5, -78.4, ROT=  55.5,  78.4

2025-08-19T18:24:21.104Z,1755627861.104 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:24:21.104Z,1755627861.104 [DAT](INFO): direction in FSK: [0.113892,0.165714,-0.979575]
2025-08-19T18:24:21.105Z,1755627861.105 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:21.109Z,1755627861.109 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.537109
2025-08-19T18:24:21.315Z,1755627861.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 3.276974 s,
      deltaX: -0.500000 m,
      approachRate: -0.152580 m/s,
      rangeRepo size: 4

2025-08-19T18:24:21.317Z,1755627861.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 196.246799 deg,
      lat: 36.779360 deg,
      lon: -121.859506 deg,
      deltaT: 3.276974 s,
      deltaX: -0.500000 m,
      approachRate: -0.152580 m/s,
      posRepo size: 4

2025-08-19T18:24:21.343Z,1755627861.343 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771163
2025-08-19T18:24:21.595Z,1755627861.595 [DAT](INFO): DAT read: Rx Time:18:24:19.5988 

2025-08-19T18:24:21.596Z,1755627861.596 [DAT](INFO): Rx dataTimestamp_ set to:1755627861.595432
2025-08-19T18:24:21.597Z,1755627861.597 [DAT](INFO): DAT read: Bearing 202.9,   9.3 (Local)

2025-08-19T18:24:21.597Z,1755627861.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.9,   9.3 (Local)

2025-08-19T18:24:21.599Z,1755627861.599 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:24:21.604Z,1755627861.604 [DAT](INFO): DAT read: 18:24:19.5988 LVL= 26336, 28257, 31154, 26099, AGC= 32, IDX= 503, 0.12,-0.959,-1.266,-1.165,-2.859, PHS= 2.002, 1.638, 1.650, RAW=  91.6, -79.2, CAL=  93.8, -78.6, ROT=  56.2,  78.6

2025-08-19T18:24:21.605Z,1755627861.605 [DAT](INFO): got valid direction response:
 18:24:19.5988 LVL= 26336, 28257, 31154, 26099, AGC= 32, IDX= 503, 0.12,-0.959,-1.266,-1.165,-2.859, PHS= 2.002, 1.638, 1.650, RAW=  91.6, -79.2, CAL=  93.8, -78.6, ROT=  56.2,  78.6

2025-08-19T18:24:21.606Z,1755627861.606 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-19T18:24:21.607Z,1755627861.607 [DAT](INFO): direction in FSK: [0.109956,0.164250,-0.980271]
2025-08-19T18:24:21.607Z,1755627861.607 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:21.611Z,1755627861.611 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.039810
2025-08-19T18:24:21.635Z,1755627861.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503150 s,
      deltaX: -0.300000 m,
      approachRate: -0.596244 m/s,
      rangeRepo size: 4

2025-08-19T18:24:21.637Z,1755627861.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 193.923081 deg,
      lat: 36.779360 deg,
      lon: -121.859506 deg,
      deltaT: 0.503150 s,
      deltaX: -0.300000 m,
      approachRate: -0.596244 m/s,
      posRepo size: 4

2025-08-19T18:24:21.850Z,1755627861.850 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.278363
2025-08-19T18:24:22.099Z,1755627862.099 [DAT](INFO): DAT read: Rx Time:18:24:20.0989 

2025-08-19T18:24:22.100Z,1755627862.100 [DAT](INFO): Rx dataTimestamp_ set to:1755627862.099243
2025-08-19T18:24:22.101Z,1755627862.101 [DAT](INFO): DAT read: Bearing 204.1,   9.2 (Local)

2025-08-19T18:24:22.101Z,1755627862.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.1,   9.2 (Local)

2025-08-19T18:24:22.103Z,1755627862.103 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:22.109Z,1755627862.109 [DAT](INFO): DAT read: 18:24:20.0989 LVL= 24016, 27633, 30898, 25267, AGC= 31, IDX= 504, 0.23, 0.385, 0.072, 0.180,-1.495, PHS= 1.982, 1.612, 1.631, RAW=  92.6, -78.9, CAL=  94.8, -78.4, ROT=  55.2,  78.4

2025-08-19T18:24:22.110Z,1755627862.110 [DAT](INFO): got valid direction response:
 18:24:20.0989 LVL= 24016, 27633, 30898, 25267, AGC= 31, IDX= 504, 0.23, 0.385, 0.072, 0.180,-1.495, PHS= 1.982, 1.612, 1.631, RAW=  92.6, -78.9, CAL=  94.8, -78.4, ROT=  55.2,  78.4

2025-08-19T18:24:22.110Z,1755627862.110 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-19T18:24:22.111Z,1755627862.111 [DAT](INFO): direction in FSK: [0.114758,0.165115,-0.979575]
2025-08-19T18:24:22.111Z,1755627862.111 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:22.117Z,1755627862.117 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.545552
2025-08-19T18:24:22.350Z,1755627862.350 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778995
2025-08-19T18:24:22.482Z,1755627862.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503811 s,
      deltaX: 0.200000 m,
      approachRate: 0.396974 m/s,
      rangeRepo size: 4

2025-08-19T18:24:22.484Z,1755627862.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 180.613450 deg,
      lat: 36.779360 deg,
      lon: -121.859506 deg,
      deltaT: 0.503811 s,
      deltaX: 0.200000 m,
      approachRate: 0.396974 m/s,
      posRepo size: 4

2025-08-19T18:24:22.603Z,1755627862.603 [DAT](INFO): DAT read: Rx Time:18:24:20.5988 

2025-08-19T18:24:22.604Z,1755627862.604 [DAT](INFO): Rx dataTimestamp_ set to:1755627862.603443
2025-08-19T18:24:22.605Z,1755627862.605 [DAT](INFO): DAT read: Bearing 205.0,   9.0 (Local)

2025-08-19T18:24:22.606Z,1755627862.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.0,   9.0 (Local)

2025-08-19T18:24:22.608Z,1755627862.608 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:24:22.612Z,1755627862.612 [DAT](INFO): DAT read: 18:24:20.5988 LVL= 26464, 30257, 32754, 27251, AGC= 31, IDX= 503, 0.41,-1.285,-1.596,-1.489, 3.124, PHS= 1.976, 1.608, 1.626, RAW=  92.5, -79.0, CAL=  94.8, -78.4, ROT=  55.2,  78.4

2025-08-19T18:24:22.614Z,1755627862.614 [DAT](INFO): got valid direction response:
 18:24:20.5988 LVL= 26464, 30257, 32754, 27251, AGC= 31, IDX= 503, 0.41,-1.285,-1.596,-1.489, 3.124, PHS= 1.976, 1.608, 1.626, RAW=  92.5, -79.0, CAL=  94.8, -78.4, ROT=  55.2,  78.4

2025-08-19T18:24:22.614Z,1755627862.614 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-19T18:24:22.615Z,1755627862.615 [DAT](INFO): direction in FSK: [0.114758,0.165115,-0.979575]
2025-08-19T18:24:22.615Z,1755627862.615 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:22.619Z,1755627862.619 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.047389
2025-08-19T18:24:22.858Z,1755627862.858 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.285843
2025-08-19T18:24:22.913Z,1755627862.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504200 s,
      deltaX: -0.200000 m,
      approachRate: -0.396668 m/s,
      rangeRepo size: 4

2025-08-19T18:24:22.937Z,1755627862.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 173.580049 deg,
      lat: 36.779360 deg,
      lon: -121.859506 deg,
      deltaT: 0.504200 s,
      deltaX: -0.200000 m,
      approachRate: -0.396668 m/s,
      posRepo size: 4

2025-08-19T18:24:23.110Z,1755627863.110 [DAT](INFO): DAT read: Rx Time:18:24:21.0990 

2025-08-19T18:24:23.110Z,1755627863.110 [DAT](INFO): Rx dataTimestamp_ set to:1755627863.109953
2025-08-19T18:24:23.112Z,1755627863.112 [DAT](INFO): DAT read: Bearing 205.6,   8.7 (Local)

2025-08-19T18:24:23.112Z,1755627863.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.6,   8.7 (Local)

2025-08-19T18:24:23.114Z,1755627863.114 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:23.120Z,1755627863.120 [DAT](INFO): DAT read: 18:24:21.0990 LVL= 23792, 27969, 30962, 25635, AGC= 31, IDX= 505,-0.36,-1.985,-2.288,-2.179, 2.442, PHS= 1.958, 1.598, 1.619, RAW=  92.8, -79.2, CAL=  95.1, -78.6, ROT=  54.9,  78.6

2025-08-19T18:24:23.121Z,1755627863.121 [DAT](INFO): got valid direction response:
 18:24:21.0990 LVL= 23792, 27969, 30962, 25635, AGC= 31, IDX= 505,-0.36,-1.985,-2.288,-2.179, 2.442, PHS= 1.958, 1.598, 1.619, RAW=  92.8, -79.2, CAL=  95.1, -78.6, ROT=  54.9,  78.6

2025-08-19T18:24:23.122Z,1755627863.122 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-19T18:24:23.124Z,1755627863.124 [DAT](INFO): direction in FSK: [0.113654,0.161713,-0.980271]
2025-08-19T18:24:23.124Z,1755627863.124 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:23.127Z,1755627863.127 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.556034
2025-08-19T18:24:23.359Z,1755627863.359 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.787314
2025-08-19T18:24:23.489Z,1755627863.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.506510 s,
      deltaX: 0.300000 m,
      approachRate: 0.592288 m/s,
      rangeRepo size: 4

2025-08-19T18:24:23.491Z,1755627863.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 198.484220 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.506510 s,
      deltaX: 0.300000 m,
      approachRate: 0.592288 m/s,
      posRepo size: 4

2025-08-19T18:24:23.612Z,1755627863.612 [DAT](INFO): DAT read: Rx Time:18:24:21.5989 

2025-08-19T18:24:23.613Z,1755627863.613 [DAT](INFO): Rx dataTimestamp_ set to:1755627863.612613
2025-08-19T18:24:23.615Z,1755627863.615 [DAT](INFO): DAT read: Bearing 205.8,   8.4 (Local)

2025-08-19T18:24:23.615Z,1755627863.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.8,   8.4 (Local)

2025-08-19T18:24:23.618Z,1755627863.618 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:23.622Z,1755627863.622 [DAT](INFO): DAT read: 18:24:21.5989 LVL= 24496, 27393, 30850, 25315, AGC= 32, IDX= 504,-0.19,-2.875, 3.111,-3.066, 1.526, PHS= 1.984, 1.630, 1.647, RAW=  92.5, -79.5, CAL=  94.7, -78.9, ROT=  55.3,  78.9

2025-08-19T18:24:23.623Z,1755627863.623 [DAT](INFO): got valid direction response:
 18:24:21.5989 LVL= 24496, 27393, 30850, 25315, AGC= 32, IDX= 504,-0.19,-2.875, 3.111,-3.066, 1.526, PHS= 1.984, 1.630, 1.647, RAW=  92.5, -79.5, CAL=  94.7, -78.9, ROT=  55.3,  78.9

2025-08-19T18:24:23.623Z,1755627863.623 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-19T18:24:23.624Z,1755627863.624 [DAT](INFO): direction in FSK: [0.109599,0.158281,-0.981293]
2025-08-19T18:24:23.625Z,1755627863.625 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:23.629Z,1755627863.629 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057325
2025-08-19T18:24:23.787Z,1755627863.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.502660 s,
      deltaX: -0.100000 m,
      approachRate: -0.198942 m/s,
      rangeRepo size: 4

2025-08-19T18:24:23.789Z,1755627863.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 192.968011 deg,
      lat: 36.779360 deg,
      lon: -121.859507 deg,
      deltaT: 0.502660 s,
      deltaX: -0.100000 m,
      approachRate: -0.198942 m/s,
      posRepo size: 4

2025-08-19T18:24:23.866Z,1755627863.866 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.293679
2025-08-19T18:24:24.115Z,1755627864.115 [DAT](INFO): DAT read: Rx Time:18:24:22.0989 

2025-08-19T18:24:24.115Z,1755627864.115 [DAT](INFO): Rx dataTimestamp_ set to:1755627864.115204
2025-08-19T18:24:24.117Z,1755627864.117 [DAT](INFO): DAT read: Bearing 206.3,   8.5 (Local)

2025-08-19T18:24:24.117Z,1755627864.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.3,   8.5 (Local)

2025-08-19T18:24:24.119Z,1755627864.119 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:24.124Z,1755627864.124 [DAT](INFO): DAT read: 18:24:22.0989 LVL= 23680, 27793, 30898, 25507, AGC= 31, IDX= 504,-0.08,-2.686,-2.985,-2.877, 1.732, PHS= 1.967, 1.611, 1.630, RAW=  92.7, -79.3, CAL=  94.9, -78.8, ROT=  55.1,  78.8

2025-08-19T18:24:24.125Z,1755627864.125 [DAT](INFO): got valid direction response:
 18:24:22.0989 LVL= 23680, 27793, 30898, 25507, AGC= 31, IDX= 504,-0.08,-2.686,-2.985,-2.877, 1.732, PHS= 1.967, 1.611, 1.630, RAW=  92.7, -79.3, CAL=  94.9, -78.8, ROT=  55.1,  78.8

2025-08-19T18:24:24.125Z,1755627864.125 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-19T18:24:24.139Z,1755627864.139 [DAT](INFO): direction in FSK: [0.111130,0.159302,-0.980955]
2025-08-19T18:24:24.140Z,1755627864.140 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:24.154Z,1755627864.154 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.582317
2025-08-19T18:24:24.176Z,1755627864.177 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:24:24.177Z,1755627864.177 [DockingStepper] No Fault, FailCount= 1
2025-08-19T18:24:24.337Z,1755627864.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.502591 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:24.347Z,1755627864.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 207.936413 deg,
      lat: 36.779360 deg,
      lon: -121.859508 deg,
      deltaT: 0.502591 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:24.367Z,1755627864.367 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795176
2025-08-19T18:24:24.498Z,1755627864.498 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:24:24.620Z,1755627864.620 [DAT](INFO): DAT read: Rx Time:18:24:22.5988 

2025-08-19T18:24:24.620Z,1755627864.620 [DAT](INFO): Rx dataTimestamp_ set to:1755627864.619982
2025-08-19T18:24:24.622Z,1755627864.622 [DAT](INFO): DAT read: Bearing 206.4,   8.5 (Local)

2025-08-19T18:24:24.622Z,1755627864.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.4,   8.5 (Local)

2025-08-19T18:24:24.624Z,1755627864.624 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:24:24.629Z,1755627864.629 [DAT](INFO): DAT read: 18:24:22.5988 LVL= 23968, 27697, 30706, 25267, AGC= 31, IDX= 503, 0.03,-2.904, 3.080,-3.097, 1.503, PHS= 1.978, 1.622, 1.639, RAW=  92.4, -79.3, CAL=  94.6, -78.8, ROT=  55.4,  78.8

2025-08-19T18:24:24.630Z,1755627864.630 [DAT](INFO): got valid direction response:
 18:24:22.5988 LVL= 23968, 27697, 30706, 25267, AGC= 31, IDX= 503, 0.03,-2.904, 3.080,-3.097, 1.503, PHS= 1.978, 1.622, 1.639, RAW=  92.4, -79.3, CAL=  94.6, -78.8, ROT=  55.4,  78.8

2025-08-19T18:24:24.630Z,1755627864.630 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-19T18:24:24.631Z,1755627864.631 [DAT](INFO): direction in FSK: [0.110295,0.159881,-0.980955]
2025-08-19T18:24:24.632Z,1755627864.632 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:24.635Z,1755627864.635 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.063826
2025-08-19T18:24:24.636Z,1755627864.636 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:24:24.874Z,1755627864.874 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.301342
2025-08-19T18:24:24.949Z,1755627864.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504778 s,
      deltaX: -0.200000 m,
      approachRate: -0.396214 m/s,
      rangeRepo size: 4

2025-08-19T18:24:24.951Z,1755627864.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 202.982738 deg,
      lat: 36.779360 deg,
      lon: -121.859508 deg,
      deltaT: 0.504778 s,
      deltaX: -0.200000 m,
      approachRate: -0.396214 m/s,
      posRepo size: 4

2025-08-19T18:24:25.123Z,1755627865.123 [DAT](INFO): DAT read: Rx Time:18:24:23.0989 

2025-08-19T18:24:25.124Z,1755627865.124 [DAT](INFO): Rx dataTimestamp_ set to:1755627865.123241
2025-08-19T18:24:25.125Z,1755627865.125 [DAT](INFO): DAT read: Bearing 206.3,   8.6 (Local)

2025-08-19T18:24:25.125Z,1755627865.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.3,   8.6 (Local)

2025-08-19T18:24:25.127Z,1755627865.127 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:25.132Z,1755627865.132 [DAT](INFO): DAT read: 18:24:23.0989 LVL= 23728, 27345, 30562, 25059, AGC= 31, IDX= 504, 0.14,-1.438,-1.735,-1.633, 2.970, PHS= 1.978, 1.623, 1.636, RAW=  91.9, -79.4, CAL=  94.1, -78.8, ROT=  55.9,  78.8

2025-08-19T18:24:25.133Z,1755627865.133 [DAT](INFO): got valid direction response:
 18:24:23.0989 LVL= 23728, 27345, 30562, 25059, AGC= 31, IDX= 504, 0.14,-1.438,-1.735,-1.633, 2.970, PHS= 1.978, 1.623, 1.636, RAW=  91.9, -79.4, CAL=  94.1, -78.8, ROT=  55.9,  78.8

2025-08-19T18:24:25.133Z,1755627865.133 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-19T18:24:25.134Z,1755627865.134 [DAT](INFO): direction in FSK: [0.108895,0.160838,-0.980955]
2025-08-19T18:24:25.135Z,1755627865.135 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:25.146Z,1755627865.146 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.574824
2025-08-19T18:24:25.327Z,1755627865.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503259 s,
      deltaX: 0.200000 m,
      approachRate: 0.397410 m/s,
      rangeRepo size: 4

2025-08-19T18:24:25.329Z,1755627865.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 207.060391 deg,
      lat: 36.779360 deg,
      lon: -121.859508 deg,
      deltaT: 0.503259 s,
      deltaX: 0.200000 m,
      approachRate: 0.397410 m/s,
      posRepo size: 4

2025-08-19T18:24:25.376Z,1755627865.376 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.804187
2025-08-19T18:24:25.627Z,1755627865.627 [DAT](INFO): DAT read: Rx Time:18:24:23.5988 

2025-08-19T18:24:25.627Z,1755627865.627 [DAT](INFO): Rx dataTimestamp_ set to:1755627865.627142
2025-08-19T18:24:25.629Z,1755627865.629 [DAT](INFO): DAT read: Bearing 205.9,   8.5 (Local)

2025-08-19T18:24:25.629Z,1755627865.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.9,   8.5 (Local)

2025-08-19T18:24:25.631Z,1755627865.631 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:24:25.636Z,1755627865.636 [DAT](INFO): DAT read: 18:24:23.5988 LVL= 26672, 27889, 30610, 25715, AGC= 32, IDX= 503, 0.30,-2.266,-2.560,-2.462, 2.113, PHS= 2.006, 1.655, 1.664, RAW=  91.2, -79.6, CAL=  93.2, -79.0, ROT=  56.8,  79.0

2025-08-19T18:24:25.637Z,1755627865.637 [DAT](INFO): got valid direction response:
 18:24:23.5988 LVL= 26672, 27889, 30610, 25715, AGC= 32, IDX= 503, 0.30,-2.266,-2.560,-2.462, 2.113, PHS= 2.006, 1.655, 1.664, RAW=  91.2, -79.6, CAL=  93.2, -79.0, ROT=  56.8,  79.0

2025-08-19T18:24:25.637Z,1755627865.637 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-19T18:24:25.642Z,1755627865.642 [DAT](INFO): direction in FSK: [0.104480,0.159662,-0.981627]
2025-08-19T18:24:25.642Z,1755627865.642 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:25.650Z,1755627865.650 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.078489
2025-08-19T18:24:25.731Z,1755627865.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503901 s,
      deltaX: -0.200000 m,
      approachRate: -0.396903 m/s,
      rangeRepo size: 4

2025-08-19T18:24:25.741Z,1755627865.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 208.307859 deg,
      lat: 36.779360 deg,
      lon: -121.859508 deg,
      deltaT: 0.503901 s,
      deltaX: -0.200000 m,
      approachRate: -0.396903 m/s,
      posRepo size: 4

2025-08-19T18:24:25.884Z,1755627865.884 [DAT](INFO): DAT read: Rx Time:18:24:24.0989 

2025-08-19T18:24:25.886Z,1755627865.886 [DAT](INFO): Rx dataTimestamp_ set to:1755627865.884454
2025-08-19T18:24:25.891Z,1755627865.891 [DAT](INFO): DAT read: Bearing 205.9,   8.9 (Local)

2025-08-19T18:24:25.892Z,1755627865.892 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.9,   8.9 (Local)

2025-08-19T18:24:25.896Z,1755627865.896 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.323475
2025-08-19T18:24:26.132Z,1755627866.132 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:26.137Z,1755627866.137 [DAT](INFO): DAT read: 18:24:24.0989 LVL= 26672, 29921, 32754, 26915, AGC= 31, IDX= 504, 0.50,-1.592,-1.893,-1.793, 2.821, PHS= 1.972, 1.614, 1.625, RAW=  91.6, -79.2, CAL=  93.8, -78.6, ROT=  56.2,  78.6

2025-08-19T18:24:26.138Z,1755627866.138 [DAT](INFO): got valid direction response:
 18:24:24.0989 LVL= 26672, 29921, 32754, 26915, AGC= 31, IDX= 504, 0.50,-1.592,-1.893,-1.793, 2.821, PHS= 1.972, 1.614, 1.625, RAW=  91.6, -79.2, CAL=  93.8, -78.6, ROT=  56.2,  78.6

2025-08-19T18:24:26.138Z,1755627866.138 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-19T18:24:26.139Z,1755627866.139 [DAT](INFO): direction in FSK: [0.109956,0.164250,-0.980271]
2025-08-19T18:24:26.140Z,1755627866.140 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:26.143Z,1755627866.143 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.571859
2025-08-19T18:24:26.144Z,1755627866.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:26.177Z,1755627866.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.502810 s,
      deltaX: 0.200000 m,
      approachRate: 0.397765 m/s,
      rangeRepo size: 4

2025-08-19T18:24:26.388Z,1755627866.388 [DAT](INFO): DAT read: Rx Time:18:24:24.5989 

2025-08-19T18:24:26.390Z,1755627866.390 [DAT](INFO): Rx dataTimestamp_ set to:1755627866.388758
2025-08-19T18:24:26.392Z,1755627866.392 [DAT](INFO): DAT read: Bearing 205.5,   8.7 (Local)

2025-08-19T18:24:26.393Z,1755627866.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.5,   8.7 (Local)

2025-08-19T18:24:26.396Z,1755627866.396 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.823765
2025-08-19T18:24:26.636Z,1755627866.636 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:26.641Z,1755627866.641 [DAT](INFO): DAT read: 18:24:24.5989 LVL= 23792, 27617, 30594, 25763, AGC= 31, IDX= 504,-0.30, 1.662, 1.364, 1.471,-0.199, PHS= 1.963, 1.608, 1.626, RAW=  92.5, -79.3, CAL=  94.7, -78.8, ROT=  55.3,  78.8

2025-08-19T18:24:26.642Z,1755627866.642 [DAT](INFO): got valid direction response:
 18:24:24.5989 LVL= 23792, 27617, 30594, 25763, AGC= 31, IDX= 504,-0.30, 1.662, 1.364, 1.471,-0.199, PHS= 1.963, 1.608, 1.626, RAW=  92.5, -79.3, CAL=  94.7, -78.8, ROT=  55.3,  78.8

2025-08-19T18:24:26.642Z,1755627866.642 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-19T18:24:26.643Z,1755627866.643 [DAT](INFO): direction in FSK: [0.110574,0.159689,-0.980955]
2025-08-19T18:24:26.643Z,1755627866.643 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:26.647Z,1755627866.647 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.075489
2025-08-19T18:24:26.890Z,1755627866.890 [DAT](INFO): DAT read: Rx Time:18:24:25.0990 

2025-08-19T18:24:26.892Z,1755627866.892 [DAT](INFO): Rx dataTimestamp_ set to:1755627866.890555
2025-08-19T18:24:26.895Z,1755627866.895 [DAT](INFO): DAT read: Bearing 204.8,   8.7 (Local)

2025-08-19T18:24:26.897Z,1755627866.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.8,   8.7 (Local)

2025-08-19T18:24:26.944Z,1755627866.944 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.371913
2025-08-19T18:24:27.018Z,1755627867.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.503869 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:27.020Z,1755627867.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 209.510151 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 1.006679 s,
      deltaX: 0.200000 m,
      approachRate: 0.198673 m/s,
      posRepo size: 4

2025-08-19T18:24:27.140Z,1755627867.140 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:27.146Z,1755627867.146 [DAT](INFO): DAT read: 18:24:25.0990 LVL= 24112, 27713, 30706, 25347, AGC= 31, IDX= 505,-0.15,-3.126, 2.862, 2.966, 1.294, PHS= 1.964, 1.613, 1.628, RAW=  92.2, -79.4, CAL=  94.3, -78.8, ROT=  55.7,  78.8

2025-08-19T18:24:27.147Z,1755627867.147 [DAT](INFO): got valid direction response:
 18:24:25.0990 LVL= 24112, 27713, 30706, 25347, AGC= 31, IDX= 505,-0.15,-3.126, 2.862, 2.966, 1.294, PHS= 1.964, 1.613, 1.628, RAW=  92.2, -79.4, CAL=  94.3, -78.8, ROT=  55.7,  78.8

2025-08-19T18:24:27.147Z,1755627867.147 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-19T18:24:27.148Z,1755627867.148 [DAT](INFO): direction in FSK: [0.109456,0.160457,-0.980955]
2025-08-19T18:24:27.149Z,1755627867.149 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:27.152Z,1755627867.152 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.580584
2025-08-19T18:24:27.329Z,1755627867.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504314 s,
      deltaX: 0.100000 m,
      approachRate: 0.198289 m/s,
      rangeRepo size: 4

2025-08-19T18:24:27.331Z,1755627867.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 210.310051 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.504314 s,
      deltaX: 0.100000 m,
      approachRate: 0.198289 m/s,
      posRepo size: 4

2025-08-19T18:24:27.394Z,1755627867.394 [DAT](INFO): DAT read: Rx Time:18:24:25.5989 

2025-08-19T18:24:27.396Z,1755627867.396 [DAT](INFO): Rx dataTimestamp_ set to:1755627867.395020
2025-08-19T18:24:27.400Z,1755627867.400 [DAT](INFO): DAT read: Bearing 204.2,   8.9 (Local)

2025-08-19T18:24:27.401Z,1755627867.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.2,   8.9 (Local)

2025-08-19T18:24:27.411Z,1755627867.411 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:27.422Z,1755627867.422 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-08-19T18:24:27.438Z,1755627867.438 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.861631
2025-08-19T18:24:27.646Z,1755627867.646 [DAT](INFO): DAT read: 18:24:25.5989 LVL= 23664, 27537, 30594, 24995, AGC= 31, IDX= 504,-0.04, 2.219, 1.921, 2.023, 0.349, PHS= 1.972, 1.617, 1.630, RAW=  92.0, -79.3, CAL=  94.1, -78.7, ROT=  55.9,  78.7

2025-08-19T18:24:27.647Z,1755627867.647 [DAT](INFO): got valid direction response:
 18:24:25.5989 LVL= 23664, 27537, 30594, 24995, AGC= 31, IDX= 504,-0.04, 2.219, 1.921, 2.023, 0.349, PHS= 1.972, 1.617, 1.630, RAW=  92.0, -79.3, CAL=  94.1, -78.7, ROT=  55.9,  78.7

2025-08-19T18:24:27.648Z,1755627867.648 [DAT](INFO): #Rx 15: Read direction message, but no range.
2025-08-19T18:24:27.649Z,1755627867.649 [DAT](INFO): direction in FSK: [0.109855,0.162255,-0.980615]
2025-08-19T18:24:27.652Z,1755627867.652 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.080594
2025-08-19T18:24:27.788Z,1755627867.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.256885 s,
      deltaX: -0.100000 m,
      approachRate: -0.389279 m/s,
      rangeRepo size: 4

2025-08-19T18:24:27.794Z,1755627867.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 212.920966 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.256885 s,
      deltaX: -0.100000 m,
      approachRate: -0.389279 m/s,
      posRepo size: 4

2025-08-19T18:24:27.942Z,1755627867.942 [DAT](INFO): DAT read: Rx Time:18:24:26.0989 

2025-08-19T18:24:27.944Z,1755627867.944 [DAT](INFO): Rx dataTimestamp_ set to:1755627867.943164
2025-08-19T18:24:27.948Z,1755627867.948 [DAT](INFO): DAT read: Bearing 203.4,   9.1 (Local)

2025-08-19T18:24:27.956Z,1755627867.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.4,   9.1 (Local)

2025-08-19T18:24:27.963Z,1755627867.963 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:27.986Z,1755627867.986 [DAT](INFO): DAT read: 18:24:26.0989 LVL= 23520, 27633, 30834, 25427, AGC= 31, IDX= 504, 0.06,-3.086, 2.895, 2.995, 1.322, PHS= 1.977, 1.618, 1.628, RAW=  91.5, -79.2, CAL=  93.6, -78.6, ROT=  56.4,  78.6

2025-08-19T18:24:27.987Z,1755627867.987 [DAT](INFO): got valid direction response:
 18:24:26.0989 LVL= 23520, 27633, 30834, 25427, AGC= 31, IDX= 504, 0.06,-3.086, 2.895, 2.995, 1.322, PHS= 1.977, 1.618, 1.628, RAW=  91.5, -79.2, CAL=  93.6, -78.6, ROT=  56.4,  78.6

2025-08-19T18:24:27.987Z,1755627867.987 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-19T18:24:27.988Z,1755627867.988 [DAT](INFO): direction in FSK: [0.109382,0.164633,-0.980271]
2025-08-19T18:24:27.989Z,1755627867.989 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:28.010Z,1755627868.010 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.438623
2025-08-19T18:24:28.147Z,1755627868.147 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.575365
2025-08-19T18:24:28.296Z,1755627868.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.548144 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-19T18:24:28.298Z,1755627868.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.800000 m,
      bearing: 215.981493 deg,
      lat: 36.779359 deg,
      lon: -121.859508 deg,
      deltaT: 0.548144 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-19T18:24:28.343Z,1755627868.343 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:24:28.402Z,1755627868.402 [DAT](INFO): DAT read: Rx Time:18:24:26.5988 

2025-08-19T18:24:28.404Z,1755627868.404 [DAT](INFO): Rx dataTimestamp_ set to:1755627868.403074
2025-08-19T18:24:28.408Z,1755627868.408 [DAT](INFO): DAT read: Bearing 202.7,   9.4 (Local)

2025-08-19T18:24:28.410Z,1755627868.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.7,   9.4 (Local)

2025-08-19T18:24:28.416Z,1755627868.416 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:24:28.418Z,1755627868.418 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-19T18:24:28.425Z,1755627868.425 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.852528
2025-08-19T18:24:28.636Z,1755627868.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:28.639Z,1755627868.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.459910 s,
      deltaX: -0.200000 m,
      approachRate: -0.434868 m/s,
      rangeRepo size: 4

2025-08-19T18:24:28.641Z,1755627868.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 0.60 m. Lat: 36.779359 Lon: -121.859508 Cable present.
2025-08-19T18:24:28.641Z,1755627868.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-19T18:24:28.641Z,1755627868.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-19T18:24:28.642Z,1755627868.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-19T18:24:28.654Z,1755627868.654 [DAT](INFO): DAT read: 18:24:26.5988 LVL= 26208, 29617, 32754, 26755, AGC= 31, IDX= 503, 0.19, 3.062, 2.756, 2.855, 1.178, PHS= 1.986, 1.623, 1.633, RAW=  91.3, -79.1, CAL=  93.5, -78.5, ROT=  56.5,  78.5

2025-08-19T18:24:28.655Z,1755627868.655 [DAT](INFO): got valid direction response:
 18:24:26.5988 LVL= 26208, 29617, 32754, 26755, AGC= 31, IDX= 503, 0.19, 3.062, 2.756, 2.855, 1.178, PHS= 1.986, 1.623, 1.633, RAW=  91.3, -79.1, CAL=  93.5, -78.5, ROT=  56.5,  78.5

2025-08-19T18:24:28.656Z,1755627868.656 [DAT](INFO): #Rx 18: Read direction message, but no range.
2025-08-19T18:24:28.657Z,1755627868.657 [DAT](INFO): direction in FSK: [0.110039,0.166250,-0.979925]
2025-08-19T18:24:28.663Z,1755627868.663 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.091492
2025-08-19T18:24:28.907Z,1755627868.907 [DAT](INFO): DAT read: Rx Time:18:24:27.0989 

2025-08-19T18:24:28.913Z,1755627868.913 [DAT](INFO): Rx dataTimestamp_ set to:1755627868.907928
2025-08-19T18:24:28.917Z,1755627868.917 [DAT](INFO): DAT read: Bearing 202.0,   9.6 (Local)

2025-08-19T18:24:28.919Z,1755627868.919 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.0,   9.6 (Local)

2025-08-19T18:24:28.934Z,1755627868.934 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:28.944Z,1755627868.944 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-08-19T18:24:28.952Z,1755627868.952 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.380037
2025-08-19T18:24:29.145Z,1755627869.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-19T18:24:29.146Z,1755627869.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-19T18:24:29.146Z,1755627869.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-19T18:24:29.159Z,1755627869.159 [DAT](INFO): DAT read: 18:24:27.0989 LVL= 23536, 27889, 30610, 25299, AGC= 31, IDX= 504, 0.34,-2.430,-2.736,-2.638, 1.974, PHS= 1.981, 1.618, 1.627, RAW=  91.1, -79.0, CAL=  93.3, -78.4, ROT=  56.7,  78.4

2025-08-19T18:24:29.164Z,1755627869.164 [DAT](INFO): got valid direction response:
 18:24:27.0989 LVL= 23536, 27889, 30610, 25299, AGC= 31, IDX= 504, 0.34,-2.430,-2.736,-2.638, 1.974, PHS= 1.981, 1.618, 1.627, RAW=  91.1, -79.0, CAL=  93.3, -78.4, ROT=  56.7,  78.4

2025-08-19T18:24:29.165Z,1755627869.165 [DAT](INFO): #Rx 20: Read direction message, but no range.
2025-08-19T18:24:29.167Z,1755627869.167 [DAT](INFO): direction in FSK: [0.110396,0.168062,-0.979575]
2025-08-19T18:24:29.188Z,1755627869.188 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.616549
2025-08-19T18:24:29.410Z,1755627869.410 [DAT](INFO): DAT read: Rx Time:18:24:27.5989 

2025-08-19T18:24:29.412Z,1755627869.412 [DAT](INFO): Rx dataTimestamp_ set to:1755627869.410857
2025-08-19T18:24:29.416Z,1755627869.416 [DAT](INFO): DAT read: Bearing 201.4,   9.4 (Local)

2025-08-19T18:24:29.417Z,1755627869.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.4,   9.4 (Local)

2025-08-19T18:24:29.431Z,1755627869.431 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:29.433Z,1755627869.433 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-08-19T18:24:29.483Z,1755627869.483 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=10.865856
2025-08-19T18:24:29.545Z,1755627869.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-19T18:24:29.550Z,1755627869.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-19T18:24:29.551Z,1755627869.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-19T18:24:29.551Z,1755627869.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-19T18:24:29.551Z,1755627869.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-19T18:24:29.551Z,1755627869.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-19T18:24:29.551Z,1755627869.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-19T18:24:29.551Z,1755627869.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-19T18:24:29.551Z,1755627869.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-19T18:24:29.551Z,1755627869.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-19T18:24:29.551Z,1755627869.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-19T18:24:29.667Z,1755627869.667 [DAT](INFO): DAT read: 18:24:27.5989 LVL= 23600, 27457, 30546, 25011, AGC= 31, IDX= 504,-0.43, 0.836, 0.538, 0.638,-1.029, PHS= 1.967, 1.611, 1.623, RAW=  91.6, -79.2, CAL=  93.8, -78.7, ROT=  56.2,  78.7

2025-08-19T18:24:29.668Z,1755627869.668 [DAT](INFO): got valid direction response:
 18:24:27.5989 LVL= 23600, 27457, 30546, 25011, AGC= 31, IDX= 504,-0.43, 0.836, 0.538, 0.638,-1.029, PHS= 1.967, 1.611, 1.623, RAW=  91.6, -79.2, CAL=  93.8, -78.7, ROT=  56.2,  78.7

2025-08-19T18:24:29.669Z,1755627869.669 [DAT](INFO): #Rx 22: Read direction message, but no range.
2025-08-19T18:24:29.672Z,1755627869.672 [DAT](INFO): direction in FSK: [0.109004,0.162828,-0.980615]
2025-08-19T18:24:29.682Z,1755627869.682 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.110392
2025-08-19T18:24:29.916Z,1755627869.916 [DAT](INFO): DAT read: Rx Time:18:24:28.0990 

2025-08-19T18:24:29.918Z,1755627869.918 [DAT](INFO): Rx dataTimestamp_ set to:1755627869.916166
2025-08-19T18:24:29.921Z,1755627869.921 [DAT](INFO): DAT read: Bearing 201.2,   9.6 (Local)

2025-08-19T18:24:29.922Z,1755627869.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.2,   9.6 (Local)

2025-08-19T18:24:29.954Z,1755627869.954 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:30.015Z,1755627870.015 [DAT](INFO): DAT read: 18:24:28.0990 LVL= 23504, 27873, 30674, 25507, AGC= 31, IDX= 505,-0.24, 1.535, 1.232, 1.334,-0.324, PHS= 1.961, 1.601, 1.614, RAW=  91.8, -79.1, CAL=  94.1, -78.5, ROT=  55.9,  78.5

2025-08-19T18:24:30.016Z,1755627870.016 [DAT](INFO): got valid direction response:
 18:24:28.0990 LVL= 23504, 27873, 30674, 25507, AGC= 31, IDX= 505,-0.24, 1.535, 1.232, 1.334,-0.324, PHS= 1.961, 1.601, 1.614, RAW=  91.8, -79.1, CAL=  94.1, -78.5, ROT=  55.9,  78.5

2025-08-19T18:24:30.017Z,1755627870.017 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-19T18:24:30.019Z,1755627870.019 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-19T18:24:30.020Z,1755627870.020 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-19T18:24:30.020Z,1755627870.020 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-19T18:24:30.020Z,1755627870.020 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-19T18:24:30.020Z,1755627870.020 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-19T18:24:30.020Z,1755627870.020 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-19T18:24:30.020Z,1755627870.020 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-08-19T18:24:30.020Z,1755627870.020 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-19T18:24:30.021Z,1755627870.021 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-19T18:24:30.026Z,1755627870.026 [DAT](INFO): direction in FSK: [0.111773,0.165089,-0.979925]
2025-08-19T18:24:30.026Z,1755627870.026 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:30.030Z,1755627870.030 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-19T18:24:30.030Z,1755627870.030 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-19T18:24:30.030Z,1755627870.030 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-19T18:24:30.030Z,1755627870.030 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-19T18:24:30.030Z,1755627870.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-19T18:24:30.030Z,1755627870.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-19T18:24:30.030Z,1755627870.030 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-19T18:24:30.030Z,1755627870.030 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-19T18:24:30.038Z,1755627870.038 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.466382
2025-08-19T18:24:30.164Z,1755627870.164 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.592113
2025-08-19T18:24:30.320Z,1755627870.320 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-19T18:24:30.320Z,1755627870.320 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-19T18:24:30.419Z,1755627870.419 [DAT](INFO): DAT read: Rx Time:18:24:28.5989 

2025-08-19T18:24:30.421Z,1755627870.421 [DAT](INFO): Rx dataTimestamp_ set to:1755627870.419489
2025-08-19T18:24:30.424Z,1755627870.424 [DAT](INFO): DAT read: Bearing 201.1,   9.7 (Local)

2025-08-19T18:24:30.434Z,1755627870.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.1,   9.7 (Local)

2025-08-19T18:24:30.438Z,1755627870.438 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:30.443Z,1755627870.443 [DAT](INFO): DAT read: 18:24:28.5989 LVL= 23328, 28225, 30834, 25683, AGC= 31, IDX= 504,-0.12, 0.591, 0.281, 0.387,-1.267, PHS= 1.960, 1.593, 1.610, RAW=  92.3, -78.9, CAL=  94.6, -78.3, ROT=  55.4,  78.3

2025-08-19T18:24:30.444Z,1755627870.444 [DAT](INFO): got valid direction response:
 18:24:28.5989 LVL= 23328, 28225, 30834, 25683, AGC= 31, IDX= 504,-0.12, 0.591, 0.281, 0.387,-1.267, PHS= 1.960, 1.593, 1.610, RAW=  92.3, -78.9, CAL=  94.6, -78.3, ROT=  55.4,  78.3

2025-08-19T18:24:30.444Z,1755627870.444 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-19T18:24:30.482Z,1755627870.482 [DAT](INFO): direction in FSK: [0.115151,0.166922,-0.979223]
2025-08-19T18:24:30.482Z,1755627870.482 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:30.499Z,1755627870.499 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=11.927145
2025-08-19T18:24:30.667Z,1755627870.667 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.095694
2025-08-19T18:24:30.716Z,1755627870.716 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-19T18:24:30.717Z,1755627870.717 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-19T18:24:30.717Z,1755627870.717 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-19T18:24:30.922Z,1755627870.922 [DAT](INFO): DAT read: Rx Time:18:24:29.0991 

2025-08-19T18:24:30.924Z,1755627870.924 [DAT](INFO): Rx dataTimestamp_ set to:1755627870.923013
2025-08-19T18:24:30.927Z,1755627870.927 [DAT](INFO): DAT read: Bearing 201.0,   9.8 (Local)

2025-08-19T18:24:30.928Z,1755627870.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.0,   9.8 (Local)

2025-08-19T18:24:30.934Z,1755627870.934 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-19T18:24:30.936Z,1755627870.936 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-08-19T18:24:30.938Z,1755627870.938 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.366085
2025-08-19T18:24:31.139Z,1755627871.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:31.179Z,1755627871.179 [DAT](INFO): DAT read: 18:24:29.0991 LVL= 23536, 27985, 30962, 25395, AGC= 31, IDX= 506,-0.02,-2.349,-2.661,-2.553, 2.074, PHS= 1.963, 1.594, 1.613, RAW=  92.7, -78.9, CAL=  95.0, -78.3, ROT=  55.0,  78.3

2025-08-19T18:24:31.181Z,1755627871.181 [DAT](INFO): got valid direction response:
 18:24:29.0991 LVL= 23536, 27985, 30962, 25395, AGC= 31, IDX= 506,-0.02,-2.349,-2.661,-2.553, 2.074, PHS= 1.963, 1.594, 1.613, RAW=  92.7, -78.9, CAL=  95.0, -78.3, ROT=  55.0,  78.3

2025-08-19T18:24:31.181Z,1755627871.181 [DAT](INFO): #Rx 26: Read direction message, but no range.
2025-08-19T18:24:31.183Z,1755627871.183 [DAT](INFO): direction in FSK: [0.116314,0.166114,-0.979223]
2025-08-19T18:24:31.206Z,1755627871.206 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=12.634396
2025-08-19T18:24:31.426Z,1755627871.426 [DAT](INFO): DAT read: Rx Time:18:24:29.5989 

2025-08-19T18:24:31.427Z,1755627871.427 [DAT](INFO): Rx dataTimestamp_ set to:1755627871.426405
2025-08-19T18:24:31.431Z,1755627871.431 [DAT](INFO): DAT read: Bearing 201.1,   9.9 (Local)

2025-08-19T18:24:31.432Z,1755627871.432 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.1,   9.9 (Local)

2025-08-19T18:24:31.437Z,1755627871.437 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:31.442Z,1755627871.442 [DAT](INFO): DAT read: 18:24:29.5989 LVL= 23728, 28001, 31282, 25763, AGC= 31, IDX= 505, 0.08,-2.556,-2.876,-2.765, 1.857, PHS= 1.972, 1.596, 1.617, RAW=  92.9, -78.7, CAL=  95.2, -78.1, ROT=  54.8,  78.1

2025-08-19T18:24:31.443Z,1755627871.443 [DAT](INFO): got valid direction response:
 18:24:29.5989 LVL= 23728, 28001, 31282, 25763, AGC= 31, IDX= 505, 0.08,-2.556,-2.876,-2.765, 1.857, PHS= 1.972, 1.596, 1.617, RAW=  92.9, -78.7, CAL=  95.2, -78.1, ROT=  54.8,  78.1

2025-08-19T18:24:31.443Z,1755627871.443 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-19T18:24:31.444Z,1755627871.444 [DAT](INFO): direction in FSK: [0.118863,0.168499,-0.978509]
2025-08-19T18:24:31.445Z,1755627871.445 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:31.448Z,1755627871.448 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.876655
2025-08-19T18:24:31.675Z,1755627871.675 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.103615
2025-08-19T18:24:31.930Z,1755627871.930 [DAT](INFO): DAT read: Rx Time:18:24:30.0989 

2025-08-19T18:24:31.932Z,1755627871.932 [DAT](INFO): Rx dataTimestamp_ set to:1755627871.931092
2025-08-19T18:24:31.935Z,1755627871.935 [DAT](INFO): DAT read: Bearing 201.2,   9.9 (Local)

2025-08-19T18:24:31.936Z,1755627871.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.2,   9.9 (Local)

2025-08-19T18:24:31.943Z,1755627871.943 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:31.947Z,1755627871.947 [DAT](INFO): DAT read: 18:24:30.0989 LVL= 26528, 30481, 32754, 27315, AGC= 31, IDX= 505, 0.20,-2.257,-2.579,-2.468, 2.155, PHS= 1.973, 1.594, 1.617, RAW=  93.0, -78.6, CAL=  95.4, -78.0, ROT=  54.6,  78.0

2025-08-19T18:24:31.948Z,1755627871.948 [DAT](INFO): got valid direction response:
 18:24:30.0989 LVL= 26528, 30481, 32754, 27315, AGC= 31, IDX= 505, 0.20,-2.257,-2.579,-2.468, 2.155, PHS= 1.973, 1.594, 1.617, RAW=  93.0, -78.6, CAL=  95.4, -78.0, ROT=  54.6,  78.0

2025-08-19T18:24:31.949Z,1755627871.949 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-19T18:24:31.960Z,1755627871.960 [DAT](INFO): direction in FSK: [0.120439,0.169475,-0.978148]
2025-08-19T18:24:31.960Z,1755627871.960 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:32.019Z,1755627872.019 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.446902
2025-08-19T18:24:32.179Z,1755627872.179 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.607938
2025-08-19T18:24:32.436Z,1755627872.436 [DAT](INFO): DAT read: Rx Time:18:24:30.5988 

2025-08-19T18:24:32.437Z,1755627872.437 [DAT](INFO): Rx dataTimestamp_ set to:1755627872.436464
2025-08-19T18:24:32.439Z,1755627872.439 [DAT](INFO): DAT read: Bearing 201.4,   9.9 (Local)

2025-08-19T18:24:32.439Z,1755627872.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.4,   9.9 (Local)

2025-08-19T18:24:32.441Z,1755627872.441 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:24:32.450Z,1755627872.450 [DAT](INFO): DAT read: 18:24:30.5988 LVL= 23760, 28401, 31442, 25907, AGC= 31, IDX= 504, 0.37, 3.085, 2.762, 2.874, 1.205, PHS= 1.981, 1.601, 1.625, RAW=  93.2, -78.7, CAL=  95.5, -78.1, ROT=  54.5,  78.1

2025-08-19T18:24:32.451Z,1755627872.451 [DAT](INFO): got valid direction response:
 18:24:30.5988 LVL= 23760, 28401, 31442, 25907, AGC= 31, IDX= 504, 0.37, 3.085, 2.762, 2.874, 1.205, PHS= 1.981, 1.601, 1.625, RAW=  93.2, -78.7, CAL=  95.5, -78.1, ROT=  54.5,  78.1

2025-08-19T18:24:32.451Z,1755627872.451 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-19T18:24:32.452Z,1755627872.452 [DAT](INFO): direction in FSK: [0.119743,0.167874,-0.978509]
2025-08-19T18:24:32.452Z,1755627872.452 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:32.460Z,1755627872.460 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=13.888630
2025-08-19T18:24:32.685Z,1755627872.685 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.112321
2025-08-19T18:24:32.937Z,1755627872.937 [DAT](INFO): DAT read: Rx Time:18:24:31.0990 

2025-08-19T18:24:32.938Z,1755627872.938 [DAT](INFO): Rx dataTimestamp_ set to:1755627872.937642
2025-08-19T18:24:32.939Z,1755627872.939 [DAT](INFO): DAT read: Bearing 201.7,   9.7 (Local)

2025-08-19T18:24:32.940Z,1755627872.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.7,   9.7 (Local)

2025-08-19T18:24:32.942Z,1755627872.942 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:32.947Z,1755627872.947 [DAT](INFO): DAT read: 18:24:31.0990 LVL= 26352, 30177, 32754, 27187, AGC= 31, IDX= 506,-0.40, 2.395, 2.077, 2.191, 0.531, PHS= 1.966, 1.591, 1.616, RAW=  93.5, -78.8, CAL=  95.8, -78.2, ROT=  54.2,  78.2

2025-08-19T18:24:32.948Z,1755627872.948 [DAT](INFO): got valid direction response:
 18:24:31.0990 LVL= 26352, 30177, 32754, 27187, AGC= 31, IDX= 506,-0.40, 2.395, 2.077, 2.191, 0.531, PHS= 1.966, 1.591, 1.616, RAW=  93.5, -78.8, CAL=  95.8, -78.2, ROT=  54.2,  78.2

2025-08-19T18:24:32.948Z,1755627872.948 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-19T18:24:32.949Z,1755627872.949 [DAT](INFO): direction in FSK: [0.119622,0.165859,-0.978867]
2025-08-19T18:24:32.949Z,1755627872.949 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:32.953Z,1755627872.953 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.381163
2025-08-19T18:24:33.187Z,1755627873.187 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.615676
2025-08-19T18:24:33.439Z,1755627873.439 [DAT](INFO): DAT read: Rx Time:18:24:31.5989 

2025-08-19T18:24:33.440Z,1755627873.440 [DAT](INFO): Rx dataTimestamp_ set to:1755627873.439390
2025-08-19T18:24:33.441Z,1755627873.441 [DAT](INFO): DAT read: Bearing 201.8,   9.6 (Local)

2025-08-19T18:24:33.441Z,1755627873.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.8,   9.6 (Local)

2025-08-19T18:24:33.443Z,1755627873.443 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:33.448Z,1755627873.448 [DAT](INFO): DAT read: 18:24:31.5989 LVL= 23776, 28193, 31186, 25587, AGC= 31, IDX= 505,-0.23, 0.789, 0.477, 0.589,-1.065, PHS= 1.957, 1.587, 1.610, RAW=  93.2, -78.9, CAL=  95.5, -78.3, ROT=  54.5,  78.3

2025-08-19T18:24:33.449Z,1755627873.449 [DAT](INFO): got valid direction response:
 18:24:31.5989 LVL= 23776, 28193, 31186, 25587, AGC= 31, IDX= 505,-0.23, 0.789, 0.477, 0.589,-1.065, PHS= 1.957, 1.587, 1.610, RAW=  93.2, -78.9, CAL=  95.5, -78.3, ROT=  54.5,  78.3

2025-08-19T18:24:33.449Z,1755627873.449 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-19T18:24:33.450Z,1755627873.450 [DAT](INFO): direction in FSK: [0.117759,0.165092,-0.979223]
2025-08-19T18:24:33.451Z,1755627873.451 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:33.455Z,1755627873.455 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.883216
2025-08-19T18:24:33.571Z,1755627873.571 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-19T18:24:33.571Z,1755627873.571 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-19T18:24:33.571Z,1755627873.571 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-19T18:24:33.571Z,1755627873.571 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-19T18:24:33.691Z,1755627873.691 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.119028
2025-08-19T18:24:33.943Z,1755627873.943 [DAT](INFO): DAT read: Rx Time:18:24:32.0990 

2025-08-19T18:24:33.944Z,1755627873.944 [DAT](INFO): Rx dataTimestamp_ set to:1755627873.943310
2025-08-19T18:24:33.945Z,1755627873.945 [DAT](INFO): DAT read: Bearing 202.3,   9.5 (Local)

2025-08-19T18:24:33.945Z,1755627873.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.3,   9.5 (Local)

2025-08-19T18:24:33.947Z,1755627873.947 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:33.952Z,1755627873.952 [DAT](INFO): DAT read: 18:24:32.0990 LVL= 23664, 28001, 31186, 25763, AGC= 31, IDX= 506,-0.11, 2.109, 1.797, 1.910, 0.247, PHS= 1.964, 1.596, 1.619, RAW=  93.2, -79.0, CAL=  95.5, -78.4, ROT=  54.5,  78.4

2025-08-19T18:24:33.953Z,1755627873.953 [DAT](INFO): got valid direction response:
 18:24:32.0990 LVL= 23664, 28001, 31186, 25763, AGC= 31, IDX= 506,-0.11, 2.109, 1.797, 1.910, 0.247, PHS= 1.964, 1.596, 1.619, RAW=  93.2, -79.0, CAL=  95.5, -78.4, ROT=  54.5,  78.4

2025-08-19T18:24:33.954Z,1755627873.954 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-19T18:24:33.954Z,1755627873.954 [DAT](INFO): direction in FSK: [0.116767,0.163701,-0.979575]
2025-08-19T18:24:33.955Z,1755627873.955 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:33.963Z,1755627873.963 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.391037
2025-08-19T18:24:33.981Z,1755627873.981 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-08-19T18:24:33.981Z,1755627873.981 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-19T18:24:34.021Z,1755627874.021 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-19T18:24:34.038Z,1755627874.038 [lineCaptureHoming:LineCapture] Stopped
2025-08-19T18:24:34.038Z,1755627874.038 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-19T18:24:34.039Z,1755627874.039 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-19T18:24:34.039Z,1755627874.039 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-19T18:24:34.040Z,1755627874.040 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-19T18:24:34.040Z,1755627874.040 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-19T18:24:34.040Z,1755627874.040 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-19T18:24:34.040Z,1755627874.040 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-19T18:24:34.041Z,1755627874.041 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-19T18:24:34.041Z,1755627874.041 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-19T18:24:34.041Z,1755627874.041 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-19T18:24:34.041Z,1755627874.041 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-19T18:24:34.042Z,1755627874.042 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-19T18:24:34.042Z,1755627874.042 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-19T18:24:34.042Z,1755627874.042 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-19T18:24:34.043Z,1755627874.043 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-19T18:24:34.043Z,1755627874.043 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-19T18:24:34.043Z,1755627874.043 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-19T18:24:34.043Z,1755627874.043 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-19T18:24:34.044Z,1755627874.044 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-19T18:24:34.044Z,1755627874.044 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-19T18:24:34.195Z,1755627874.195 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.623736
2025-08-19T18:24:34.343Z,1755627874.343 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-19T18:24:34.343Z,1755627874.343 [lineCaptureHoming:Lap:B] Stopped
2025-08-19T18:24:34.343Z,1755627874.343 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-19T18:24:34.343Z,1755627874.343 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-19T18:24:34.344Z,1755627874.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:34.447Z,1755627874.447 [DAT](INFO): DAT read: Rx Time:18:24:32.5989 

2025-08-19T18:24:34.448Z,1755627874.448 [DAT](INFO): Rx dataTimestamp_ set to:1755627874.447307
2025-08-19T18:24:34.449Z,1755627874.449 [DAT](INFO): DAT read: Bearing 202.7,   9.4 (Local)

2025-08-19T18:24:34.449Z,1755627874.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.7,   9.4 (Local)

2025-08-19T18:24:34.451Z,1755627874.451 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:34.456Z,1755627874.456 [DAT](INFO): DAT read: 18:24:32.5989 LVL= 24560, 28193, 31298, 25699, AGC= 32, IDX= 505,-0.00, 1.855, 1.547, 1.654,-0.040, PHS= 1.997, 1.633, 1.651, RAW=  92.6, -79.2, CAL=  94.8, -78.6, ROT=  55.2,  78.6

2025-08-19T18:24:34.457Z,1755627874.457 [DAT](INFO): got valid direction response:
 18:24:32.5989 LVL= 24560, 28193, 31298, 25699, AGC= 32, IDX= 505,-0.00, 1.855, 1.547, 1.654,-0.040, PHS= 1.997, 1.633, 1.651, RAW=  92.6, -79.2, CAL=  94.8, -78.6, ROT=  55.2,  78.6

2025-08-19T18:24:34.458Z,1755627874.458 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-19T18:24:34.458Z,1755627874.458 [DAT](INFO): direction in FSK: [0.112806,0.162306,-0.980271]
2025-08-19T18:24:34.459Z,1755627874.459 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:34.466Z,1755627874.466 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.894906
2025-08-19T18:24:34.698Z,1755627874.698 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.126923
2025-08-19T18:24:34.744Z,1755627874.744 [lineCaptureHoming:Lap:C] Stopped
2025-08-19T18:24:34.744Z,1755627874.744 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-19T18:24:34.951Z,1755627874.951 [DAT](INFO): DAT read: Rx Time:18:24:33.0990 

2025-08-19T18:24:34.952Z,1755627874.952 [DAT](INFO): Rx dataTimestamp_ set to:1755627874.951234
2025-08-19T18:24:34.953Z,1755627874.953 [DAT](INFO): DAT read: Bearing 203.5,   9.4 (Local)

2025-08-19T18:24:34.953Z,1755627874.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.5,   9.4 (Local)

2025-08-19T18:24:34.955Z,1755627874.955 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:34.960Z,1755627874.960 [DAT](INFO): DAT read: 18:24:33.0990 LVL= 24224, 27937, 31170, 25331, AGC= 31, IDX= 506, 0.10,-2.319,-2.630,-2.521, 2.089, PHS= 1.977, 1.609, 1.629, RAW=  92.7, -79.0, CAL=  94.9, -78.4, ROT=  55.1,  78.4

2025-08-19T18:24:34.961Z,1755627874.961 [DAT](INFO): got valid direction response:
 18:24:33.0990 LVL= 24224, 27937, 31170, 25331, AGC= 31, IDX= 506, 0.10,-2.319,-2.630,-2.521, 2.089, PHS= 1.977, 1.609, 1.629, RAW=  92.7, -79.0, CAL=  94.9, -78.4, ROT=  55.1,  78.4

2025-08-19T18:24:34.961Z,1755627874.961 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-19T18:24:34.962Z,1755627874.962 [DAT](INFO): direction in FSK: [0.115046,0.164914,-0.979575]
2025-08-19T18:24:34.963Z,1755627874.963 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:34.990Z,1755627874.990 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.418819
2025-08-19T18:24:35.203Z,1755627875.203 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.631107
2025-08-19T18:24:35.206Z,1755627875.206 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-08-19T18:24:35.206Z,1755627875.206 [lineCaptureHoming:Lap:D] Stopped
2025-08-19T18:24:35.206Z,1755627875.206 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-19T18:24:35.206Z,1755627875.206 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-19T18:24:35.456Z,1755627875.456 [DAT](INFO): DAT read: Rx Time:18:24:33.5989 

2025-08-19T18:24:35.456Z,1755627875.456 [DAT](INFO): Rx dataTimestamp_ set to:1755627875.456016
2025-08-19T18:24:35.458Z,1755627875.458 [DAT](INFO): DAT read: Bearing 204.1,   9.4 (Local)

2025-08-19T18:24:35.458Z,1755627875.458 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.1,   9.4 (Local)

2025-08-19T18:24:35.460Z,1755627875.460 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:35.465Z,1755627875.465 [DAT](INFO): DAT read: 18:24:33.5989 LVL= 26736, 30321, 32754, 27635, AGC= 31, IDX= 505, 0.23, 3.032, 2.718, 2.827, 1.147, PHS= 1.987, 1.616, 1.636, RAW=  92.7, -79.0, CAL=  95.0, -78.4, ROT=  55.0,  78.4

2025-08-19T18:24:35.466Z,1755627875.466 [DAT](INFO): got valid direction response:
 18:24:33.5989 LVL= 26736, 30321, 32754, 27635, AGC= 31, IDX= 505, 0.23, 3.032, 2.718, 2.827, 1.147, PHS= 1.987, 1.616, 1.636, RAW=  92.7, -79.0, CAL=  95.0, -78.4, ROT=  55.0,  78.4

2025-08-19T18:24:35.466Z,1755627875.466 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-19T18:24:35.467Z,1755627875.467 [DAT](INFO): direction in FSK: [0.115334,0.164713,-0.979575]
2025-08-19T18:24:35.467Z,1755627875.467 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:35.471Z,1755627875.471 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.899578
2025-08-19T18:24:35.612Z,1755627875.612 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-19T18:24:35.612Z,1755627875.612 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-19T18:24:35.612Z,1755627875.612 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-19T18:24:35.612Z,1755627875.612 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-19T18:24:35.612Z,1755627875.612 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-19T18:24:35.613Z,1755627875.613 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-19T18:24:35.707Z,1755627875.707 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.135124
2025-08-19T18:24:35.959Z,1755627875.959 [DAT](INFO): DAT read: Rx Time:18:24:34.0989 

2025-08-19T18:24:35.960Z,1755627875.960 [DAT](INFO): Rx dataTimestamp_ set to:1755627875.959304
2025-08-19T18:24:35.961Z,1755627875.961 [DAT](INFO): DAT read: Bearing 204.4,   9.0 (Local)

2025-08-19T18:24:35.961Z,1755627875.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.4,   9.0 (Local)

2025-08-19T18:24:35.963Z,1755627875.963 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:35.969Z,1755627875.969 [DAT](INFO): DAT read: 18:24:34.0989 LVL= 23264, 26241, 28562, 24499, AGC= 31, IDX= 505, 0.39, 2.625, 2.321, 2.432, 0.730, PHS= 1.997, 1.637, 1.658, RAW=  93.0, -79.4, CAL=  95.2, -78.9, ROT=  54.8,  78.9

2025-08-19T18:24:35.970Z,1755627875.970 [DAT](INFO): got valid direction response:
 18:24:34.0989 LVL= 23264, 26241, 28562, 24499, AGC= 31, IDX= 505, 0.39, 2.625, 2.321, 2.432, 0.730, PHS= 1.997, 1.637, 1.658, RAW=  93.0, -79.4, CAL=  95.2, -78.9, ROT=  54.8,  78.9

2025-08-19T18:24:35.970Z,1755627875.970 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-19T18:24:35.971Z,1755627875.971 [DAT](INFO): direction in FSK: [0.110976,0.157318,-0.981293]
2025-08-19T18:24:35.971Z,1755627875.971 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:35.979Z,1755627875.979 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-19T18:24:35.979Z,1755627875.979 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-19T18:24:35.979Z,1755627875.979 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-19T18:24:35.979Z,1755627875.979 [lineCaptureHoming:restartDHCP] Stopped
2025-08-19T18:24:35.979Z,1755627875.979 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-19T18:24:35.983Z,1755627875.983 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.411627
2025-08-19T18:24:36.077Z,1755627876.077 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-19T18:24:36.211Z,1755627876.211 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.639914
2025-08-19T18:24:36.445Z,1755627876.445 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-19T18:24:36.445Z,1755627876.445 [lineCaptureHoming:Lap:E] Stopped
2025-08-19T18:24:36.445Z,1755627876.445 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-19T18:24:36.449Z,1755627876.449 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-19T18:24:36.450Z,1755627876.450 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-19T18:24:36.450Z,1755627876.450 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-19T18:24:36.450Z,1755627876.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:24:36.463Z,1755627876.463 [DAT](INFO): DAT read: Rx Time:18:24:34.5989 

2025-08-19T18:24:36.464Z,1755627876.464 [DAT](INFO): Rx dataTimestamp_ set to:1755627876.463402
2025-08-19T18:24:36.465Z,1755627876.465 [DAT](INFO): DAT read: Bearing 205.1,   9.4 (Local)

2025-08-19T18:24:36.466Z,1755627876.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.1,   9.4 (Local)

2025-08-19T18:24:36.468Z,1755627876.468 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:36.472Z,1755627876.472 [DAT](INFO): DAT read: 18:24:34.5989 LVL= 26608, 30337, 32754, 27123, AGC= 31, IDX= 505,-0.34,-0.422,-0.729,-0.624,-2.273, PHS= 1.953, 1.589, 1.605, RAW=  92.2, -78.9, CAL=  94.5, -78.4, ROT=  55.5,  78.4

2025-08-19T18:24:36.474Z,1755627876.474 [DAT](INFO): got valid direction response:
 18:24:34.5989 LVL= 26608, 30337, 32754, 27123, AGC= 31, IDX= 505,-0.34,-0.422,-0.729,-0.624,-2.273, PHS= 1.953, 1.589, 1.605, RAW=  92.2, -78.9, CAL=  94.5, -78.4, ROT=  55.5,  78.4

2025-08-19T18:24:36.475Z,1755627876.475 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-19T18:24:36.476Z,1755627876.476 [DAT](INFO): direction in FSK: [0.113892,0.165714,-0.979575]
2025-08-19T18:24:36.476Z,1755627876.476 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:36.481Z,1755627876.481 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.909025
2025-08-19T18:24:36.715Z,1755627876.715 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.142986
2025-08-19T18:24:36.765Z,1755627876.765 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  15.000000 min 
2025-08-19T18:24:36.765Z,1755627876.765 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-19T18:24:36.765Z,1755627876.765 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-19T18:24:36.967Z,1755627876.967 [DAT](INFO): DAT read: Rx Time:18:24:35.0990 

2025-08-19T18:24:36.968Z,1755627876.968 [DAT](INFO): Rx dataTimestamp_ set to:1755627876.967234
2025-08-19T18:24:36.969Z,1755627876.969 [DAT](INFO): DAT read: Bearing 205.5,   9.2 (Local)

2025-08-19T18:24:36.969Z,1755627876.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.5,   9.2 (Local)

2025-08-19T18:24:36.971Z,1755627876.971 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:36.976Z,1755627876.976 [DAT](INFO): DAT read: 18:24:35.0990 LVL= 23920, 27681, 30930, 25267, AGC= 31, IDX= 506,-0.19, 1.034, 0.729, 0.836,-0.831, PHS= 1.967, 1.606, 1.623, RAW=  92.5, -79.1, CAL=  94.7, -78.5, ROT=  55.3,  78.5

2025-08-19T18:24:36.977Z,1755627876.977 [DAT](INFO): got valid direction response:
 18:24:35.0990 LVL= 23920, 27681, 30930, 25267, AGC= 31, IDX= 506,-0.19, 1.034, 0.729, 0.836,-0.831, PHS= 1.967, 1.606, 1.623, RAW=  92.5, -79.1, CAL=  94.7, -78.5, ROT=  55.3,  78.5

2025-08-19T18:24:36.977Z,1755627876.977 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-19T18:24:36.978Z,1755627876.978 [DAT](INFO): direction in FSK: [0.113496,0.163909,-0.979925]
2025-08-19T18:24:36.979Z,1755627876.979 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:36.983Z,1755627876.983 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.411201
2025-08-19T18:24:37.219Z,1755627877.219 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.647099
2025-08-19T18:24:37.257Z,1755627877.257 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-19T18:24:37.257Z,1755627877.257 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-19T18:24:37.395Z,1755627877.395 [DockingStepper](FAULT): Timed out moving from: 10352 to: 14700 response: ÿ
2025-08-19T18:24:37.395Z,1755627877.395 [DockingStepper] Hardware Fault, FailCount= 2
2025-08-19T18:24:37.396Z,1755627877.396 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:24:37.408Z,1755627877.408 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:24:37.471Z,1755627877.471 [DAT](INFO): DAT read: Rx Time:18:24:35.5989 

2025-08-19T18:24:37.471Z,1755627877.471 [DAT](INFO): Rx dataTimestamp_ set to:1755627877.471046
2025-08-19T18:24:37.473Z,1755627877.473 [DAT](INFO): DAT read: Bearing 205.9,   9.2 (Local)

2025-08-19T18:24:37.473Z,1755627877.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.9,   9.2 (Local)

2025-08-19T18:24:37.475Z,1755627877.475 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:37.480Z,1755627877.480 [DAT](INFO): DAT read: 18:24:35.5989 LVL= 23920, 28193, 31026, 25939, AGC= 31, IDX= 505,-0.07, 0.120,-0.185,-0.080,-1.745, PHS= 1.967, 1.605, 1.621, RAW=  92.2, -79.1, CAL=  94.4, -78.5, ROT=  55.6,  78.5

2025-08-19T18:24:37.481Z,1755627877.481 [DAT](INFO): got valid direction response:
 18:24:35.5989 LVL= 23920, 28193, 31026, 25939, AGC= 31, IDX= 505,-0.07, 0.120,-0.185,-0.080,-1.745, PHS= 1.967, 1.605, 1.621, RAW=  92.2, -79.1, CAL=  94.4, -78.5, ROT=  55.6,  78.5

2025-08-19T18:24:37.481Z,1755627877.481 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-19T18:24:37.482Z,1755627877.482 [DAT](INFO): direction in FSK: [0.112636,0.164501,-0.979925]
2025-08-19T18:24:37.482Z,1755627877.482 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:37.486Z,1755627877.486 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.914488
2025-08-19T18:24:37.587Z,1755627877.587 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-19T18:24:37.588Z,1755627877.588 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-19T18:24:37.588Z,1755627877.588 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-19T18:24:37.588Z,1755627877.588 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-19T18:24:37.648Z,1755627877.648 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:24:37.648Z,1755627877.648 [DockingStepper](INFO): Powering down
2025-08-19T18:24:37.723Z,1755627877.723 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.151028
2025-08-19T18:24:37.975Z,1755627877.975 [DAT](INFO): DAT read: Rx Time:18:24:36.0990 

2025-08-19T18:24:37.976Z,1755627877.976 [DAT](INFO): Rx dataTimestamp_ set to:1755627877.975380
2025-08-19T18:24:37.977Z,1755627877.977 [DAT](INFO): DAT read: Bearing 205.9,   8.9 (Local)

2025-08-19T18:24:37.977Z,1755627877.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.9,   8.9 (Local)

2025-08-19T18:24:37.979Z,1755627877.979 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:37.995Z,1755627877.995 [DAT](INFO): DAT read: 18:24:36.0990 LVL= 24784, 27761, 30914, 25155, AGC= 32, IDX= 506, 0.04, 2.336, 2.037, 2.138, 0.439, PHS= 1.999, 1.643, 1.655, RAW=  91.7, -79.4, CAL=  93.8, -78.9, ROT=  56.2,  78.9

2025-08-19T18:24:37.996Z,1755627877.996 [DAT](INFO): got valid direction response:
 18:24:36.0990 LVL= 24784, 27761, 30914, 25155, AGC= 32, IDX= 506, 0.04, 2.336, 2.037, 2.138, 0.439, PHS= 1.999, 1.643, 1.655, RAW=  91.7, -79.4, CAL=  93.8, -78.9, ROT=  56.2,  78.9

2025-08-19T18:24:37.996Z,1755627877.996 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-19T18:24:37.997Z,1755627877.997 [DAT](INFO): direction in FSK: [0.107099,0.159983,-0.981293]
2025-08-19T18:24:37.998Z,1755627877.998 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:38.001Z,1755627878.001 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.429619
2025-08-19T18:24:38.068Z,1755627878.068 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-19T18:24:38.076Z,1755627878.076 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Found local IP address 10.89.11.2 for eth0
2025-08-19T18:24:38.077Z,1755627878.077 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): No IP address on dock subnet, restarting DHCP
2025-08-19T18:24:38.154Z,1755627878.154 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-19T18:24:38.227Z,1755627878.227 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.655354
2025-08-19T18:24:38.479Z,1755627878.479 [DAT](INFO): DAT read: Rx Time:18:24:36.5989 

2025-08-19T18:24:38.480Z,1755627878.480 [DAT](INFO): Rx dataTimestamp_ set to:1755627878.479356
2025-08-19T18:24:38.481Z,1755627878.481 [DAT](INFO): DAT read: Bearing 206.5,   9.1 (Local)

2025-08-19T18:24:38.482Z,1755627878.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.5,   9.1 (Local)

2025-08-19T18:24:38.484Z,1755627878.484 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:38.488Z,1755627878.488 [DAT](INFO): DAT read: 18:24:36.5989 LVL= 24160, 27953, 30962, 25203, AGC= 31, IDX= 505, 0.14, 1.328, 1.022, 1.126,-0.552, PHS= 1.982, 1.619, 1.635, RAW=  92.2, -79.1, CAL=  94.4, -78.6, ROT=  55.6,  78.6

2025-08-19T18:24:38.490Z,1755627878.490 [DAT](INFO): got valid direction response:
 18:24:36.5989 LVL= 24160, 27953, 30962, 25203, AGC= 31, IDX= 505, 0.14, 1.328, 1.022, 1.126,-0.552, PHS= 1.982, 1.619, 1.635, RAW=  92.2, -79.1, CAL=  94.4, -78.6, ROT=  55.6,  78.6

2025-08-19T18:24:38.490Z,1755627878.490 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-19T18:24:38.491Z,1755627878.491 [DAT](INFO): direction in FSK: [0.111670,0.163090,-0.980271]
2025-08-19T18:24:38.492Z,1755627878.492 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:38.497Z,1755627878.497 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.925402
2025-08-19T18:24:38.731Z,1755627878.731 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.159054
2025-08-19T18:24:38.731Z,1755627878.731 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:24:38.983Z,1755627878.983 [DAT](INFO): DAT read: Rx Time:18:24:37.0990 

2025-08-19T18:24:38.983Z,1755627878.983 [DAT](INFO): Rx dataTimestamp_ set to:1755627878.983163
2025-08-19T18:24:38.985Z,1755627878.985 [DAT](INFO): DAT read: Bearing 206.6,   9.1 (Local)

2025-08-19T18:24:38.985Z,1755627878.985 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.6,   9.1 (Local)

2025-08-19T18:24:38.988Z,1755627878.988 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:38.992Z,1755627878.992 [DAT](INFO): DAT read: 18:24:37.0990 LVL= 23904, 27569, 30930, 24771, AGC= 31, IDX= 506, 0.27, 2.777, 2.471, 2.576, 0.894, PHS= 1.986, 1.623, 1.639, RAW=  92.2, -79.2, CAL=  94.4, -78.6, ROT=  55.6,  78.6

2025-08-19T18:24:38.994Z,1755627878.994 [DAT](INFO): got valid direction response:
 18:24:37.0990 LVL= 23904, 27569, 30930, 24771, AGC= 31, IDX= 506, 0.27, 2.777, 2.471, 2.576, 0.894, PHS= 1.986, 1.623, 1.639, RAW=  92.2, -79.2, CAL=  94.4, -78.6, ROT=  55.6,  78.6

2025-08-19T18:24:38.994Z,1755627878.994 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-19T18:24:38.995Z,1755627878.995 [DAT](INFO): direction in FSK: [0.111670,0.163090,-0.980271]
2025-08-19T18:24:38.995Z,1755627878.995 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:38.999Z,1755627878.999 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.427677
2025-08-19T18:24:38.999Z,1755627878.999 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:24:39.235Z,1755627879.235 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.663176
2025-08-19T18:24:39.235Z,1755627879.235 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:24:39.488Z,1755627879.488 [DAT](INFO): DAT read: Rx Time:18:24:37.5989 

2025-08-19T18:24:39.488Z,1755627879.488 [DAT](INFO): Rx dataTimestamp_ set to:1755627879.488178
2025-08-19T18:24:39.490Z,1755627879.490 [DAT](INFO): DAT read: Bearing 206.7,   9.1 (Local)

2025-08-19T18:24:39.490Z,1755627879.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.7,   9.1 (Local)

2025-08-19T18:24:39.497Z,1755627879.497 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:39.502Z,1755627879.502 [DAT](INFO): DAT read: 18:24:37.5989 LVL= 26544, 30193, 32754, 27251, AGC= 31, IDX= 505, 0.48, 1.193, 0.884, 0.990,-0.685, PHS= 1.980, 1.614, 1.631, RAW=  92.2, -79.0, CAL=  94.5, -78.5, ROT=  55.5,  78.5

2025-08-19T18:24:39.503Z,1755627879.503 [DAT](INFO): got valid direction response:
 18:24:37.5989 LVL= 26544, 30193, 32754, 27251, AGC= 31, IDX= 505, 0.48, 1.193, 0.884, 0.990,-0.685, PHS= 1.980, 1.614, 1.631, RAW=  92.2, -79.0, CAL=  94.5, -78.5, ROT=  55.5,  78.5

2025-08-19T18:24:39.503Z,1755627879.503 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-19T18:24:39.504Z,1755627879.504 [DAT](INFO): direction in FSK: [0.112923,0.164304,-0.979925]
2025-08-19T18:24:39.505Z,1755627879.505 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:39.508Z,1755627879.508 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.936846
2025-08-19T18:24:39.739Z,1755627879.739 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.167074
2025-08-19T18:24:39.991Z,1755627879.991 [DAT](INFO): DAT read: Rx Time:18:24:38.0990 

2025-08-19T18:24:39.992Z,1755627879.992 [DAT](INFO): Rx dataTimestamp_ set to:1755627879.991363
2025-08-19T18:24:39.993Z,1755627879.993 [DAT](INFO): DAT read: Bearing 206.7,   9.1 (Local)

2025-08-19T18:24:39.993Z,1755627879.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.7,   9.1 (Local)

2025-08-19T18:24:39.995Z,1755627879.995 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:40.000Z,1755627880.000 [DAT](INFO): DAT read: 18:24:38.0990 LVL= 26416, 30369, 32754, 27219, AGC= 31, IDX= 506,-0.30,-0.668,-0.969,-0.864,-2.515, PHS= 1.950, 1.591, 1.607, RAW=  92.3, -79.1, CAL=  94.5, -78.5, ROT=  55.5,  78.5

2025-08-19T18:24:40.002Z,1755627880.002 [DAT](INFO): got valid direction response:
 18:24:38.0990 LVL= 26416, 30369, 32754, 27219, AGC= 31, IDX= 506,-0.30,-0.668,-0.969,-0.864,-2.515, PHS= 1.950, 1.591, 1.607, RAW=  92.3, -79.1, CAL=  94.5, -78.5, ROT=  55.5,  78.5

2025-08-19T18:24:40.002Z,1755627880.002 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-19T18:24:40.003Z,1755627880.003 [DAT](INFO): direction in FSK: [0.112923,0.164304,-0.979925]
2025-08-19T18:24:40.003Z,1755627880.003 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:40.008Z,1755627880.008 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.436142
2025-08-19T18:24:40.249Z,1755627880.249 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.677389
2025-08-19T18:24:40.503Z,1755627880.503 [DAT](INFO): DAT read: Rx Time:18:24:38.5989 

2025-08-19T18:24:40.503Z,1755627880.503 [DAT](INFO): Rx dataTimestamp_ set to:1755627880.503051
2025-08-19T18:24:40.505Z,1755627880.505 [DAT](INFO): DAT read: Bearing 206.6,   9.0 (Local)

2025-08-19T18:24:40.505Z,1755627880.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.6,   9.0 (Local)

2025-08-19T18:24:40.507Z,1755627880.507 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:40.512Z,1755627880.512 [DAT](INFO): DAT read: 18:24:38.5989 LVL= 23536, 27617, 30690, 25075, AGC= 31, IDX= 505,-0.16,-1.591,-1.893,-1.786, 2.837, PHS= 1.957, 1.598, 1.615, RAW=  92.5, -79.1, CAL=  94.7, -78.6, ROT=  55.3,  78.6

2025-08-19T18:24:40.513Z,1755627880.513 [DAT](INFO): got valid direction response:
 18:24:38.5989 LVL= 23536, 27617, 30690, 25075, AGC= 31, IDX= 505,-0.16,-1.591,-1.893,-1.786, 2.837, PHS= 1.957, 1.598, 1.615, RAW=  92.5, -79.1, CAL=  94.7, -78.6, ROT=  55.3,  78.6

2025-08-19T18:24:40.513Z,1755627880.513 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-19T18:24:40.514Z,1755627880.514 [DAT](INFO): direction in FSK: [0.112522,0.162503,-0.980271]
2025-08-19T18:24:40.515Z,1755627880.515 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:40.518Z,1755627880.518 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.946945
2025-08-19T18:24:40.755Z,1755627880.755 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.183092
2025-08-19T18:24:41.007Z,1755627881.007 [DAT](INFO): DAT read: Rx Time:18:24:39.0990 

2025-08-19T18:24:41.007Z,1755627881.007 [DAT](INFO): Rx dataTimestamp_ set to:1755627881.007179
2025-08-19T18:24:41.009Z,1755627881.009 [DAT](INFO): DAT read: Bearing 206.4,   9.1 (Local)

2025-08-19T18:24:41.009Z,1755627881.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.4,   9.1 (Local)

2025-08-19T18:24:41.011Z,1755627881.011 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:41.016Z,1755627881.016 [DAT](INFO): DAT read: 18:24:39.0990 LVL= 23408, 27697, 30834, 25331, AGC= 31, IDX= 506,-0.05,-0.158,-0.463,-0.356,-2.015, PHS= 1.960, 1.598, 1.615, RAW=  92.4, -79.1, CAL=  94.7, -78.5, ROT=  55.3,  78.5

2025-08-19T18:24:41.017Z,1755627881.017 [DAT](INFO): got valid direction response:
 18:24:39.0990 LVL= 23408, 27697, 30834, 25331, AGC= 31, IDX= 506,-0.05,-0.158,-0.463,-0.356,-2.015, PHS= 1.960, 1.598, 1.615, RAW=  92.4, -79.1, CAL=  94.7, -78.5, ROT=  55.3,  78.5

2025-08-19T18:24:41.017Z,1755627881.017 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-19T18:24:41.018Z,1755627881.018 [DAT](INFO): direction in FSK: [0.113496,0.163909,-0.979925]
2025-08-19T18:24:41.018Z,1755627881.018 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:41.022Z,1755627881.022 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.450916
2025-08-19T18:24:41.259Z,1755627881.259 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.687086
2025-08-19T18:24:41.511Z,1755627881.511 [DAT](INFO): DAT read: Rx Time:18:24:39.5989 

2025-08-19T18:24:41.511Z,1755627881.511 [DAT](INFO): Rx dataTimestamp_ set to:1755627881.511188
2025-08-19T18:24:41.513Z,1755627881.513 [DAT](INFO): DAT read: Bearing 206.2,   9.2 (Local)

2025-08-19T18:24:41.513Z,1755627881.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.2,   9.2 (Local)

2025-08-19T18:24:41.515Z,1755627881.515 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:41.520Z,1755627881.520 [DAT](INFO): DAT read: 18:24:39.5989 LVL= 23536, 27633, 30642, 24947, AGC= 31, IDX= 505, 0.05, 0.359, 0.048, 0.154,-1.519, PHS= 1.981, 1.613, 1.629, RAW=  92.3, -79.0, CAL=  94.6, -78.4, ROT=  55.4,  78.4

2025-08-19T18:24:41.521Z,1755627881.521 [DAT](INFO): got valid direction response:
 18:24:39.5989 LVL= 23536, 27633, 30642, 24947, AGC= 31, IDX= 505, 0.05, 0.359, 0.048, 0.154,-1.519, PHS= 1.981, 1.613, 1.629, RAW=  92.3, -79.0, CAL=  94.6, -78.4, ROT=  55.4,  78.4

2025-08-19T18:24:41.526Z,1755627881.526 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-19T18:24:41.527Z,1755627881.527 [DAT](INFO): direction in FSK: [0.114181,0.165515,-0.979575]
2025-08-19T18:24:41.528Z,1755627881.528 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:41.531Z,1755627881.531 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.959827
2025-08-19T18:24:41.763Z,1755627881.763 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.191067
2025-08-19T18:24:42.015Z,1755627882.015 [DAT](INFO): DAT read: Rx Time:18:24:40.0990 

2025-08-19T18:24:42.016Z,1755627882.016 [DAT](INFO): Rx dataTimestamp_ set to:1755627882.015258
2025-08-19T18:24:42.017Z,1755627882.017 [DAT](INFO): DAT read: Bearing 205.7,   9.1 (Local)

2025-08-19T18:24:42.017Z,1755627882.017 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.7,   9.1 (Local)

2025-08-19T18:24:42.019Z,1755627882.019 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:42.024Z,1755627882.024 [DAT](INFO): DAT read: 18:24:40.0990 LVL= 23408, 27617, 30690, 25139, AGC= 31, IDX= 506, 0.17, 1.837, 1.526, 1.634,-0.045, PHS= 1.984, 1.616, 1.635, RAW=  92.6, -79.0, CAL=  94.9, -78.5, ROT=  55.1,  78.5

2025-08-19T18:24:42.026Z,1755627882.026 [DAT](INFO): got valid direction response:
 18:24:40.0990 LVL= 23408, 27617, 30690, 25139, AGC= 31, IDX= 506, 0.17, 1.837, 1.526, 1.634,-0.045, PHS= 1.984, 1.616, 1.635, RAW=  92.6, -79.0, CAL=  94.9, -78.5, ROT=  55.1,  78.5

2025-08-19T18:24:42.026Z,1755627882.026 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-19T18:24:42.027Z,1755627882.027 [DAT](INFO): direction in FSK: [0.114068,0.163512,-0.979925]
2025-08-19T18:24:42.027Z,1755627882.027 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:42.031Z,1755627882.031 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.459452
2025-08-19T18:24:42.267Z,1755627882.267 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.695385
2025-08-19T18:24:42.520Z,1755627882.520 [DAT](INFO): DAT read: Rx Time:18:24:40.5989 

2025-08-19T18:24:42.521Z,1755627882.521 [DAT](INFO): Rx dataTimestamp_ set to:1755627882.520036
2025-08-19T18:24:42.522Z,1755627882.522 [DAT](INFO): DAT read: Bearing 205.1,   9.3 (Local)

2025-08-19T18:24:42.523Z,1755627882.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.1,   9.3 (Local)

2025-08-19T18:24:42.526Z,1755627882.526 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:42.531Z,1755627882.531 [DAT](INFO): DAT read: 18:24:40.5989 LVL= 26192, 30385, 32754, 26915, AGC= 31, IDX= 505, 0.32, 0.231,-0.079, 0.026,-1.645, PHS= 1.979, 1.611, 1.627, RAW=  92.2, -79.0, CAL=  94.4, -78.4, ROT=  55.6,  78.4

2025-08-19T18:24:42.532Z,1755627882.532 [DAT](INFO): got valid direction response:
 18:24:40.5989 LVL= 26192, 30385, 32754, 26915, AGC= 31, IDX= 505, 0.32, 0.231,-0.079, 0.026,-1.645, PHS= 1.979, 1.611, 1.627, RAW=  92.2, -79.0, CAL=  94.4, -78.4, ROT=  55.6,  78.4

2025-08-19T18:24:42.533Z,1755627882.533 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-19T18:24:42.534Z,1755627882.534 [DAT](INFO): direction in FSK: [0.113602,0.165912,-0.979575]
2025-08-19T18:24:42.534Z,1755627882.534 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:42.546Z,1755627882.546 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.974323
2025-08-19T18:24:42.770Z,1755627882.770 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.199005
2025-08-19T18:24:43.023Z,1755627883.023 [DAT](INFO): DAT read: Rx Time:18:24:41.0990 

2025-08-19T18:24:43.023Z,1755627883.023 [DAT](INFO): Rx dataTimestamp_ set to:1755627883.023135
2025-08-19T18:24:43.025Z,1755627883.025 [DAT](INFO): DAT read: Bearing 204.5,   9.4 (Local)

2025-08-19T18:24:43.025Z,1755627883.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.5,   9.4 (Local)

2025-08-19T18:24:43.027Z,1755627883.027 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:43.032Z,1755627883.032 [DAT](INFO): DAT read: 18:24:41.0990 LVL= 26048, 29841, 32754, 26803, AGC= 31, IDX= 506,-0.42,-1.484,-1.789,-1.685, 2.945, PHS= 1.956, 1.594, 1.609, RAW=  92.1, -79.0, CAL=  94.4, -78.4, ROT=  55.6,  78.4

2025-08-19T18:24:43.033Z,1755627883.033 [DAT](INFO): got valid direction response:
 18:24:41.0990 LVL= 26048, 29841, 32754, 26803, AGC= 31, IDX= 506,-0.42,-1.484,-1.789,-1.685, 2.945, PHS= 1.956, 1.594, 1.609, RAW=  92.1, -79.0, CAL=  94.4, -78.4, ROT=  55.6,  78.4

2025-08-19T18:24:43.033Z,1755627883.033 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-19T18:24:43.034Z,1755627883.034 [DAT](INFO): direction in FSK: [0.113602,0.165912,-0.979575]
2025-08-19T18:24:43.035Z,1755627883.035 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:43.038Z,1755627883.038 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.466925
2025-08-19T18:24:43.275Z,1755627883.275 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.703178
2025-08-19T18:24:43.527Z,1755627883.527 [DAT](INFO): DAT read: Rx Time:18:24:41.5989 

2025-08-19T18:24:43.528Z,1755627883.528 [DAT](INFO): Rx dataTimestamp_ set to:1755627883.527261
2025-08-19T18:24:43.529Z,1755627883.529 [DAT](INFO): DAT read: Bearing 203.7,   9.3 (Local)

2025-08-19T18:24:43.529Z,1755627883.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.7,   9.3 (Local)

2025-08-19T18:24:43.531Z,1755627883.531 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:43.536Z,1755627883.536 [DAT](INFO): DAT read: 18:24:41.5989 LVL= 23440, 27681, 30802, 25331, AGC= 31, IDX= 505,-0.22,-3.101, 2.881, 2.986, 1.327, PHS= 1.957, 1.599, 1.615, RAW=  92.2, -79.2, CAL=  94.4, -78.6, ROT=  55.6,  78.6

2025-08-19T18:24:43.537Z,1755627883.537 [DAT](INFO): got valid direction response:
 18:24:41.5989 LVL= 23440, 27681, 30802, 25331, AGC= 31, IDX= 505,-0.22,-3.101, 2.881, 2.986, 1.327, PHS= 1.957, 1.599, 1.615, RAW=  92.2, -79.2, CAL=  94.4, -78.6, ROT=  55.6,  78.6

2025-08-19T18:24:43.537Z,1755627883.537 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-19T18:24:43.538Z,1755627883.538 [DAT](INFO): direction in FSK: [0.111670,0.163090,-0.980271]
2025-08-19T18:24:43.539Z,1755627883.539 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:43.546Z,1755627883.546 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.974852
2025-08-19T18:24:43.778Z,1755627883.778 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.207018
2025-08-19T18:24:44.031Z,1755627884.031 [DAT](INFO): DAT read: Rx Time:18:24:42.0990 

2025-08-19T18:24:44.031Z,1755627884.031 [DAT](INFO): Rx dataTimestamp_ set to:1755627884.031207
2025-08-19T18:24:44.033Z,1755627884.033 [DAT](INFO): DAT read: Bearing 203.0,   9.4 (Local)

2025-08-19T18:24:44.033Z,1755627884.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.0,   9.4 (Local)

2025-08-19T18:24:44.035Z,1755627884.035 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:44.040Z,1755627884.040 [DAT](INFO): DAT read: 18:24:42.0990 LVL= 23504, 27441, 30434, 24979, AGC= 31, IDX= 506,-0.10,-1.576,-1.875,-1.775, 2.850, PHS= 1.958, 1.603, 1.614, RAW=  91.6, -79.2, CAL=  93.8, -78.6, ROT=  56.2,  78.6

2025-08-19T18:24:44.041Z,1755627884.041 [DAT](INFO): got valid direction response:
 18:24:42.0990 LVL= 23504, 27441, 30434, 24979, AGC= 31, IDX= 506,-0.10,-1.576,-1.875,-1.775, 2.850, PHS= 1.958, 1.603, 1.614, RAW=  91.6, -79.2, CAL=  93.8, -78.6, ROT=  56.2,  78.6

2025-08-19T18:24:44.042Z,1755627884.042 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-19T18:24:44.043Z,1755627884.043 [DAT](INFO): direction in FSK: [0.109956,0.164250,-0.980271]
2025-08-19T18:24:44.044Z,1755627884.044 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:44.047Z,1755627884.047 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.475649
2025-08-19T18:24:44.283Z,1755627884.283 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.711052
2025-08-19T18:24:44.536Z,1755627884.536 [DAT](INFO): DAT read: Rx Time:18:24:42.5989 

2025-08-19T18:24:44.536Z,1755627884.536 [DAT](INFO): Rx dataTimestamp_ set to:1755627884.535983
2025-08-19T18:24:44.538Z,1755627884.538 [DAT](INFO): DAT read: Bearing 202.3,   9.5 (Local)

2025-08-19T18:24:44.538Z,1755627884.538 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.3,   9.5 (Local)

2025-08-19T18:24:44.540Z,1755627884.540 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:44.546Z,1755627884.546 [DAT](INFO): DAT read: 18:24:42.5989 LVL= 23520, 27585, 30562, 24979, AGC= 31, IDX= 505,-0.00,-1.842,-2.140,-2.042, 2.575, PHS= 1.968, 1.612, 1.621, RAW=  91.3, -79.2, CAL=  93.4, -78.6, ROT=  56.6,  78.6

2025-08-19T18:24:44.547Z,1755627884.547 [DAT](INFO): got valid direction response:
 18:24:42.5989 LVL= 23520, 27585, 30562, 24979, AGC= 31, IDX= 505,-0.00,-1.842,-2.140,-2.042, 2.575, PHS= 1.968, 1.612, 1.621, RAW=  91.3, -79.2, CAL=  93.4, -78.6, ROT=  56.6,  78.6

2025-08-19T18:24:44.548Z,1755627884.548 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-19T18:24:44.549Z,1755627884.549 [DAT](INFO): direction in FSK: [0.108807,0.165014,-0.980271]
2025-08-19T18:24:44.568Z,1755627884.568 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:44.576Z,1755627884.576 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.004799
2025-08-19T18:24:44.787Z,1755627884.787 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.215061
2025-08-19T18:24:45.039Z,1755627885.039 [DAT](INFO): DAT read: Rx Time:18:24:43.0990 

2025-08-19T18:24:45.039Z,1755627885.039 [DAT](INFO): Rx dataTimestamp_ set to:1755627885.039170
2025-08-19T18:24:45.041Z,1755627885.041 [DAT](INFO): DAT read: Bearing 201.7,   9.6 (Local)

2025-08-19T18:24:45.041Z,1755627885.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.7,   9.6 (Local)

2025-08-19T18:24:45.043Z,1755627885.043 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:45.048Z,1755627885.048 [DAT](INFO): DAT read: 18:24:43.0990 LVL= 23664, 27633, 30706, 25331, AGC= 31, IDX= 506, 0.11, 0.321, 0.019, 0.114,-1.562, PHS= 1.985, 1.626, 1.632, RAW=  90.9, -79.1, CAL=  93.0, -78.6, ROT=  57.0,  78.6

2025-08-19T18:24:45.049Z,1755627885.049 [DAT](INFO): got valid direction response:
 18:24:43.0990 LVL= 23664, 27633, 30706, 25331, AGC= 31, IDX= 506, 0.11, 0.321, 0.019, 0.114,-1.562, PHS= 1.985, 1.626, 1.632, RAW=  90.9, -79.1, CAL=  93.0, -78.6, ROT=  57.0,  78.6

2025-08-19T18:24:45.049Z,1755627885.049 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-19T18:24:45.050Z,1755627885.050 [DAT](INFO): direction in FSK: [0.107652,0.165769,-0.980271]
2025-08-19T18:24:45.051Z,1755627885.051 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:45.055Z,1755627885.055 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.483259
2025-08-19T18:24:45.291Z,1755627885.291 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.719028
2025-08-19T18:24:45.543Z,1755627885.543 [DAT](INFO): DAT read: Rx Time:18:24:43.5989 

2025-08-19T18:24:45.544Z,1755627885.544 [DAT](INFO): Rx dataTimestamp_ set to:1755627885.543220
2025-08-19T18:24:45.545Z,1755627885.545 [DAT](INFO): DAT read: Bearing 201.0,   9.7 (Local)

2025-08-19T18:24:45.545Z,1755627885.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.0,   9.7 (Local)

2025-08-19T18:24:45.547Z,1755627885.547 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:45.552Z,1755627885.552 [DAT](INFO): DAT read: 18:24:43.5989 LVL= 23696, 27793, 30498, 25171, AGC= 31, IDX= 505, 0.24,-0.613,-0.913,-0.822,-2.493, PHS= 1.982, 1.625, 1.627, RAW=  90.3, -79.1, CAL=  92.4, -78.5, ROT=  57.6,  78.5

2025-08-19T18:24:45.553Z,1755627885.553 [DAT](INFO): got valid direction response:
 18:24:43.5989 LVL= 23696, 27793, 30498, 25171, AGC= 31, IDX= 505, 0.24,-0.613,-0.913,-0.822,-2.493, PHS= 1.982, 1.625, 1.627, RAW=  90.3, -79.1, CAL=  92.4, -78.5, ROT=  57.6,  78.5

2025-08-19T18:24:45.553Z,1755627885.553 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-19T18:24:45.554Z,1755627885.554 [DAT](INFO): direction in FSK: [0.106827,0.168332,-0.979925]
2025-08-19T18:24:45.555Z,1755627885.555 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:45.562Z,1755627885.562 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.990808
2025-08-19T18:24:45.794Z,1755627885.794 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.222990
2025-08-19T18:24:46.047Z,1755627886.047 [DAT](INFO): DAT read: Rx Time:18:24:44.0990 

2025-08-19T18:24:46.048Z,1755627886.048 [DAT](INFO): Rx dataTimestamp_ set to:1755627886.047389
2025-08-19T18:24:46.049Z,1755627886.049 [DAT](INFO): DAT read: Bearing 200.3,   9.7 (Local)

2025-08-19T18:24:46.049Z,1755627886.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.3,   9.7 (Local)

2025-08-19T18:24:46.051Z,1755627886.051 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:46.056Z,1755627886.056 [DAT](INFO): DAT read: 18:24:44.0990 LVL= 23664, 27761, 30322, 25379, AGC= 31, IDX= 506, 0.43, 0.133,-0.165,-0.075,-1.752, PHS= 1.986, 1.632, 1.633, RAW=  90.1, -79.2, CAL=  92.2, -78.7, ROT=  57.8,  78.7

2025-08-19T18:24:46.057Z,1755627886.057 [DAT](INFO): got valid direction response:
 18:24:44.0990 LVL= 23664, 27761, 30322, 25379, AGC= 31, IDX= 506, 0.43, 0.133,-0.165,-0.075,-1.752, PHS= 1.986, 1.632, 1.633, RAW=  90.1, -79.2, CAL=  92.2, -78.7, ROT=  57.8,  78.7

2025-08-19T18:24:46.058Z,1755627886.058 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-19T18:24:46.059Z,1755627886.059 [DAT](INFO): direction in FSK: [0.104415,0.165808,-0.980615]
2025-08-19T18:24:46.059Z,1755627886.059 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:46.067Z,1755627886.067 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.495327
2025-08-19T18:24:46.303Z,1755627886.303 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.730244
2025-08-19T18:24:46.558Z,1755627886.558 [DAT](INFO): DAT read: Rx Time:18:24:44.5990 

2025-08-19T18:24:46.558Z,1755627886.558 [DAT](INFO): Rx dataTimestamp_ set to:1755627886.558033
2025-08-19T18:24:46.560Z,1755627886.560 [DAT](INFO): DAT read: Bearing 199.6,   9.5 (Local)

2025-08-19T18:24:46.560Z,1755627886.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.6,   9.5 (Local)

2025-08-19T18:24:46.567Z,1755627886.567 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:46.589Z,1755627886.589 [DAT](INFO): DAT read: 18:24:44.5990 LVL= 26432, 29521, 32754, 26307, AGC= 31, IDX= 506,-0.33,-2.933, 3.063,-3.130, 1.489, PHS= 1.963, 1.618, 1.619, RAW=  90.2, -79.4, CAL=  92.2, -78.9, ROT=  57.8,  78.9

2025-08-19T18:24:46.590Z,1755627886.590 [DAT](INFO): got valid direction response:
 18:24:44.5990 LVL= 26432, 29521, 32754, 26307, AGC= 31, IDX= 506,-0.33,-2.933, 3.063,-3.130, 1.489, PHS= 1.963, 1.618, 1.619, RAW=  90.2, -79.4, CAL=  92.2, -78.9, ROT=  57.8,  78.9

2025-08-19T18:24:46.590Z,1755627886.590 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-19T18:24:46.591Z,1755627886.591 [DAT](INFO): direction in FSK: [0.102590,0.162911,-0.981293]
2025-08-19T18:24:46.592Z,1755627886.592 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:46.644Z,1755627886.644 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.061911
2025-08-19T18:24:46.811Z,1755627886.811 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.239025
2025-08-19T18:24:47.063Z,1755627887.063 [DAT](INFO): DAT read: Rx Time:18:24:45.0990 

2025-08-19T18:24:47.064Z,1755627887.064 [DAT](INFO): Rx dataTimestamp_ set to:1755627887.063320
2025-08-19T18:24:47.065Z,1755627887.065 [DAT](INFO): DAT read: Bearing 198.9,   9.5 (Local)

2025-08-19T18:24:47.065Z,1755627887.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.9,   9.5 (Local)

2025-08-19T18:24:47.067Z,1755627887.067 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:47.072Z,1755627887.072 [DAT](INFO): DAT read: 18:24:45.0990 LVL= 23792, 27537, 30194, 24755, AGC= 31, IDX= 506,-0.17, 2.911, 2.630, 2.717, 1.049, PHS= 1.964, 1.626, 1.624, RAW=  89.7, -79.6, CAL=  91.7, -79.0, ROT=  58.3,  79.0

2025-08-19T18:24:47.073Z,1755627887.073 [DAT](INFO): got valid direction response:
 18:24:45.0990 LVL= 23792, 27537, 30194, 24755, AGC= 31, IDX= 506,-0.17, 2.911, 2.630, 2.717, 1.049, PHS= 1.964, 1.626, 1.624, RAW=  89.7, -79.6, CAL=  91.7, -79.0, ROT=  58.3,  79.0

2025-08-19T18:24:47.073Z,1755627887.073 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-19T18:24:47.074Z,1755627887.074 [DAT](INFO): direction in FSK: [0.100265,0.162342,-0.981627]
2025-08-19T18:24:47.075Z,1755627887.075 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:47.078Z,1755627887.078 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.506870
2025-08-19T18:24:47.315Z,1755627887.315 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.743103
2025-08-19T18:24:47.567Z,1755627887.567 [DAT](INFO): DAT read: Rx Time:18:24:45.5989 

2025-08-19T18:24:47.568Z,1755627887.568 [DAT](INFO): Rx dataTimestamp_ set to:1755627887.567254
2025-08-19T18:24:47.569Z,1755627887.569 [DAT](INFO): DAT read: Bearing 198.3,   9.5 (Local)

2025-08-19T18:24:47.569Z,1755627887.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.3,   9.5 (Local)

2025-08-19T18:24:47.571Z,1755627887.571 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:47.576Z,1755627887.576 [DAT](INFO): DAT read: 18:24:45.5989 LVL= 23984, 27249, 30370, 24563, AGC= 31, IDX= 505,-0.05, 1.985, 1.707, 1.790, 0.115, PHS= 1.972, 1.637, 1.631, RAW=  89.1, -79.6, CAL=  91.0, -79.1, ROT=  59.0,  79.1

2025-08-19T18:24:47.579Z,1755627887.579 [DAT](INFO): got valid direction response:
 18:24:45.5989 LVL= 23984, 27249, 30370, 24563, AGC= 31, IDX= 505,-0.05, 1.985, 1.707, 1.790, 0.115, PHS= 1.972, 1.637, 1.631, RAW=  89.1, -79.6, CAL=  91.0, -79.1, ROT=  59.0,  79.1

2025-08-19T18:24:47.580Z,1755627887.580 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-19T18:24:47.581Z,1755627887.581 [DAT](INFO): direction in FSK: [0.097391,0.162086,-0.981959]
2025-08-19T18:24:47.581Z,1755627887.581 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:47.585Z,1755627887.585 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.013100
2025-08-19T18:24:47.819Z,1755627887.819 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.247068
2025-08-19T18:24:48.071Z,1755627888.071 [DAT](INFO): DAT read: Rx Time:18:24:46.0990 

2025-08-19T18:24:48.071Z,1755627888.071 [DAT](INFO): Rx dataTimestamp_ set to:1755627888.071048
2025-08-19T18:24:48.073Z,1755627888.073 [DAT](INFO): DAT read: Bearing 198.0,   9.9 (Local)

2025-08-19T18:24:48.073Z,1755627888.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.0,   9.9 (Local)

2025-08-19T18:24:48.075Z,1755627888.075 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:48.084Z,1755627888.084 [DAT](INFO): DAT read: 18:24:46.0990 LVL= 27120, 29617, 32754, 26291, AGC= 31, IDX= 506, 0.05,-1.455,-1.738,-1.662, 2.948, PHS= 1.982, 1.642, 1.629, RAW=  88.3, -79.4, CAL=  90.2, -78.9, ROT=  59.8,  78.9

2025-08-19T18:24:48.085Z,1755627888.085 [DAT](INFO): got valid direction response:
 18:24:46.0990 LVL= 27120, 29617, 32754, 26291, AGC= 31, IDX= 506, 0.05,-1.455,-1.738,-1.662, 2.948, PHS= 1.982, 1.642, 1.629, RAW=  88.3, -79.4, CAL=  90.2, -78.9, ROT=  59.8,  78.9

2025-08-19T18:24:48.085Z,1755627888.085 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-19T18:24:48.086Z,1755627888.086 [DAT](INFO): direction in FSK: [0.096842,0.166392,-0.981293]
2025-08-19T18:24:48.087Z,1755627888.087 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:48.103Z,1755627888.103 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.531176
2025-08-19T18:24:48.268Z,1755627888.268 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:24:48.323Z,1755627888.323 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.751369
2025-08-19T18:24:48.575Z,1755627888.575 [DAT](INFO): DAT read: Rx Time:18:24:46.5989 

2025-08-19T18:24:48.576Z,1755627888.576 [DAT](INFO): Rx dataTimestamp_ set to:1755627888.575232
2025-08-19T18:24:48.577Z,1755627888.577 [DAT](INFO): DAT read: Bearing 197.6,   9.6 (Local)

2025-08-19T18:24:48.577Z,1755627888.577 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.6,   9.6 (Local)

2025-08-19T18:24:48.579Z,1755627888.579 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:48.605Z,1755627888.605 [DAT](INFO): DAT read: 18:24:46.5989 LVL= 24432, 27377, 30434, 24531, AGC= 31, IDX= 505, 0.17,-2.337,-2.614,-2.535, 2.058, PHS= 1.991, 1.656, 1.646, RAW=  88.5, -79.7, CAL=  90.4, -79.2, ROT=  59.6,  79.2

2025-08-19T18:24:48.606Z,1755627888.606 [DAT](INFO): got valid direction response:
 18:24:46.5989 LVL= 24432, 27377, 30434, 24531, AGC= 31, IDX= 505, 0.17,-2.337,-2.614,-2.535, 2.058, PHS= 1.991, 1.656, 1.646, RAW=  88.5, -79.7, CAL=  90.4, -79.2, ROT=  59.6,  79.2

2025-08-19T18:24:48.606Z,1755627888.606 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-19T18:24:48.607Z,1755627888.607 [DAT](INFO): direction in FSK: [0.094821,0.161619,-0.982287]
2025-08-19T18:24:48.608Z,1755627888.608 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:48.662Z,1755627888.662 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.081783
2025-08-19T18:24:48.826Z,1755627888.826 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.254972
2025-08-19T18:24:49.079Z,1755627889.079 [DAT](INFO): DAT read: Rx Time:18:24:47.0990 

2025-08-19T18:24:49.079Z,1755627889.079 [DAT](INFO): Rx dataTimestamp_ set to:1755627889.079191
2025-08-19T18:24:49.081Z,1755627889.081 [DAT](INFO): DAT read: Bearing 197.4,   9.9 (Local)

2025-08-19T18:24:49.081Z,1755627889.081 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.4,   9.9 (Local)

2025-08-19T18:24:49.083Z,1755627889.083 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:49.088Z,1755627889.088 [DAT](INFO): DAT read: 18:24:47.0990 LVL= 27728, 29569, 32754, 26195, AGC= 31, IDX= 506, 0.32,-1.626,-1.907,-1.833, 2.776, PHS= 1.983, 1.646, 1.631, RAW=  87.8, -79.5, CAL=  89.8, -79.0, ROT=  60.2,  79.0

2025-08-19T18:24:49.089Z,1755627889.089 [DAT](INFO): got valid direction response:
 18:24:47.0990 LVL= 27728, 29569, 32754, 26195, AGC= 31, IDX= 506, 0.32,-1.626,-1.907,-1.833, 2.776, PHS= 1.983, 1.646, 1.631, RAW=  87.8, -79.5, CAL=  89.8, -79.0, ROT=  60.2,  79.0

2025-08-19T18:24:49.090Z,1755627889.090 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-19T18:24:49.091Z,1755627889.091 [DAT](INFO): direction in FSK: [0.094827,0.165577,-0.981627]
2025-08-19T18:24:49.091Z,1755627889.091 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:49.095Z,1755627889.095 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.523134
2025-08-19T18:24:49.271Z,1755627889.271 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:24:49.335Z,1755627889.335 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.763494
2025-08-19T18:24:49.587Z,1755627889.587 [DAT](INFO): DAT read: Rx Time:18:24:47.5989 

2025-08-19T18:24:49.587Z,1755627889.587 [DAT](INFO): Rx dataTimestamp_ set to:1755627889.587170
2025-08-19T18:24:49.589Z,1755627889.589 [DAT](INFO): DAT read: Bearing 197.1,   9.5 (Local)

2025-08-19T18:24:49.589Z,1755627889.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.1,   9.5 (Local)

2025-08-19T18:24:49.591Z,1755627889.591 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:49.596Z,1755627889.596 [DAT](INFO): DAT read: 18:24:47.5989 LVL= 24800, 27697, 30674, 25075, AGC= 31, IDX= 506,-0.46, 2.340, 2.071, 2.148, 0.460, PHS= 1.982, 1.656, 1.644, RAW=  88.2, -79.9, CAL=  90.0, -79.4, ROT=  60.0,  79.4

2025-08-19T18:24:49.597Z,1755627889.597 [DAT](INFO): got valid direction response:
 18:24:47.5989 LVL= 24800, 27697, 30674, 25075, AGC= 31, IDX= 506,-0.46, 2.340, 2.071, 2.148, 0.460, PHS= 1.982, 1.656, 1.644, RAW=  88.2, -79.9, CAL=  90.0, -79.4, ROT=  60.0,  79.4

2025-08-19T18:24:49.614Z,1755627889.614 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-19T18:24:49.615Z,1755627889.615 [DAT](INFO): direction in FSK: [0.091976,0.159307,-0.982935]
2025-08-19T18:24:49.615Z,1755627889.615 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:49.619Z,1755627889.619 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.047323
2025-08-19T18:24:49.838Z,1755627889.838 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.267017
2025-08-19T18:24:50.095Z,1755627890.095 [DAT](INFO): DAT read: Rx Time:18:24:48.0991 

2025-08-19T18:24:50.096Z,1755627890.096 [DAT](INFO): Rx dataTimestamp_ set to:1755627890.095361
2025-08-19T18:24:50.097Z,1755627890.097 [DAT](INFO): DAT read: Bearing 197.1,   9.6 (Local)

2025-08-19T18:24:50.097Z,1755627890.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.1,   9.6 (Local)

2025-08-19T18:24:50.099Z,1755627890.099 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-19T18:24:50.105Z,1755627890.105 [DAT](INFO): DAT read: 18:24:48.0991 LVL= 28208, 29761, 32754, 26291, AGC= 31, IDX= 507,-0.25, 2.380, 2.111, 2.185, 0.520, PHS= 1.962, 1.636, 1.621, RAW=  87.8, -79.7, CAL=  89.6, -79.2, ROT=  60.4,  79.2

2025-08-19T18:24:50.106Z,1755627890.106 [DAT](INFO): got valid direction response:
 18:24:48.0991 LVL= 28208, 29761, 32754, 26291, AGC= 31, IDX= 507,-0.25, 2.380, 2.111, 2.185, 0.520, PHS= 1.962, 1.636, 1.621, RAW=  87.8, -79.7, CAL=  89.6, -79.2, ROT=  60.4,  79.2

2025-08-19T18:24:50.106Z,1755627890.106 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-19T18:24:50.107Z,1755627890.107 [DAT](INFO): direction in FSK: [0.092555,0.162927,-0.982287]
2025-08-19T18:24:50.108Z,1755627890.108 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:50.115Z,1755627890.115 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.543938
2025-08-19T18:24:50.347Z,1755627890.347 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.775101
2025-08-19T18:24:50.599Z,1755627890.599 [DAT](INFO): DAT read: Rx Time:18:24:48.5990 

2025-08-19T18:24:50.600Z,1755627890.600 [DAT](INFO): Rx dataTimestamp_ set to:1755627890.599514
2025-08-19T18:24:50.601Z,1755627890.601 [DAT](INFO): DAT read: Bearing 197.2,   9.6 (Local)

2025-08-19T18:24:50.602Z,1755627890.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.2,   9.6 (Local)

2025-08-19T18:24:50.604Z,1755627890.604 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:50.608Z,1755627890.608 [DAT](INFO): DAT read: 18:24:48.5990 LVL= 28208, 30033, 32754, 26739, AGC= 31, IDX= 506,-0.11, 1.459, 1.190, 1.263,-0.413, PHS= 1.974, 1.648, 1.632, RAW=  87.7, -79.8, CAL=  89.5, -79.3, ROT=  60.5,  79.3

2025-08-19T18:24:50.609Z,1755627890.609 [DAT](INFO): got valid direction response:
 18:24:48.5990 LVL= 28208, 30033, 32754, 26739, AGC= 31, IDX= 506,-0.11, 1.459, 1.190, 1.263,-0.413, PHS= 1.974, 1.648, 1.632, RAW=  87.7, -79.8, CAL=  89.5, -79.3, ROT=  60.5,  79.3

2025-08-19T18:24:50.610Z,1755627890.610 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-19T18:24:50.611Z,1755627890.611 [DAT](INFO): direction in FSK: [0.091427,0.161596,-0.982613]
2025-08-19T18:24:50.611Z,1755627890.611 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:50.615Z,1755627890.615 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.043350
2025-08-19T18:24:50.851Z,1755627890.851 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.279068
2025-08-19T18:24:51.105Z,1755627891.105 [DAT](INFO): DAT read: Rx Time:18:24:49.0990 

2025-08-19T18:24:51.107Z,1755627891.107 [DAT](INFO): Rx dataTimestamp_ set to:1755627891.105996
2025-08-19T18:24:51.109Z,1755627891.109 [DAT](INFO): DAT read: Bearing 197.4,   9.6 (Local)

2025-08-19T18:24:51.110Z,1755627891.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.4,   9.6 (Local)

2025-08-19T18:24:51.112Z,1755627891.112 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:51.116Z,1755627891.116 [DAT](INFO): DAT read: 18:24:49.0990 LVL= 28592, 29921, 32754, 26611, AGC= 31, IDX= 506,-0.01, 2.460, 2.189, 2.263, 0.580, PHS= 1.982, 1.654, 1.638, RAW=  87.7, -79.8, CAL=  89.5, -79.3, ROT=  60.5,  79.3

2025-08-19T18:24:51.130Z,1755627891.130 [DAT](INFO): got valid direction response:
 18:24:49.0990 LVL= 28592, 29921, 32754, 26611, AGC= 31, IDX= 506,-0.01, 2.460, 2.189, 2.263, 0.580, PHS= 1.982, 1.654, 1.638, RAW=  87.7, -79.8, CAL=  89.5, -79.3, ROT=  60.5,  79.3

2025-08-19T18:24:51.130Z,1755627891.130 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-19T18:24:51.132Z,1755627891.132 [DAT](INFO): direction in FSK: [0.091427,0.161596,-0.982613]
2025-08-19T18:24:51.133Z,1755627891.133 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:51.158Z,1755627891.158 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.565907
2025-08-19T18:24:51.355Z,1755627891.355 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.783096
2025-08-19T18:24:51.607Z,1755627891.607 [DAT](INFO): DAT read: Rx Time:18:24:49.5989 

2025-08-19T18:24:51.607Z,1755627891.607 [DAT](INFO): Rx dataTimestamp_ set to:1755627891.607173
2025-08-19T18:24:51.609Z,1755627891.609 [DAT](INFO): DAT read: Bearing 197.5,   9.5 (Local)

2025-08-19T18:24:51.609Z,1755627891.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.5,   9.5 (Local)

2025-08-19T18:24:51.611Z,1755627891.611 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:51.616Z,1755627891.616 [DAT](INFO): DAT read: 18:24:49.5989 LVL= 28640, 30321, 32754, 26819, AGC= 31, IDX= 505, 0.10, 2.155, 1.883, 1.955, 0.260, PHS= 1.996, 1.668, 1.651, RAW=  87.5, -79.8, CAL=  89.3, -79.3, ROT=  60.7,  79.3

2025-08-19T18:24:51.617Z,1755627891.617 [DAT](INFO): got valid direction response:
 18:24:49.5989 LVL= 28640, 30321, 32754, 26819, AGC= 31, IDX= 505, 0.10, 2.155, 1.883, 1.955, 0.260, PHS= 1.996, 1.668, 1.651, RAW=  87.5, -79.8, CAL=  89.3, -79.3, ROT=  60.7,  79.3

2025-08-19T18:24:51.634Z,1755627891.634 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-19T18:24:51.636Z,1755627891.636 [DAT](INFO): direction in FSK: [0.090862,0.161914,-0.982613]
2025-08-19T18:24:51.636Z,1755627891.636 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:51.664Z,1755627891.664 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.092712
2025-08-19T18:24:51.859Z,1755627891.859 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.287075
2025-08-19T18:24:52.111Z,1755627892.111 [DAT](INFO): DAT read: Rx Time:18:24:50.0990 

2025-08-19T18:24:52.111Z,1755627892.111 [DAT](INFO): Rx dataTimestamp_ set to:1755627892.111070
2025-08-19T18:24:52.113Z,1755627892.113 [DAT](INFO): DAT read: Bearing 197.8,   9.5 (Local)

2025-08-19T18:24:52.113Z,1755627892.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.8,   9.5 (Local)

2025-08-19T18:24:52.115Z,1755627892.115 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:52.121Z,1755627892.121 [DAT](INFO): DAT read: 18:24:50.0990 LVL= 28608, 30097, 32754, 26611, AGC= 31, IDX= 506, 0.22,-2.659,-2.930,-2.860, 1.732, PHS= 1.993, 1.666, 1.647, RAW=  87.2, -79.8, CAL=  89.0, -79.3, ROT=  61.0,  79.3

2025-08-19T18:24:52.123Z,1755627892.123 [DAT](INFO): got valid direction response:
 18:24:50.0990 LVL= 28608, 30097, 32754, 26611, AGC= 31, IDX= 506, 0.22,-2.659,-2.930,-2.860, 1.732, PHS= 1.993, 1.666, 1.647, RAW=  87.2, -79.8, CAL=  89.0, -79.3, ROT=  61.0,  79.3

2025-08-19T18:24:52.124Z,1755627892.124 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-19T18:24:52.126Z,1755627892.126 [DAT](INFO): direction in FSK: [0.090013,0.162388,-0.982613]
2025-08-19T18:24:52.126Z,1755627892.126 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:52.136Z,1755627892.136 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.563835
2025-08-19T18:24:52.363Z,1755627892.363 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.791134
2025-08-19T18:24:52.615Z,1755627892.615 [DAT](INFO): DAT read: Rx Time:18:24:50.5988 

2025-08-19T18:24:52.616Z,1755627892.616 [DAT](INFO): Rx dataTimestamp_ set to:1755627892.615220
2025-08-19T18:24:52.617Z,1755627892.617 [DAT](INFO): DAT read: Bearing 198.1,   9.2 (Local)

2025-08-19T18:24:52.618Z,1755627892.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.1,   9.2 (Local)

2025-08-19T18:24:52.622Z,1755627892.622 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:24:52.629Z,1755627892.629 [DAT](INFO): DAT read: 18:24:50.5988 LVL= 25936, 28193, 31138, 25459, AGC= 31, IDX= 505, 0.40, 1.985, 1.722, 1.793, 0.089, PHS= 1.998, 1.678, 1.660, RAW=  87.3, -80.1, CAL=  89.1, -79.6, ROT=  60.9,  79.6

2025-08-19T18:24:52.634Z,1755627892.634 [DAT](INFO): got valid direction response:
 18:24:50.5988 LVL= 25936, 28193, 31138, 25459, AGC= 31, IDX= 505, 0.40, 1.985, 1.722, 1.793, 0.089, PHS= 1.998, 1.678, 1.660, RAW=  87.3, -80.1, CAL=  89.1, -79.6, ROT=  60.9,  79.6

2025-08-19T18:24:52.635Z,1755627892.635 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-19T18:24:52.637Z,1755627892.637 [DAT](INFO): direction in FSK: [0.087793,0.157733,-0.983571]
2025-08-19T18:24:52.637Z,1755627892.637 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:52.651Z,1755627892.651 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.079704
2025-08-19T18:24:52.867Z,1755627892.867 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.295033
2025-08-19T18:24:53.121Z,1755627893.121 [DAT](INFO): DAT read: Rx Time:18:24:51.0990 

2025-08-19T18:24:53.123Z,1755627893.123 [DAT](INFO): Rx dataTimestamp_ set to:1755627893.120747
2025-08-19T18:24:53.125Z,1755627893.125 [DAT](INFO): DAT read: Bearing 198.6,   9.3 (Local)

2025-08-19T18:24:53.126Z,1755627893.126 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.6,   9.3 (Local)

2025-08-19T18:24:53.129Z,1755627893.129 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:53.136Z,1755627893.136 [DAT](INFO): DAT read: 18:24:51.0990 LVL= 28752, 29809, 32754, 26451, AGC= 31, IDX= 507,-0.36, 1.328, 1.066, 1.135,-0.542, PHS= 1.972, 1.653, 1.633, RAW=  87.1, -79.9, CAL=  88.9, -79.4, ROT=  61.1,  79.4

2025-08-19T18:24:53.137Z,1755627893.137 [DAT](INFO): got valid direction response:
 18:24:51.0990 LVL= 28752, 29809, 32754, 26451, AGC= 31, IDX= 507,-0.36, 1.328, 1.066, 1.135,-0.542, PHS= 1.972, 1.653, 1.633, RAW=  87.1, -79.9, CAL=  88.9, -79.4, ROT=  61.1,  79.4

2025-08-19T18:24:53.138Z,1755627893.138 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-19T18:24:53.140Z,1755627893.140 [DAT](INFO): direction in FSK: [0.088900,0.161043,-0.982935]
2025-08-19T18:24:53.140Z,1755627893.140 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:53.146Z,1755627893.146 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.574642
2025-08-19T18:24:53.371Z,1755627893.371 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.799046
2025-08-19T18:24:53.624Z,1755627893.624 [DAT](INFO): DAT read: Rx Time:18:24:51.5989 

2025-08-19T18:24:53.625Z,1755627893.625 [DAT](INFO): Rx dataTimestamp_ set to:1755627893.624707
2025-08-19T18:24:53.627Z,1755627893.627 [DAT](INFO): DAT read: Bearing 199.3,   9.3 (Local)

2025-08-19T18:24:53.627Z,1755627893.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.3,   9.3 (Local)

2025-08-19T18:24:53.630Z,1755627893.630 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:53.637Z,1755627893.637 [DAT](INFO): DAT read: 18:24:51.5989 LVL= 28912, 30433, 32754, 26963, AGC= 31, IDX= 506,-0.18,-0.259,-0.518,-0.451,-2.125, PHS= 1.968, 1.652, 1.630, RAW=  86.6, -80.0, CAL=  88.4, -79.5, ROT=  61.6,  79.5

2025-08-19T18:24:53.642Z,1755627893.642 [DAT](INFO): got valid direction response:
 18:24:51.5989 LVL= 28912, 30433, 32754, 26963, AGC= 31, IDX= 506,-0.18,-0.259,-0.518,-0.451,-2.125, PHS= 1.968, 1.652, 1.630, RAW=  86.6, -80.0, CAL=  88.4, -79.5, ROT=  61.6,  79.5

2025-08-19T18:24:53.643Z,1755627893.643 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-19T18:24:53.645Z,1755627893.645 [DAT](INFO): direction in FSK: [0.086676,0.160303,-0.983255]
2025-08-19T18:24:53.645Z,1755627893.645 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:53.650Z,1755627893.650 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.078846
2025-08-19T18:24:53.877Z,1755627893.877 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.304832
2025-08-19T18:24:54.128Z,1755627894.128 [DAT](INFO): DAT read: Rx Time:18:24:52.0990 

2025-08-19T18:24:54.129Z,1755627894.129 [DAT](INFO): Rx dataTimestamp_ set to:1755627894.128025
2025-08-19T18:24:54.131Z,1755627894.131 [DAT](INFO): DAT read: Bearing 200.1,   9.1 (Local)

2025-08-19T18:24:54.131Z,1755627894.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.1,   9.1 (Local)

2025-08-19T18:24:54.134Z,1755627894.134 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:54.156Z,1755627894.156 [DAT](INFO): DAT read: 18:24:52.0990 LVL= 29168, 30081, 32754, 26675, AGC= 31, IDX= 507,-0.07, 1.918, 1.657, 1.727, 0.038, PHS= 1.982, 1.664, 1.645, RAW=  87.0, -80.1, CAL=  88.8, -79.6, ROT=  61.2,  79.6

2025-08-19T18:24:54.157Z,1755627894.157 [DAT](INFO): got valid direction response:
 18:24:52.0990 LVL= 29168, 30081, 32754, 26675, AGC= 31, IDX= 507,-0.07, 1.918, 1.657, 1.727, 0.038, PHS= 1.982, 1.664, 1.645, RAW=  87.0, -80.1, CAL=  88.8, -79.6, ROT=  61.2,  79.6

2025-08-19T18:24:54.158Z,1755627894.158 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-19T18:24:54.159Z,1755627894.159 [DAT](INFO): direction in FSK: [0.086966,0.158190,-0.983571]
2025-08-19T18:24:54.160Z,1755627894.160 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:54.185Z,1755627894.185 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.613209
2025-08-19T18:24:54.381Z,1755627894.381 [DAT](INFO): DAT read: Rx Time:18:24:52.5989 

2025-08-19T18:24:54.383Z,1755627894.383 [DAT](INFO): Rx dataTimestamp_ set to:1755627894.381785
2025-08-19T18:24:54.384Z,1755627894.384 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.812607
2025-08-19T18:24:54.632Z,1755627894.632 [DAT](INFO): DAT read: Bearing 200.7,   9.1 (Local)

2025-08-19T18:24:54.633Z,1755627894.633 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.7,   9.1 (Local)

2025-08-19T18:24:54.636Z,1755627894.636 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:54.643Z,1755627894.643 [DAT](INFO): DAT read: 18:24:52.5989 LVL= 29344, 30161, 32754, 26867, AGC= 31, IDX= 506, 0.04, 1.688, 1.428, 1.495,-0.205, PHS= 1.995, 1.678, 1.656, RAW=  86.6, -80.1, CAL=  88.4, -79.6, ROT=  61.6,  79.6

2025-08-19T18:24:54.645Z,1755627894.645 [DAT](INFO): got valid direction response:
 18:24:52.5989 LVL= 29344, 30161, 32754, 26867, AGC= 31, IDX= 506, 0.04, 1.688, 1.428, 1.495,-0.205, PHS= 1.995, 1.678, 1.656, RAW=  86.6, -80.1, CAL=  88.4, -79.6, ROT=  61.6,  79.6

2025-08-19T18:24:54.649Z,1755627894.649 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-19T18:24:54.650Z,1755627894.650 [DAT](INFO): direction in FSK: [0.085859,0.158793,-0.983571]
2025-08-19T18:24:54.651Z,1755627894.651 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:54.670Z,1755627894.670 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.098969
2025-08-19T18:24:54.885Z,1755627894.885 [DAT](INFO): DAT read: Rx Time:18:24:53.0989 

2025-08-19T18:24:54.886Z,1755627894.886 [DAT](INFO): Rx dataTimestamp_ set to:1755627894.885605
2025-08-19T18:24:54.888Z,1755627894.888 [DAT](INFO): DAT read: Bearing 201.6,   9.0 (Local)

2025-08-19T18:24:54.891Z,1755627894.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.6,   9.0 (Local)

2025-08-19T18:24:54.894Z,1755627894.894 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.321358
2025-08-19T18:24:55.137Z,1755627895.137 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:55.144Z,1755627895.144 [DAT](INFO): DAT read: 18:24:53.0989 LVL= 29472, 30193, 32754, 26723, AGC= 31, IDX= 506, 0.15, 1.953, 1.691, 1.759, 0.058, PHS= 1.997, 1.677, 1.657, RAW=  86.9, -80.1, CAL=  88.7, -79.6, ROT=  61.3,  79.6

2025-08-19T18:24:55.146Z,1755627895.146 [DAT](INFO): got valid direction response:
 18:24:53.0989 LVL= 29472, 30193, 32754, 26723, AGC= 31, IDX= 506, 0.15, 1.953, 1.691, 1.759, 0.058, PHS= 1.997, 1.677, 1.657, RAW=  86.9, -80.1, CAL=  88.7, -79.6, ROT=  61.3,  79.6

2025-08-19T18:24:55.147Z,1755627895.147 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-19T18:24:55.148Z,1755627895.148 [DAT](INFO): direction in FSK: [0.086690,0.158342,-0.983571]
2025-08-19T18:24:55.148Z,1755627895.148 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:55.152Z,1755627895.152 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.580139
2025-08-19T18:24:55.389Z,1755627895.389 [DAT](INFO): DAT read: Rx Time:18:24:53.5988 

2025-08-19T18:24:55.391Z,1755627895.391 [DAT](INFO): Rx dataTimestamp_ set to:1755627895.390035
2025-08-19T18:24:55.393Z,1755627895.393 [DAT](INFO): DAT read: Bearing 202.2,   8.9 (Local)

2025-08-19T18:24:55.394Z,1755627895.394 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.2,   8.9 (Local)

2025-08-19T18:24:55.396Z,1755627895.396 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.824432
2025-08-19T18:24:55.642Z,1755627895.642 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:24:55.647Z,1755627895.647 [DAT](INFO): DAT read: 18:24:53.5988 LVL= 29472, 30305, 32754, 26979, AGC= 31, IDX= 505, 0.29, 1.066, 0.806, 0.873,-0.831, PHS= 2.000, 1.682, 1.660, RAW=  86.7, -80.1, CAL=  88.4, -79.6, ROT=  61.6,  79.6

2025-08-19T18:24:55.648Z,1755627895.648 [DAT](INFO): got valid direction response:
 18:24:53.5988 LVL= 29472, 30305, 32754, 26979, AGC= 31, IDX= 505, 0.29, 1.066, 0.806, 0.873,-0.831, PHS= 2.000, 1.682, 1.660, RAW=  86.7, -80.1, CAL=  88.4, -79.6, ROT=  61.6,  79.6

2025-08-19T18:24:55.649Z,1755627895.649 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-19T18:24:55.650Z,1755627895.650 [DAT](INFO): direction in FSK: [0.085859,0.158793,-0.983571]
2025-08-19T18:24:55.650Z,1755627895.650 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:55.654Z,1755627895.654 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.082367
2025-08-19T18:24:55.893Z,1755627895.893 [DAT](INFO): DAT read: Rx Time:18:24:54.0989 

2025-08-19T18:24:55.895Z,1755627895.895 [DAT](INFO): Rx dataTimestamp_ set to:1755627895.893942
2025-08-19T18:24:55.897Z,1755627895.897 [DAT](INFO): DAT read: Bearing 202.7,   8.7 (Local)

2025-08-19T18:24:55.900Z,1755627895.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.7,   8.7 (Local)

2025-08-19T18:24:55.904Z,1755627895.904 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:55.906Z,1755627895.906 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-08-19T18:24:55.910Z,1755627895.910 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.337490
2025-08-19T18:24:56.147Z,1755627896.147 [DAT](INFO): DAT read: 18:24:54.0989 LVL= 29216, 30337, 32754, 26963, AGC= 31, IDX= 506, 0.50, 1.092, 0.836, 0.903,-0.798, PHS= 1.992, 1.679, 1.656, RAW=  86.5, -80.2, CAL=  88.3, -79.7, ROT=  61.7,  79.7

2025-08-19T18:24:56.148Z,1755627896.148 [DAT](INFO): got valid direction response:
 18:24:54.0989 LVL= 29216, 30337, 32754, 26963, AGC= 31, IDX= 506, 0.50, 1.092, 0.836, 0.903,-0.798, PHS= 1.992, 1.679, 1.656, RAW=  86.5, -80.2, CAL=  88.3, -79.7, ROT=  61.7,  79.7

2025-08-19T18:24:56.149Z,1755627896.149 [DAT](INFO): #Rx 77: Read direction message, but no range.
2025-08-19T18:24:56.158Z,1755627896.158 [DAT](INFO): direction in FSK: [0.084768,0.157431,-0.983885]
2025-08-19T18:24:56.171Z,1755627896.171 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.599648
2025-08-19T18:24:56.397Z,1755627896.397 [DAT](INFO): DAT read: Rx Time:18:24:54.5989 

2025-08-19T18:24:56.399Z,1755627896.399 [DAT](INFO): Rx dataTimestamp_ set to:1755627896.397817
2025-08-19T18:24:56.401Z,1755627896.401 [DAT](INFO): DAT read: Bearing 202.8,   8.3 (Local)

2025-08-19T18:24:56.402Z,1755627896.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.8,   8.3 (Local)

2025-08-19T18:24:56.411Z,1755627896.411 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:56.413Z,1755627896.413 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-08-19T18:24:56.416Z,1755627896.416 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.843994
2025-08-19T18:24:56.650Z,1755627896.650 [DAT](INFO): DAT read: 18:24:54.5989 LVL= 26432, 28369, 31218, 25811, AGC= 32, IDX= 506,-0.27,-1.201,-1.440,-1.378,-3.092, PHS= 1.994, 1.698, 1.670, RAW=  85.6, -80.7, CAL=  87.2, -80.2, ROT=  62.8,  80.2

2025-08-19T18:24:56.651Z,1755627896.651 [DAT](INFO): got valid direction response:
 18:24:54.5989 LVL= 26432, 28369, 31218, 25811, AGC= 32, IDX= 506,-0.27,-1.201,-1.440,-1.378,-3.092, PHS= 1.994, 1.698, 1.670, RAW=  85.6, -80.7, CAL=  87.2, -80.2, ROT=  62.8,  80.2

2025-08-19T18:24:56.652Z,1755627896.652 [DAT](INFO): #Rx 79: Read direction message, but no range.
2025-08-19T18:24:56.653Z,1755627896.653 [DAT](INFO): direction in FSK: [0.077802,0.151387,-0.985408]
2025-08-19T18:24:56.656Z,1755627896.656 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.084606
2025-08-19T18:24:56.903Z,1755627896.903 [DAT](INFO): DAT read: Rx Time:18:24:55.0990 

2025-08-19T18:24:56.904Z,1755627896.904 [DAT](INFO): Rx dataTimestamp_ set to:1755627896.903308
2025-08-19T18:24:56.907Z,1755627896.907 [DAT](INFO): DAT read: Bearing 203.4,   8.5 (Local)

2025-08-19T18:24:56.908Z,1755627896.908 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.4,   8.5 (Local)

2025-08-19T18:24:56.911Z,1755627896.911 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:56.913Z,1755627896.913 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-08-19T18:24:56.920Z,1755627896.920 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.348125
2025-08-19T18:24:57.154Z,1755627897.154 [DAT](INFO): DAT read: 18:24:55.0990 LVL= 29168, 29937, 32754, 26563, AGC= 31, IDX= 507,-0.15, 0.151,-0.097,-0.034,-1.726, PHS= 1.979, 1.674, 1.648, RAW=  86.0, -80.4, CAL=  87.7, -79.9, ROT=  62.3,  79.9

2025-08-19T18:24:57.155Z,1755627897.155 [DAT](INFO): got valid direction response:
 18:24:55.0990 LVL= 29168, 29937, 32754, 26563, AGC= 31, IDX= 507,-0.15, 0.151,-0.097,-0.034,-1.726, PHS= 1.979, 1.674, 1.648, RAW=  86.0, -80.4, CAL=  87.7, -79.9, ROT=  62.3,  79.9

2025-08-19T18:24:57.156Z,1755627897.156 [DAT](INFO): #Rx 81: Read direction message, but no range.
2025-08-19T18:24:57.157Z,1755627897.157 [DAT](INFO): direction in FSK: [0.081518,0.155269,-0.984503]
2025-08-19T18:24:57.161Z,1755627897.161 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.589516
2025-08-19T18:24:57.411Z,1755627897.411 [DAT](INFO): DAT read: Rx Time:18:24:55.5989 

2025-08-19T18:24:57.412Z,1755627897.412 [DAT](INFO): Rx dataTimestamp_ set to:1755627897.411007
2025-08-19T18:24:57.416Z,1755627897.416 [DAT](INFO): DAT read: Bearing 203.6,   8.4 (Local)

2025-08-19T18:24:57.417Z,1755627897.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.6,   8.4 (Local)

2025-08-19T18:24:57.420Z,1755627897.420 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:57.454Z,1755627897.454 [DAT](INFO): DAT read: 18:24:55.5989 LVL= 29376, 30145, 32754, 26739, AGC= 31, IDX= 506,-0.03,-0.787,-1.032,-0.971,-2.665, PHS= 1.980, 1.678, 1.650, RAW=  85.6, -80.4, CAL=  87.3, -79.9, ROT=  62.7,  79.9

2025-08-19T18:24:57.455Z,1755627897.455 [DAT](INFO): got valid direction response:
 18:24:55.5989 LVL= 29376, 30145, 32754, 26739, AGC= 31, IDX= 506,-0.03,-0.787,-1.032,-0.971,-2.665, PHS= 1.980, 1.678, 1.650, RAW=  85.6, -80.4, CAL=  87.3, -79.9, ROT=  62.7,  79.9

2025-08-19T18:24:57.456Z,1755627897.456 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-19T18:24:57.457Z,1755627897.457 [DAT](INFO): direction in FSK: [0.080432,0.155834,-0.984503]
2025-08-19T18:24:57.457Z,1755627897.457 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:57.469Z,1755627897.469 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.897221
2025-08-19T18:24:57.655Z,1755627897.655 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.083046
2025-08-19T18:24:57.910Z,1755627897.910 [DAT](INFO): DAT read: Rx Time:18:24:56.0990 

2025-08-19T18:24:57.912Z,1755627897.912 [DAT](INFO): Rx dataTimestamp_ set to:1755627897.910556
2025-08-19T18:24:57.916Z,1755627897.916 [DAT](INFO): DAT read: Bearing 203.4,   8.2 (Local)

2025-08-19T18:24:57.917Z,1755627897.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.4,   8.2 (Local)

2025-08-19T18:24:57.921Z,1755627897.921 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:57.923Z,1755627897.923 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-08-19T18:24:57.926Z,1755627897.926 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.354252
2025-08-19T18:24:58.179Z,1755627898.179 [DAT](INFO): DAT read: 18:24:56.0990 LVL= 29408, 30481, 32754, 27171, AGC= 31, IDX= 507, 0.07, 1.301, 1.056, 1.119,-0.596, PHS= 1.999, 1.697, 1.671, RAW=  85.9, -80.6, CAL=  87.5, -80.1, ROT=  62.5,  80.1

2025-08-19T18:24:58.180Z,1755627898.180 [DAT](INFO): got valid direction response:
 18:24:56.0990 LVL= 29408, 30481, 32754, 27171, AGC= 31, IDX= 507, 0.07, 1.301, 1.056, 1.119,-0.596, PHS= 1.999, 1.697, 1.671, RAW=  85.9, -80.6, CAL=  87.5, -80.1, ROT=  62.5,  80.1

2025-08-19T18:24:58.181Z,1755627898.181 [DAT](INFO): #Rx 84: Read direction message, but no range.
2025-08-19T18:24:58.182Z,1755627898.182 [DAT](INFO): direction in FSK: [0.079388,0.152503,-0.985109]
2025-08-19T18:24:58.195Z,1755627898.195 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.623474
2025-08-19T18:24:58.281Z,1755627898.281 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:24:58.281Z,1755627898.281 [DockingStepper] No Fault, FailCount= 2
2025-08-19T18:24:58.419Z,1755627898.419 [DAT](INFO): DAT read: Rx Time:18:24:56.5989 

2025-08-19T18:24:58.420Z,1755627898.420 [DAT](INFO): Rx dataTimestamp_ set to:1755627898.419036
2025-08-19T18:24:58.423Z,1755627898.423 [DAT](INFO): DAT read: Bearing 202.7,   8.1 (Local)

2025-08-19T18:24:58.424Z,1755627898.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.7,   8.1 (Local)

2025-08-19T18:24:58.429Z,1755627898.429 [DAT](INFO): DAT read: Range 11 to 50 8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:58.430Z,1755627898.430 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:58.432Z,1755627898.432 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.860130
2025-08-19T18:24:58.617Z,1755627898.617 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:24:58.670Z,1755627898.670 [DAT](INFO): DAT read: 18:24:56.5989152, 29809, 32754, 26227, AGC= 32, IDX= 506, 0.21, 0.373, 0.138, 0.191,-1.538, PHS= 2.013, 1.721, 1.685, RAW=  84.2, -80.8, CAL=  85.8, -80.3, ROT=  64.2,  80.3

2025-08-19T18:24:58.671Z,1755627898.671 [DAT](INFO): unknown deviceResponse_: 18:24:56.5989152, 29809, 32754, 26227, AGC= 32, IDX= 506, 0.21, 0.373, 0.138, 0.191,-1.538, PHS= 2.013, 1.721, 1.685, RAW=  84.2, -80.8, CAL=  85.8, -80.3, ROT=  64.2,  80.3

2025-08-19T18:24:58.671Z,1755627898.671 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.099869
2025-08-19T18:24:58.730Z,1755627898.730 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:24:58.922Z,1755627898.922 [DAT](INFO): DAT read: Rx Time:18:24:57.0989 

2025-08-19T18:24:58.923Z,1755627898.923 [DAT](INFO): Rx dataTimestamp_ set to:1755627898.922007
2025-08-19T18:24:58.926Z,1755627898.926 [DAT](INFO): DAT read: Bearing 202.4,   8.1 (Local)

2025-08-19T18:24:58.927Z,1755627898.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.4,   8.1 (Local)

2025-08-19T18:24:58.931Z,1755627898.931 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:58.933Z,1755627898.933 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-08-19T18:24:58.935Z,1755627898.935 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.363338
2025-08-19T18:24:59.174Z,1755627899.174 [DAT](INFO): DAT read: 18:24:57.0989 LVL= 29312, 30017, 32754, 26611, AGC= 31, IDX= 506, 0.37, 0.589, 0.349, 0.406,-1.316, PHS= 2.008, 1.710, 1.679, RAW=  85.0, -80.6, CAL=  86.6, -80.2, ROT=  63.4,  80.2

2025-08-19T18:24:59.175Z,1755627899.175 [DAT](INFO): got valid direction response:
 18:24:57.0989 LVL= 29312, 30017, 32754, 26611, AGC= 31, IDX= 506, 0.37, 0.589, 0.349, 0.406,-1.316, PHS= 2.008, 1.710, 1.679, RAW=  85.0, -80.6, CAL=  86.6, -80.2, ROT=  63.4,  80.2

2025-08-19T18:24:59.176Z,1755627899.176 [DAT](INFO): #Rx 86: Read direction message, but no range.
2025-08-19T18:24:59.177Z,1755627899.177 [DAT](INFO): direction in FSK: [0.076213,0.152194,-0.985408]
2025-08-19T18:24:59.180Z,1755627899.180 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.608490
2025-08-19T18:24:59.429Z,1755627899.429 [DAT](INFO): DAT read: Rx Time:18:24:57.5989 

2025-08-19T18:24:59.432Z,1755627899.432 [DAT](INFO): Rx dataTimestamp_ set to:1755627899.430682
2025-08-19T18:24:59.437Z,1755627899.437 [DAT](INFO): DAT read: Bearing 201.4,   7.6 (Local)

2025-08-19T18:24:59.445Z,1755627899.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.4,   7.6 (Local)

2025-08-19T18:24:59.448Z,1755627899.448 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:24:59.461Z,1755627899.461 [DAT](INFO): DAT read: 18:24:57.5989 LVL= 25136, 26145, 27634, 24051, AGC= 31, IDX= 506,-0.41,-2.447,-2.665,-2.611, 1.950, PHS= 1.988, 1.713, 1.679, RAW=  84.1, -81.2, CAL=  85.6, -80.8, ROT=  64.4,  80.8

2025-08-19T18:24:59.474Z,1755627899.474 [DAT](INFO): got valid direction response:
 18:24:57.5989 LVL= 25136, 26145, 27634, 24051, AGC= 31, IDX= 506,-0.41,-2.447,-2.665,-2.611, 1.950, PHS= 1.988, 1.713, 1.679, RAW=  84.1, -81.2, CAL=  85.6, -80.8, ROT=  64.4,  80.8

2025-08-19T18:24:59.474Z,1755627899.474 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-19T18:24:59.475Z,1755627899.475 [DAT](INFO): direction in FSK: [0.069082,0.144186,-0.987136]
2025-08-19T18:24:59.476Z,1755627899.476 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:59.487Z,1755627899.487 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.915844
2025-08-19T18:24:59.675Z,1755627899.675 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.103050
2025-08-19T18:24:59.932Z,1755627899.932 [DAT](INFO): DAT read: Rx Time:18:24:58.0990 

2025-08-19T18:24:59.933Z,1755627899.933 [DAT](INFO): Rx dataTimestamp_ set to:1755627899.932434
2025-08-19T18:24:59.936Z,1755627899.936 [DAT](INFO): DAT read: Bearing 200.9,   7.9 (Local)

2025-08-19T18:24:59.936Z,1755627899.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.9,   7.9 (Local)

2025-08-19T18:24:59.939Z,1755627899.939 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:24:59.952Z,1755627899.952 [DAT](INFO): DAT read: 18:24:58.0990 LVL= 29472, 30513, 32754, 26915, AGC= 31, IDX= 507,-0.21,-1.713,-1.939,-1.888, 2.685, PHS= 1.987, 1.704, 1.666, RAW=  83.8, -80.9, CAL=  85.3, -80.4, ROT=  64.7,  80.4

2025-08-19T18:24:59.953Z,1755627899.953 [DAT](INFO): got valid direction response:
 18:24:58.0990 LVL= 29472, 30513, 32754, 26915, AGC= 31, IDX= 507,-0.21,-1.713,-1.939,-1.888, 2.685, PHS= 1.987, 1.704, 1.666, RAW=  83.8, -80.9, CAL=  85.3, -80.4, ROT=  64.7,  80.4

2025-08-19T18:24:59.953Z,1755627899.953 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-19T18:24:59.963Z,1755627899.963 [DAT](INFO): direction in FSK: [0.071270,0.150773,-0.985996]
2025-08-19T18:24:59.964Z,1755627899.964 [DAT](INFO): publishing direction and range info
2025-08-19T18:24:59.977Z,1755627899.977 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.405113
2025-08-19T18:25:00.179Z,1755627900.179 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.607311
2025-08-19T18:25:00.439Z,1755627900.439 [DAT](INFO): DAT read: Rx Time:18:24:58.5989 

2025-08-19T18:25:00.440Z,1755627900.440 [DAT](INFO): Rx dataTimestamp_ set to:1755627900.439642
2025-08-19T18:25:00.442Z,1755627900.442 [DAT](INFO): DAT read: Bearing 199.8,   7.8 (Local)

2025-08-19T18:25:00.442Z,1755627900.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.8,   7.8 (Local)

2025-08-19T18:25:00.444Z,1755627900.444 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:00.449Z,1755627900.449 [DAT](INFO): DAT read: 18:24:58.5989 LVL= 26384, 28017, 30562, 25283, AGC= 31, IDX= 506,-0.09,-2.619,-2.838,-2.788, 1.771, PHS= 1.996, 1.719, 1.680, RAW=  83.4, -81.1, CAL=  84.9, -80.7, ROT=  65.1,  80.7

2025-08-19T18:25:00.466Z,1755627900.466 [DAT](INFO): got valid direction response:
 18:24:58.5989 LVL= 26384, 28017, 30562, 25283, AGC= 31, IDX= 506,-0.09,-2.619,-2.838,-2.788, 1.771, PHS= 1.996, 1.719, 1.680, RAW=  83.4, -81.1, CAL=  84.9, -80.7, ROT=  65.1,  80.7

2025-08-19T18:25:00.467Z,1755627900.467 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-19T18:25:00.468Z,1755627900.468 [DAT](INFO): direction in FSK: [0.068041,0.146582,-0.986856]
2025-08-19T18:25:00.468Z,1755627900.468 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:00.480Z,1755627900.480 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.908718
2025-08-19T18:25:00.687Z,1755627900.687 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.115166
2025-08-19T18:25:00.939Z,1755627900.939 [DAT](INFO): DAT read: Rx Time:18:24:59.0990 

2025-08-19T18:25:00.940Z,1755627900.940 [DAT](INFO): Rx dataTimestamp_ set to:1755627900.939301
2025-08-19T18:25:00.941Z,1755627900.941 [DAT](INFO): DAT read: Bearing 198.6,   8.0 (Local)

2025-08-19T18:25:00.941Z,1755627900.941 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.6,   8.0 (Local)

2025-08-19T18:25:00.943Z,1755627900.943 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:00.948Z,1755627900.948 [DAT](INFO): DAT read: 18:24:59.0990 LVL= 26400, 27761, 30322, 25171, AGC= 31, IDX= 507, 0.04,-0.424,-0.645,-0.601,-2.332, PHS= 2.010, 1.733, 1.687, RAW=  82.5, -81.0, CAL=  84.0, -80.6, ROT=  66.0,  80.6

2025-08-19T18:25:00.949Z,1755627900.949 [DAT](INFO): got valid direction response:
 18:24:59.0990 LVL= 26400, 27761, 30322, 25171, AGC= 31, IDX= 507, 0.04,-0.424,-0.645,-0.601,-2.332, PHS= 2.010, 1.733, 1.687, RAW=  82.5, -81.0, CAL=  84.0, -80.6, ROT=  66.0,  80.6

2025-08-19T18:25:00.949Z,1755627900.949 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-19T18:25:00.950Z,1755627900.950 [DAT](INFO): direction in FSK: [0.066431,0.149206,-0.986572]
2025-08-19T18:25:00.951Z,1755627900.951 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:00.955Z,1755627900.955 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.383297
2025-08-19T18:25:01.191Z,1755627901.191 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.619411
2025-08-19T18:25:01.447Z,1755627901.447 [DAT](INFO): DAT read: Rx Time:18:24:59.5989 

2025-08-19T18:25:01.448Z,1755627901.448 [DAT](INFO): Rx dataTimestamp_ set to:1755627901.447477
2025-08-19T18:25:01.454Z,1755627901.454 [DAT](INFO): DAT read: Bearing 197.5,   8.0 (Local)

2025-08-19T18:25:01.455Z,1755627901.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.5,   8.0 (Local)

2025-08-19T18:25:01.477Z,1755627901.477 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:01.490Z,1755627901.490 [DAT](INFO): DAT read: 18:24:59.5989 LVL= 29280, 29521, 32754, 26083, AGC= 31, IDX= 506, 0.16,-1.340,-1.557,-1.516, 3.028, PHS= 2.018, 1.744, 1.696, RAW=  82.1, -81.1, CAL=  83.5, -80.7, ROT=  66.5,  80.7

2025-08-19T18:25:01.491Z,1755627901.491 [DAT](INFO): got valid direction response:
 18:24:59.5989 LVL= 29280, 29521, 32754, 26083, AGC= 31, IDX= 506, 0.16,-1.340,-1.557,-1.516, 3.028, PHS= 2.018, 1.744, 1.696, RAW=  82.1, -81.1, CAL=  83.5, -80.7, ROT=  66.5,  80.7

2025-08-19T18:25:01.492Z,1755627901.492 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-19T18:25:01.493Z,1755627901.493 [DAT](INFO): direction in FSK: [0.064439,0.148200,-0.986856]
2025-08-19T18:25:01.493Z,1755627901.493 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:01.505Z,1755627901.505 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=42.933102
2025-08-19T18:25:01.695Z,1755627901.695 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.123402
2025-08-19T18:25:01.947Z,1755627901.947 [DAT](INFO): DAT read: Rx Time:18:25:00.0990 

2025-08-19T18:25:01.947Z,1755627901.947 [DAT](INFO): Rx dataTimestamp_ set to:1755627901.947192
2025-08-19T18:25:01.949Z,1755627901.949 [DAT](INFO): DAT read: Bearing 196.3,   8.2 (Local)

2025-08-19T18:25:01.949Z,1755627901.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.3,   8.2 (Local)

2025-08-19T18:25:01.951Z,1755627901.951 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:01.964Z,1755627901.964 [DAT](INFO): DAT read: 18:25:00.0990 LVL= 29072, 29329, 32754, 26355, AGC= 31, IDX= 507, 0.31,-0.609,-0.825,-0.787,-2.528, PHS= 2.021, 1.748, 1.697, RAW=  81.5, -81.1, CAL=  82.9, -80.7, ROT=  67.1,  80.7

2025-08-19T18:25:01.965Z,1755627901.965 [DAT](INFO): got valid direction response:
 18:25:00.0990 LVL= 29072, 29329, 32754, 26355, AGC= 31, IDX= 507, 0.31,-0.609,-0.825,-0.787,-2.528, PHS= 2.021, 1.748, 1.697, RAW=  81.5, -81.1, CAL=  82.9, -80.7, ROT=  67.1,  80.7

2025-08-19T18:25:01.965Z,1755627901.965 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-19T18:25:01.966Z,1755627901.966 [DAT](INFO): direction in FSK: [0.062884,0.148867,-0.986856]
2025-08-19T18:25:01.967Z,1755627901.967 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:01.986Z,1755627901.986 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.414925
2025-08-19T18:25:02.199Z,1755627902.199 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.627171
2025-08-19T18:25:02.262Z,1755627902.262 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:25:02.455Z,1755627902.455 [DAT](INFO): DAT read: Rx Time:18:25:00.5989 

2025-08-19T18:25:02.457Z,1755627902.457 [DAT](INFO): Rx dataTimestamp_ set to:1755627902.455638
2025-08-19T18:25:02.460Z,1755627902.460 [DAT](INFO): DAT read: Bearing 195.1,   8.3 (Local)

2025-08-19T18:25:02.462Z,1755627902.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.1,   8.3 (Local)

2025-08-19T18:25:02.470Z,1755627902.470 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:02.479Z,1755627902.479 [DAT](INFO): DAT read: 18:25:00.5989 LVL= 25888, 27889, 29746, 25203, AGC= 31, IDX= 507,-0.45,-2.915,-3.127,-3.091, 1.454, PHS= 2.017, 1.748, 1.695, RAW=  81.2, -81.2, CAL=  82.6, -80.8, ROT=  67.4,  80.8

2025-08-19T18:25:02.480Z,1755627902.480 [DAT](INFO): got valid direction response:
 18:25:00.5989 LVL= 25888, 27889, 29746, 25203, AGC= 31, IDX= 507,-0.45,-2.915,-3.127,-3.091, 1.454, PHS= 2.017, 1.748, 1.695, RAW=  81.2, -81.2, CAL=  82.6, -80.8, ROT=  67.4,  80.8

2025-08-19T18:25:02.480Z,1755627902.480 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-19T18:25:02.486Z,1755627902.486 [DAT](INFO): direction in FSK: [0.061442,0.147604,-0.987136]
2025-08-19T18:25:02.486Z,1755627902.486 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:02.498Z,1755627902.498 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.917873
2025-08-19T18:25:02.703Z,1755627902.703 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.131432
2025-08-19T18:25:02.955Z,1755627902.955 [DAT](INFO): DAT read: Rx Time:18:25:01.0990 

2025-08-19T18:25:02.955Z,1755627902.955 [DAT](INFO): Rx dataTimestamp_ set to:1755627902.955193
2025-08-19T18:25:02.957Z,1755627902.957 [DAT](INFO): DAT read: Bearing 194.1,   8.4 (Local)

2025-08-19T18:25:02.957Z,1755627902.957 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.1,   8.4 (Local)

2025-08-19T18:25:02.959Z,1755627902.959 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:02.964Z,1755627902.964 [DAT](INFO): DAT read: 18:25:01.0990 LVL= 25744, 27713, 29554, 25491, AGC= 31, IDX= 507,-0.25, 2.270, 2.059, 2.092, 0.355, PHS= 2.017, 1.749, 1.693, RAW=  80.6, -81.2, CAL=  82.0, -80.7, ROT=  68.0,  80.7

2025-08-19T18:25:02.965Z,1755627902.965 [DAT](INFO): got valid direction response:
 18:25:01.0990 LVL= 25744, 27713, 29554, 25491, AGC= 31, IDX= 507,-0.25, 2.270, 2.059, 2.092, 0.355, PHS= 2.017, 1.749, 1.693, RAW=  80.6, -81.2, CAL=  82.0, -80.7, ROT=  68.0,  80.7

2025-08-19T18:25:02.965Z,1755627902.965 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-19T18:25:02.966Z,1755627902.966 [DAT](INFO): direction in FSK: [0.060538,0.149837,-0.986856]
2025-08-19T18:25:02.966Z,1755627902.966 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:02.973Z,1755627902.973 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.401329
2025-08-19T18:25:03.206Z,1755627903.206 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.634987
2025-08-19T18:25:03.463Z,1755627903.463 [DAT](INFO): DAT read: Rx Time:18:25:01.5989 

2025-08-19T18:25:03.464Z,1755627903.464 [DAT](INFO): Rx dataTimestamp_ set to:1755627903.463554
2025-08-19T18:25:03.468Z,1755627903.468 [DAT](INFO): DAT read: Bearing 193.1,   8.4 (Local)

2025-08-19T18:25:03.470Z,1755627903.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.1,   8.4 (Local)

2025-08-19T18:25:03.480Z,1755627903.480 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:03.508Z,1755627903.508 [DAT](INFO): DAT read: 18:25:01.5989 LVL= 29088, 29537, 32754, 26243, AGC= 32, IDX= 506,-0.10, 1.406, 1.200, 1.231,-0.528, PHS= 2.036, 1.773, 1.715, RAW=  80.2, -81.4, CAL=  81.6, -81.0, ROT=  68.4,  81.0

2025-08-19T18:25:03.509Z,1755627903.509 [DAT](INFO): got valid direction response:
 18:25:01.5989 LVL= 29088, 29537, 32754, 26243, AGC= 32, IDX= 506,-0.10, 1.406, 1.200, 1.231,-0.528, PHS= 2.036, 1.773, 1.715, RAW=  80.2, -81.4, CAL=  81.6, -81.0, ROT=  68.4,  81.0

2025-08-19T18:25:03.519Z,1755627903.519 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-19T18:25:03.536Z,1755627903.536 [DAT](INFO): direction in FSK: [0.057587,0.145449,-0.987688]
2025-08-19T18:25:03.536Z,1755627903.536 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:03.545Z,1755627903.545 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.973133
2025-08-19T18:25:03.591Z,1755627903.591 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022422122079,35.0, +10.,1492.2,  0
2025-08-19T18:25:03.711Z,1755627903.711 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.139824
2025-08-19T18:25:03.963Z,1755627903.963 [DAT](INFO): DAT read: Rx Time:18:25:02.0990 

2025-08-19T18:25:03.964Z,1755627903.964 [DAT](INFO): Rx dataTimestamp_ set to:1755627903.963279
2025-08-19T18:25:03.965Z,1755627903.965 [DAT](INFO): DAT read: Bearing 192.5,   8.7 (Local)

2025-08-19T18:25:03.965Z,1755627903.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.5,   8.7 (Local)

2025-08-19T18:25:03.967Z,1755627903.967 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:03.972Z,1755627903.972 [DAT](INFO): DAT read: 18:25:02.0990 LVL= 26064, 27825, 29762, 25283, AGC= 31, IDX= 507, 0.01,-2.663,-2.875,-2.843, 1.693, PHS= 2.030, 1.761, 1.704, RAW=  80.6, -81.2, CAL=  82.0, -80.8, ROT=  68.0,  80.8

2025-08-19T18:25:03.973Z,1755627903.973 [DAT](INFO): got valid direction response:
 18:25:02.0990 LVL= 26064, 27825, 29762, 25283, AGC= 31, IDX= 507, 0.01,-2.663,-2.875,-2.843, 1.693, PHS= 2.030, 1.761, 1.704, RAW=  80.6, -81.2, CAL=  82.0, -80.8, ROT=  68.0,  80.8

2025-08-19T18:25:03.974Z,1755627903.974 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-19T18:25:03.974Z,1755627903.974 [DAT](INFO): direction in FSK: [0.059893,0.148239,-0.987136]
2025-08-19T18:25:03.975Z,1755627903.975 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:03.981Z,1755627903.981 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.409302
2025-08-19T18:25:04.214Z,1755627904.214 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.642872
2025-08-19T18:25:04.470Z,1755627904.470 [DAT](INFO): DAT read: Rx Time:18:25:02.5989 

2025-08-19T18:25:04.472Z,1755627904.472 [DAT](INFO): Rx dataTimestamp_ set to:1755627904.471170
2025-08-19T18:25:04.477Z,1755627904.477 [DAT](INFO): DAT read: Bearing 191.8,   8.6 (Local)

2025-08-19T18:25:04.478Z,1755627904.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.8,   8.6 (Local)

2025-08-19T18:25:04.484Z,1755627904.484 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:04.497Z,1755627904.497 [DAT](INFO): DAT read: 18:25:02.5989 LVL= 29504, 29793, 32754, 26515, AGC= 32, IDX= 506, 0.13, 2.789, 2.582, 2.611, 0.847, PHS= 2.044, 1.780, 1.720, RAW=  80.0, -81.3, CAL=  81.3, -80.9, ROT=  68.7,  80.9

2025-08-19T18:25:04.500Z,1755627904.500 [DAT](INFO): got valid direction response:
 18:25:02.5989 LVL= 29504, 29793, 32754, 26515, AGC= 32, IDX= 506, 0.13, 2.789, 2.582, 2.611, 0.847, PHS= 2.044, 1.780, 1.720, RAW=  80.0, -81.3, CAL=  81.3, -80.9, ROT=  68.7,  80.9

2025-08-19T18:25:04.500Z,1755627904.500 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-19T18:25:04.501Z,1755627904.501 [DAT](INFO): direction in FSK: [0.057451,0.147354,-0.987414]
2025-08-19T18:25:04.502Z,1755627904.502 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:04.505Z,1755627904.505 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.933601
2025-08-19T18:25:04.723Z,1755627904.723 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.150307
2025-08-19T18:25:04.971Z,1755627904.971 [DAT](INFO): DAT read: Rx Time:18:25:03.0990 

2025-08-19T18:25:04.971Z,1755627904.971 [DAT](INFO): Rx dataTimestamp_ set to:1755627904.971194
2025-08-19T18:25:04.973Z,1755627904.973 [DAT](INFO): DAT read: Bearing 191.6,   8.9 (Local)

2025-08-19T18:25:04.973Z,1755627904.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.6,   8.9 (Local)

2025-08-19T18:25:04.975Z,1755627904.975 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:04.980Z,1755627904.980 [DAT](INFO): DAT read: 18:25:03.0990 LVL= 26320, 27441, 29842, 25139, AGC= 31, IDX= 507, 0.24,-1.365,-1.576,-1.546, 2.987, PHS= 2.033, 1.764, 1.705, RAW=  80.3, -81.2, CAL=  81.6, -80.7, ROT=  68.4,  80.7

2025-08-19T18:25:04.981Z,1755627904.981 [DAT](INFO): got valid direction response:
 18:25:03.0990 LVL= 26320, 27441, 29842, 25139, AGC= 31, IDX= 507, 0.24,-1.365,-1.576,-1.546, 2.987, PHS= 2.033, 1.764, 1.705, RAW=  80.3, -81.2, CAL=  81.6, -80.7, ROT=  68.4,  80.7

2025-08-19T18:25:04.981Z,1755627904.981 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-19T18:25:04.982Z,1755627904.982 [DAT](INFO): direction in FSK: [0.059490,0.150255,-0.986856]
2025-08-19T18:25:04.983Z,1755627904.983 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:04.986Z,1755627904.986 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.414780
2025-08-19T18:25:05.224Z,1755627905.224 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.652096
2025-08-19T18:25:05.479Z,1755627905.479 [DAT](INFO): DAT read: Rx Time:18:25:03.5989 

2025-08-19T18:25:05.480Z,1755627905.480 [DAT](INFO): Rx dataTimestamp_ set to:1755627905.479233
2025-08-19T18:25:05.484Z,1755627905.484 [DAT](INFO): DAT read: Bearing 191.7,   9.0 (Local)

2025-08-19T18:25:05.488Z,1755627905.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.7,   9.0 (Local)

2025-08-19T18:25:05.499Z,1755627905.499 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:05.534Z,1755627905.534 [DAT](INFO): DAT read: 18:25:03.5989 LVL= 26256, 27857, 29858, 25011, AGC= 31, IDX= 506, 0.41,-2.948, 3.117,-3.130, 1.406, PHS= 2.031, 1.756, 1.702, RAW=  81.3, -81.1, CAL=  82.7, -80.6, ROT=  67.3,  80.6

2025-08-19T18:25:05.535Z,1755627905.535 [DAT](INFO): got valid direction response:
 18:25:03.5989 LVL= 26256, 27857, 29858, 25011, AGC= 31, IDX= 506, 0.41,-2.948, 3.117,-3.130, 1.406, PHS= 2.031, 1.756, 1.702, RAW=  81.3, -81.1, CAL=  82.7, -80.6, ROT=  67.3,  80.6

2025-08-19T18:25:05.536Z,1755627905.536 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-19T18:25:05.537Z,1755627905.537 [DAT](INFO): direction in FSK: [0.063028,0.150674,-0.986572]
2025-08-19T18:25:05.537Z,1755627905.537 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:05.549Z,1755627905.549 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.977184
2025-08-19T18:25:05.726Z,1755627905.726 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.155025
2025-08-19T18:25:05.979Z,1755627905.979 [DAT](INFO): DAT read: Rx Time:18:25:04.0990 

2025-08-19T18:25:05.980Z,1755627905.980 [DAT](INFO): Rx dataTimestamp_ set to:1755627905.979311
2025-08-19T18:25:05.981Z,1755627905.981 [DAT](INFO): DAT read: Bearing 192.0,   9.1 (Local)

2025-08-19T18:25:05.981Z,1755627905.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.0,   9.1 (Local)

2025-08-19T18:25:05.983Z,1755627905.983 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:05.988Z,1755627905.988 [DAT](INFO): DAT read: 18:25:04.0990 LVL= 26416, 28065, 30066, 25299, AGC= 31, IDX= 507,-0.37, 1.504, 1.284, 1.319,-0.410, PHS= 2.016, 1.739, 1.685, RAW=  81.2, -80.9, CAL=  82.7, -80.5, ROT=  67.3,  80.5

2025-08-19T18:25:05.990Z,1755627905.990 [DAT](INFO): got valid direction response:
 18:25:04.0990 LVL= 26416, 28065, 30066, 25299, AGC= 31, IDX= 507,-0.37, 1.504, 1.284, 1.319,-0.410, PHS= 2.016, 1.739, 1.685, RAW=  81.2, -80.9, CAL=  82.7, -80.5, ROT=  67.3,  80.5

2025-08-19T18:25:05.990Z,1755627905.990 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-19T18:25:05.991Z,1755627905.991 [DAT](INFO): direction in FSK: [0.063693,0.152263,-0.986286]
2025-08-19T18:25:05.991Z,1755627905.991 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:05.999Z,1755627905.999 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.427574
2025-08-19T18:25:06.231Z,1755627906.231 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.659405
2025-08-19T18:25:06.487Z,1755627906.487 [DAT](INFO): DAT read: Rx Time:18:25:04.5989 

2025-08-19T18:25:06.488Z,1755627906.488 [DAT](INFO): Rx dataTimestamp_ set to:1755627906.487403
2025-08-19T18:25:06.493Z,1755627906.493 [DAT](INFO): DAT read: Bearing 192.3,   9.1 (Local)

2025-08-19T18:25:06.499Z,1755627906.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.3,   9.1 (Local)

2025-08-19T18:25:06.504Z,1755627906.504 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:06.550Z,1755627906.550 [DAT](INFO): DAT read: 18:25:04.5989 LVL= 26400, 28145, 30354, 25443, AGC= 31, IDX= 506,-0.21, 0.584, 0.366, 0.402,-1.325, PHS= 2.011, 1.737, 1.683, RAW=  81.3, -81.0, CAL=  82.7, -80.5, ROT=  67.3,  80.5

2025-08-19T18:25:06.551Z,1755627906.551 [DAT](INFO): got valid direction response:
 18:25:04.5989 LVL= 26400, 28145, 30354, 25443, AGC= 31, IDX= 506,-0.21, 0.584, 0.366, 0.402,-1.325, PHS= 2.011, 1.737, 1.683, RAW=  81.3, -81.0, CAL=  82.7, -80.5, ROT=  67.3,  80.5

2025-08-19T18:25:06.551Z,1755627906.551 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-19T18:25:06.552Z,1755627906.552 [DAT](INFO): direction in FSK: [0.063693,0.152263,-0.986286]
2025-08-19T18:25:06.553Z,1755627906.553 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:06.564Z,1755627906.564 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.992699
2025-08-19T18:25:06.735Z,1755627906.735 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.163074
2025-08-19T18:25:06.987Z,1755627906.987 [DAT](INFO): DAT read: Rx Time:18:25:05.0990 

2025-08-19T18:25:06.987Z,1755627906.987 [DAT](INFO): Rx dataTimestamp_ set to:1755627906.987175
2025-08-19T18:25:06.989Z,1755627906.989 [DAT](INFO): DAT read: Bearing 193.1,   9.2 (Local)

2025-08-19T18:25:06.989Z,1755627906.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.1,   9.2 (Local)

2025-08-19T18:25:06.991Z,1755627906.991 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:06.996Z,1755627906.996 [DAT](INFO): DAT read: 18:25:05.0990 LVL= 29808, 30161, 32754, 26867, AGC= 31, IDX= 507,-0.09, 2.173, 1.947, 1.989, 0.267, PHS= 2.008, 1.725, 1.679, RAW=  82.5, -80.8, CAL=  84.0, -80.4, ROT=  66.0,  80.4

2025-08-19T18:25:06.997Z,1755627906.997 [DAT](INFO): got valid direction response:
 18:25:05.0990 LVL= 29808, 30161, 32754, 26867, AGC= 31, IDX= 507,-0.09, 2.173, 1.947, 1.989, 0.267, PHS= 2.008, 1.725, 1.679, RAW=  82.5, -80.8, CAL=  84.0, -80.4, ROT=  66.0,  80.4

2025-08-19T18:25:06.997Z,1755627906.997 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-19T18:25:06.998Z,1755627906.998 [DAT](INFO): direction in FSK: [0.067831,0.152351,-0.985996]
2025-08-19T18:25:06.999Z,1755627906.999 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:07.002Z,1755627907.002 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.430996
2025-08-19T18:25:07.239Z,1755627907.239 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.667137
2025-08-19T18:25:07.491Z,1755627907.491 [DAT](INFO): DAT read: Rx Time:18:25:05.5989 

2025-08-19T18:25:07.491Z,1755627907.491 [DAT](INFO): Rx dataTimestamp_ set to:1755627907.491187
2025-08-19T18:25:07.495Z,1755627907.495 [DAT](INFO): DAT read: Bearing 193.8,   9.0 (Local)

2025-08-19T18:25:07.496Z,1755627907.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.8,   9.0 (Local)

2025-08-19T18:25:07.507Z,1755627907.507 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:07.533Z,1755627907.533 [DAT](INFO): DAT read: 18:25:05.5989 LVL= 26752, 28657, 30738, 25651, AGC= 31, IDX= 506, 0.01, 1.949, 1.723, 1.770, 0.036, PHS= 2.015, 1.733, 1.690, RAW=  83.1, -81.0, CAL=  84.6, -80.5, ROT=  65.4,  80.5

2025-08-19T18:25:07.560Z,1755627907.560 [DAT](INFO): got valid direction response:
 18:25:05.5989 LVL= 26752, 28657, 30738, 25651, AGC= 31, IDX= 506, 0.01, 1.949, 1.723, 1.770, 0.036, PHS= 2.015, 1.733, 1.690, RAW=  83.1, -81.0, CAL=  84.6, -80.5, ROT=  65.4,  80.5

2025-08-19T18:25:07.560Z,1755627907.560 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-19T18:25:07.561Z,1755627907.561 [DAT](INFO): direction in FSK: [0.068706,0.150067,-0.986286]
2025-08-19T18:25:07.570Z,1755627907.570 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:07.586Z,1755627907.586 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.014370
2025-08-19T18:25:07.743Z,1755627907.743 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.171062
2025-08-19T18:25:08.004Z,1755627908.004 [DAT](INFO): DAT read: Rx Time:18:25:06.0990 

2025-08-19T18:25:08.005Z,1755627908.005 [DAT](INFO): Rx dataTimestamp_ set to:1755627908.004461
2025-08-19T18:25:08.007Z,1755627908.007 [DAT](INFO): DAT read: Bearing 194.7,   8.9 (Local)

2025-08-19T18:25:08.007Z,1755627908.007 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.7,   8.9 (Local)

2025-08-19T18:25:08.010Z,1755627908.010 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:08.024Z,1755627908.024 [DAT](INFO): DAT read: 18:25:06.0990 LVL= 26928, 28529, 30898, 25683, AGC= 31, IDX= 507, 0.12,-2.114,-2.341,-2.295, 2.253, PHS= 2.018, 1.733, 1.691, RAW=  83.1, -80.9, CAL=  84.6, -80.5, ROT=  65.4,  80.5

2025-08-19T18:25:08.027Z,1755627908.027 [DAT](INFO): got valid direction response:
 18:25:06.0990 LVL= 26928, 28529, 30898, 25683, AGC= 31, IDX= 507, 0.12,-2.114,-2.341,-2.295, 2.253, PHS= 2.018, 1.733, 1.691, RAW=  83.1, -80.9, CAL=  84.6, -80.5, ROT=  65.4,  80.5

2025-08-19T18:25:08.027Z,1755627908.027 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-19T18:25:08.028Z,1755627908.028 [DAT](INFO): direction in FSK: [0.068706,0.150067,-0.986286]
2025-08-19T18:25:08.029Z,1755627908.029 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:08.032Z,1755627908.032 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.460606
2025-08-19T18:25:08.255Z,1755627908.255 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.683060
2025-08-19T18:25:08.511Z,1755627908.511 [DAT](INFO): DAT read: Rx Time:18:25:06.5989 

2025-08-19T18:25:08.512Z,1755627908.512 [DAT](INFO): Rx dataTimestamp_ set to:1755627908.511295
2025-08-19T18:25:08.517Z,1755627908.517 [DAT](INFO): DAT read: Bearing 196.0,   8.9 (Local)

2025-08-19T18:25:08.518Z,1755627908.518 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.0,   8.9 (Local)

2025-08-19T18:25:08.524Z,1755627908.524 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:08.541Z,1755627908.541 [DAT](INFO): DAT read: 18:25:06.5989 LVL= 29872, 30545, 32754, 27427, AGC= 31, IDX= 506, 0.25,-3.091, 2.958, 3.010, 1.278, PHS= 2.016, 1.725, 1.688, RAW=  84.1, -80.8, CAL=  85.7, -80.3, ROT=  64.3,  80.3

2025-08-19T18:25:08.545Z,1755627908.545 [DAT](INFO): got valid direction response:
 18:25:06.5989 LVL= 29872, 30545, 32754, 27427, AGC= 31, IDX= 506, 0.25,-3.091, 2.958, 3.010, 1.278, PHS= 2.016, 1.725, 1.688, RAW=  84.1, -80.8, CAL=  85.7, -80.3, ROT=  64.3,  80.3

2025-08-19T18:25:08.582Z,1755627908.582 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-19T18:25:08.583Z,1755627908.583 [DAT](INFO): direction in FSK: [0.073067,0.151822,-0.985703]
2025-08-19T18:25:08.583Z,1755627908.583 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:08.610Z,1755627908.610 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.033871
2025-08-19T18:25:08.759Z,1755627908.759 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.187027
2025-08-19T18:25:09.011Z,1755627909.011 [DAT](INFO): DAT read: Rx Time:18:25:07.0990 

2025-08-19T18:25:09.012Z,1755627909.012 [DAT](INFO): Rx dataTimestamp_ set to:1755627909.011271
2025-08-19T18:25:09.013Z,1755627909.013 [DAT](INFO): DAT read: Bearing 197.0,   8.5 (Local)

2025-08-19T18:25:09.013Z,1755627909.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.0,   8.5 (Local)

2025-08-19T18:25:09.015Z,1755627909.015 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:09.020Z,1755627909.020 [DAT](INFO): DAT read: 18:25:07.0990 LVL= 24960, 26081, 27698, 24211, AGC= 31, IDX= 507, 0.37,-1.682,-1.909,-1.855, 2.696, PHS= 2.007, 1.723, 1.689, RAW=  84.3, -81.0, CAL=  85.8, -80.6, ROT=  64.2,  80.6

2025-08-19T18:25:09.021Z,1755627909.021 [DAT](INFO): got valid direction response:
 18:25:07.0990 LVL= 24960, 26081, 27698, 24211, AGC= 31, IDX= 507, 0.37,-1.682,-1.909,-1.855, 2.696, PHS= 2.007, 1.723, 1.689, RAW=  84.3, -81.0, CAL=  85.8, -80.6, ROT=  64.2,  80.6

2025-08-19T18:25:09.022Z,1755627909.022 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-19T18:25:09.023Z,1755627909.023 [DAT](INFO): direction in FSK: [0.071085,0.147045,-0.986572]
2025-08-19T18:25:09.023Z,1755627909.023 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:09.047Z,1755627909.047 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.475685
2025-08-19T18:25:09.263Z,1755627909.263 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.691071
2025-08-19T18:25:09.515Z,1755627909.515 [DAT](INFO): DAT read: Rx Time:18:25:07.5990 

2025-08-19T18:25:09.516Z,1755627909.516 [DAT](INFO): Rx dataTimestamp_ set to:1755627909.515352
2025-08-19T18:25:09.517Z,1755627909.517 [DAT](INFO): DAT read: Bearing 198.3,   8.5 (Local)

2025-08-19T18:25:09.517Z,1755627909.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.3,   8.5 (Local)

2025-08-19T18:25:09.519Z,1755627909.519 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:09.539Z,1755627909.539 [DAT](INFO): DAT read: 18:25:07.5990 LVL= 29568, 30033, 32754, 26723, AGC= 31, IDX= 507,-0.38, 1.561, 1.330, 1.385,-0.336, PHS= 1.999, 1.710, 1.677, RAW=  84.5, -80.8, CAL=  86.1, -80.4, ROT=  63.9,  80.4

2025-08-19T18:25:09.543Z,1755627909.543 [DAT](INFO): got valid direction response:
 18:25:07.5990 LVL= 29568, 30033, 32754, 26723, AGC= 31, IDX= 507,-0.38, 1.561, 1.330, 1.385,-0.336, PHS= 1.999, 1.710, 1.677, RAW=  84.5, -80.8, CAL=  86.1, -80.4, ROT=  63.9,  80.4

2025-08-19T18:25:09.544Z,1755627909.544 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-19T18:25:09.560Z,1755627909.560 [DAT](INFO): direction in FSK: [0.073368,0.149763,-0.985996]
2025-08-19T18:25:09.561Z,1755627909.561 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:09.606Z,1755627909.606 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.025566
2025-08-19T18:25:09.767Z,1755627909.767 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.195065
2025-08-19T18:25:10.019Z,1755627910.019 [DAT](INFO): DAT read: Rx Time:18:25:08.0990 

2025-08-19T18:25:10.020Z,1755627910.020 [DAT](INFO): Rx dataTimestamp_ set to:1755627910.019272
2025-08-19T18:25:10.021Z,1755627910.021 [DAT](INFO): DAT read: Bearing 199.4,   8.5 (Local)

2025-08-19T18:25:10.021Z,1755627910.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.4,   8.5 (Local)

2025-08-19T18:25:10.023Z,1755627910.023 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:10.028Z,1755627910.028 [DAT](INFO): DAT read: 18:25:08.0990 LVL= 29536, 29905, 32754, 26611, AGC= 31, IDX= 507,-0.21, 1.145, 0.913, 0.968,-0.744, PHS= 1.991, 1.702, 1.668, RAW=  84.5, -80.8, CAL=  86.1, -80.3, ROT=  63.9,  80.3

2025-08-19T18:25:10.029Z,1755627910.029 [DAT](INFO): got valid direction response:
 18:25:08.0990 LVL= 29536, 29905, 32754, 26611, AGC= 31, IDX= 507,-0.21, 1.145, 0.913, 0.968,-0.744, PHS= 1.991, 1.702, 1.668, RAW=  84.5, -80.8, CAL=  86.1, -80.3, ROT=  63.9,  80.3

2025-08-19T18:25:10.029Z,1755627910.029 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-19T18:25:10.030Z,1755627910.030 [DAT](INFO): direction in FSK: [0.074125,0.151308,-0.985703]
2025-08-19T18:25:10.031Z,1755627910.031 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:10.038Z,1755627910.038 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.466911
2025-08-19T18:25:10.270Z,1755627910.270 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.698898
2025-08-19T18:25:10.524Z,1755627910.524 [DAT](INFO): DAT read: Rx Time:18:25:08.5989 

2025-08-19T18:25:10.526Z,1755627910.526 [DAT](INFO): Rx dataTimestamp_ set to:1755627910.525097
2025-08-19T18:25:10.530Z,1755627910.530 [DAT](INFO): DAT read: Bearing 200.4,   8.4 (Local)

2025-08-19T18:25:10.531Z,1755627910.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.4,   8.4 (Local)

2025-08-19T18:25:10.538Z,1755627910.538 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:10.552Z,1755627910.552 [DAT](INFO): DAT read: 18:25:08.5989 LVL= 29424, 30193, 32754, 26611, AGC= 31, IDX= 506,-0.10, 0.198,-0.034, 0.022,-1.687, PHS= 1.987, 1.698, 1.665, RAW=  84.6, -80.8, CAL=  86.2, -80.3, ROT=  63.8,  80.3

2025-08-19T18:25:10.555Z,1755627910.555 [DAT](INFO): got valid direction response:
 18:25:08.5989 LVL= 29424, 30193, 32754, 26611, AGC= 31, IDX= 506,-0.10, 0.198,-0.034, 0.022,-1.687, PHS= 1.987, 1.698, 1.665, RAW=  84.6, -80.8, CAL=  86.2, -80.3, ROT=  63.8,  80.3

2025-08-19T18:25:10.556Z,1755627910.556 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-19T18:25:10.588Z,1755627910.588 [DAT](INFO): direction in FSK: [0.074389,0.151179,-0.985703]
2025-08-19T18:25:10.598Z,1755627910.598 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:10.639Z,1755627910.639 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.067356
2025-08-19T18:25:10.775Z,1755627910.775 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.203136
2025-08-19T18:25:10.915Z,1755627910.915 [DockingStepper](FAULT): Timed out moving from: 10418 to: 14700 response: ÿ
2025-08-19T18:25:10.915Z,1755627910.915 [DockingStepper] Hardware Fault, FailCount= 3
2025-08-19T18:25:10.916Z,1755627910.916 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:25:10.954Z,1755627910.954 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:25:11.027Z,1755627911.027 [DAT](INFO): DAT read: Rx Time:18:25:09.0990 

2025-08-19T18:25:11.027Z,1755627911.027 [DAT](INFO): Rx dataTimestamp_ set to:1755627911.027136
2025-08-19T18:25:11.029Z,1755627911.029 [DAT](INFO): DAT read: Bearing 201.3,   8.2 (Local)

2025-08-19T18:25:11.029Z,1755627911.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.3,   8.2 (Local)

2025-08-19T18:25:11.031Z,1755627911.031 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:11.036Z,1755627911.036 [DAT](INFO): DAT read: 18:25:09.0990 LVL= 29792, 30177, 32754, 27043, AGC= 31, IDX= 507, 0.01, 2.344, 2.107, 2.169, 0.446, PHS= 2.000, 1.706, 1.678, RAW=  85.6, -80.8, CAL=  87.2, -80.3, ROT=  62.8,  80.3

2025-08-19T18:25:11.037Z,1755627911.037 [DAT](INFO): got valid direction response:
 18:25:09.0990 LVL= 29792, 30177, 32754, 27043, AGC= 31, IDX= 507, 0.01, 2.344, 2.107, 2.169, 0.446, PHS= 2.000, 1.706, 1.678, RAW=  85.6, -80.8, CAL=  87.2, -80.3, ROT=  62.8,  80.3

2025-08-19T18:25:11.037Z,1755627911.037 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-19T18:25:11.039Z,1755627911.039 [DAT](INFO): direction in FSK: [0.077016,0.149857,-0.985703]
2025-08-19T18:25:11.039Z,1755627911.039 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:11.043Z,1755627911.043 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.471210
2025-08-19T18:25:11.210Z,1755627911.210 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:25:11.210Z,1755627911.210 [DockingStepper](INFO): Powering down
2025-08-19T18:25:11.279Z,1755627911.279 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.707199
2025-08-19T18:25:11.532Z,1755627911.532 [DAT](INFO): DAT read: Rx Time:18:25:09.5989 

2025-08-19T18:25:11.532Z,1755627911.532 [DAT](INFO): Rx dataTimestamp_ set to:1755627911.531864
2025-08-19T18:25:11.534Z,1755627911.534 [DAT](INFO): DAT read: Bearing 201.9,   8.1 (Local)

2025-08-19T18:25:11.534Z,1755627911.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.9,   8.1 (Local)

2025-08-19T18:25:11.536Z,1755627911.536 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:11.595Z,1755627911.595 [DAT](INFO): DAT read: 18:25:09.5989 LVL= 29520, 30113, 32754, 26611, AGC= 31, IDX= 506, 0.11, 2.137, 1.899, 1.961, 0.232, PHS= 2.007, 1.712, 1.685, RAW=  85.7, -80.8, CAL=  87.3, -80.4, ROT=  62.7,  80.4

2025-08-19T18:25:11.608Z,1755627911.608 [DAT](INFO): got valid direction response:
 18:25:09.5989 LVL= 29520, 30113, 32754, 26611, AGC= 31, IDX= 506, 0.11, 2.137, 1.899, 1.961, 0.232, PHS= 2.007, 1.712, 1.685, RAW=  85.7, -80.8, CAL=  87.3, -80.4, ROT=  62.7,  80.4

2025-08-19T18:25:11.625Z,1755627911.625 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-19T18:25:11.626Z,1755627911.626 [DAT](INFO): direction in FSK: [0.076488,0.148194,-0.985996]
2025-08-19T18:25:11.627Z,1755627911.627 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:11.637Z,1755627911.637 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.065624
2025-08-19T18:25:11.783Z,1755627911.783 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.211029
2025-08-19T18:25:12.036Z,1755627912.036 [DAT](INFO): DAT read: Rx Time:18:25:10.0990 

2025-08-19T18:25:12.036Z,1755627912.036 [DAT](INFO): Rx dataTimestamp_ set to:1755627912.036186
2025-08-19T18:25:12.038Z,1755627912.038 [DAT](INFO): DAT read: Bearing 202.4,   8.0 (Local)

2025-08-19T18:25:12.039Z,1755627912.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.4,   8.0 (Local)

2025-08-19T18:25:12.041Z,1755627912.041 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:12.052Z,1755627912.052 [DAT](INFO): DAT read: 18:25:10.0990 LVL= 26352, 27825, 30802, 25235, AGC= 31, IDX= 507, 0.23,-2.720,-2.956,-2.893, 1.660, PHS= 2.005, 1.712, 1.686, RAW=  85.7, -80.9, CAL=  87.3, -80.4, ROT=  62.7,  80.4

2025-08-19T18:25:12.053Z,1755627912.053 [DAT](INFO): got valid direction response:
 18:25:10.0990 LVL= 26352, 27825, 30802, 25235, AGC= 31, IDX= 507, 0.23,-2.720,-2.956,-2.893, 1.660, PHS= 2.005, 1.712, 1.686, RAW=  85.7, -80.9, CAL=  87.3, -80.4, ROT=  62.7,  80.4

2025-08-19T18:25:12.062Z,1755627912.062 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-19T18:25:12.063Z,1755627912.063 [DAT](INFO): direction in FSK: [0.076488,0.148194,-0.985996]
2025-08-19T18:25:12.063Z,1755627912.063 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:12.071Z,1755627912.071 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.499054
2025-08-19T18:25:12.286Z,1755627912.286 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.714874
2025-08-19T18:25:12.543Z,1755627912.543 [DAT](INFO): DAT read: Rx Time:18:25:10.5989 

2025-08-19T18:25:12.543Z,1755627912.543 [DAT](INFO): Rx dataTimestamp_ set to:1755627912.542720
2025-08-19T18:25:12.544Z,1755627912.544 [DAT](INFO): DAT read: Bearing 202.8,   8.0 (Local)

2025-08-19T18:25:12.545Z,1755627912.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.8,   8.0 (Local)

2025-08-19T18:25:12.547Z,1755627912.547 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:12.551Z,1755627912.551 [DAT](INFO): DAT read: 18:25:10.5989 LVL= 29104, 29889, 32754, 26659, AGC= 31, IDX= 506, 0.41, 1.972, 1.732, 1.796, 0.069, PHS= 2.005, 1.708, 1.683, RAW=  86.0, -80.8, CAL=  87.6, -80.3, ROT=  62.4,  80.3

2025-08-19T18:25:12.555Z,1755627912.555 [DAT](INFO): got valid direction response:
 18:25:10.5989 LVL= 29104, 29889, 32754, 26659, AGC= 31, IDX= 506, 0.41, 1.972, 1.732, 1.796, 0.069, PHS= 2.005, 1.708, 1.683, RAW=  86.0, -80.8, CAL=  87.6, -80.3, ROT=  62.4,  80.3

2025-08-19T18:25:12.556Z,1755627912.556 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-19T18:25:12.560Z,1755627912.560 [DAT](INFO): direction in FSK: [0.078060,0.149316,-0.985703]
2025-08-19T18:25:12.560Z,1755627912.560 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:12.607Z,1755627912.607 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.035236
2025-08-19T18:25:12.790Z,1755627912.790 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.218983
2025-08-19T18:25:13.043Z,1755627913.043 [DAT](INFO): DAT read: Rx Time:18:25:11.0991 

2025-08-19T18:25:13.043Z,1755627913.043 [DAT](INFO): Rx dataTimestamp_ set to:1755627913.043114
2025-08-19T18:25:13.045Z,1755627913.045 [DAT](INFO): DAT read: Bearing 202.7,   7.7 (Local)

2025-08-19T18:25:13.045Z,1755627913.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.7,   7.7 (Local)

2025-08-19T18:25:13.047Z,1755627913.047 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-19T18:25:13.052Z,1755627913.052 [DAT](INFO): DAT read: 18:25:11.0991 LVL= 26192, 27985, 30706, 25155, AGC= 32, IDX= 508,-0.35, 1.375, 1.149, 1.211,-0.528, PHS= 2.005, 1.721, 1.694, RAW=  85.5, -81.2, CAL=  87.0, -80.7, ROT=  63.0,  80.7

2025-08-19T18:25:13.053Z,1755627913.053 [DAT](INFO): got valid direction response:
 18:25:11.0991 LVL= 26192, 27985, 30706, 25155, AGC= 32, IDX= 508,-0.35, 1.375, 1.149, 1.211,-0.528, PHS= 2.005, 1.721, 1.694, RAW=  85.5, -81.2, CAL=  87.0, -80.7, ROT=  63.0,  80.7

2025-08-19T18:25:13.053Z,1755627913.053 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-19T18:25:13.054Z,1755627913.054 [DAT](INFO): direction in FSK: [0.073367,0.143990,-0.986856]
2025-08-19T18:25:13.054Z,1755627913.054 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:13.058Z,1755627913.058 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.486588
2025-08-19T18:25:13.294Z,1755627913.294 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.722996
2025-08-19T18:25:13.547Z,1755627913.547 [DAT](INFO): DAT read: Rx Time:18:25:11.5989 

2025-08-19T18:25:13.547Z,1755627913.547 [DAT](INFO): Rx dataTimestamp_ set to:1755627913.547171
2025-08-19T18:25:13.549Z,1755627913.549 [DAT](INFO): DAT read: Bearing 203.0,   8.2 (Local)

2025-08-19T18:25:13.549Z,1755627913.549 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.0,   8.2 (Local)

2025-08-19T18:25:13.551Z,1755627913.551 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:13.555Z,1755627913.555 [DAT](INFO): DAT read: 18:25:11.5989 LVL= 29040, 29761, 32754, 26579, AGC= 31, IDX= 507,-0.20, 0.411, 0.15,-1.468, PHS= 1.980, 1.685, 1.659, RAW=  85.8, -80.7, CAL=  87.5, -80.2, ROT=  62.5,  80.2

2025-08-19T18:25:13.556Z,1755627913.556 [DAT](INFO): unknown deviceResponse_: 18:25:11.5989 LVL= 29040, 29761, 32754, 26579, AGC= 31, IDX= 507,-0.20, 0.411, 0.15,-1.468, PHS= 1.980, 1.685, 1.659, RAW=  85.8, -80.7, CAL=  87.5, -80.2, ROT=  62.5,  80.2

2025-08-19T18:25:13.557Z,1755627913.557 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-08-19T18:25:13.562Z,1755627913.562 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.990276
2025-08-19T18:25:13.798Z,1755627913.798 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.227001
2025-08-19T18:25:14.051Z,1755627914.051 [DAT](INFO): DAT read: Rx Time:18:25:12.0989 

2025-08-19T18:25:14.052Z,1755627914.052 [DAT](INFO): Rx dataTimestamp_ set to:1755627914.051665
2025-08-19T18:25:14.054Z,1755627914.054 [DAT](INFO): DAT read: Bearing 202.9,   8.2 (Local)

2025-08-19T18:25:14.054Z,1755627914.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.9,   8.2 (Local)

2025-08-19T18:25:14.056Z,1755627914.056 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:14.061Z,1755627914.061 [DAT](INFO): DAT read: 18:25:12.0989 LVL= 28992, 30049, 32754, 26835, AGC= 31, IDX= 507,-0.08, 0.666, 0.425, 0.488,-1.216, PHS= 1.984, 1.686, 1.660, RAW=  85.9, -80.6, CAL=  87.5, -80.1, ROT=  62.5,  80.1

2025-08-19T18:25:14.062Z,1755627914.062 [DAT](INFO): got valid direction response:
 18:25:12.0989 LVL= 28992, 30049, 32754, 26835, AGC= 31, IDX= 507,-0.08, 0.666, 0.425, 0.488,-1.216, PHS= 1.984, 1.686, 1.660, RAW=  85.9, -80.6, CAL=  87.5, -80.1, ROT=  62.5,  80.1

2025-08-19T18:25:14.063Z,1755627914.063 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-19T18:25:14.064Z,1755627914.064 [DAT](INFO): direction in FSK: [0.079388,0.152503,-0.985109]
2025-08-19T18:25:14.064Z,1755627914.064 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:14.068Z,1755627914.068 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.496216
2025-08-19T18:25:14.303Z,1755627914.303 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.731030
2025-08-19T18:25:14.555Z,1755627914.555 [DAT](INFO): DAT read: Rx Time:18:25:12.5988 

2025-08-19T18:25:14.555Z,1755627914.555 [DAT](INFO): Rx dataTimestamp_ set to:1755627914.555163
2025-08-19T18:25:14.557Z,1755627914.557 [DAT](INFO): DAT read: Bearing 202.7,   8.3 (Local)

2025-08-19T18:25:14.557Z,1755627914.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.7,   8.3 (Local)

2025-08-19T18:25:14.559Z,1755627914.559 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:25:14.564Z,1755627914.564 [DAT](INFO): DAT read: 18:25:12.5988 LVL= 28864, 29729, 32754, 26419, AGC= 31, IDX= 506, 0.03, 0.437, 0.192, 0.254,-1.457, PHS= 1.995, 1.694, 1.667, RAW=  85.9, -80.5, CAL=  87.5, -80.1, ROT=  62.5,  80.1

2025-08-19T18:25:14.565Z,1755627914.565 [DAT](INFO): got valid direction response:
 18:25:12.5988 LVL= 28864, 29729, 32754, 26419, AGC= 31, IDX= 506, 0.03, 0.437, 0.192, 0.254,-1.457, PHS= 1.995, 1.694, 1.667, RAW=  85.9, -80.5, CAL=  87.5, -80.1, ROT=  62.5,  80.1

2025-08-19T18:25:14.565Z,1755627914.565 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-19T18:25:14.566Z,1755627914.566 [DAT](INFO): direction in FSK: [0.079388,0.152503,-0.985109]
2025-08-19T18:25:14.567Z,1755627914.567 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:14.592Z,1755627914.592 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.020260
2025-08-19T18:25:14.806Z,1755627914.806 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.234970
2025-08-19T18:25:15.059Z,1755627915.059 [DAT](INFO): DAT read: Rx Time:18:25:13.0989 

2025-08-19T18:25:15.059Z,1755627915.059 [DAT](INFO): Rx dataTimestamp_ set to:1755627915.059192
2025-08-19T18:25:15.061Z,1755627915.061 [DAT](INFO): DAT read: Bearing 202.0,   8.0 (Local)

2025-08-19T18:25:15.061Z,1755627915.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.0,   8.0 (Local)

2025-08-19T18:25:15.063Z,1755627915.063 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:15.068Z,1755627915.068 [DAT](INFO): DAT read: 18:25:13.0989 LVL= 25872, 27953, 30770, 25299, AGC= 32, IDX= 507, 0.14, 1.973, 1.737, 1.799, 0.057, PHS= 2.018, 1.724, 1.697, RAW=  85.6, -80.9, CAL=  87.2, -80.5, ROT=  62.8,  80.5

2025-08-19T18:25:15.069Z,1755627915.069 [DAT](INFO): got valid direction response:
 18:25:13.0989 LVL= 25872, 27953, 30770, 25299, AGC= 32, IDX= 507, 0.14, 1.973, 1.737, 1.799, 0.057, PHS= 2.018, 1.724, 1.697, RAW=  85.6, -80.9, CAL=  87.2, -80.5, ROT=  62.8,  80.5

2025-08-19T18:25:15.069Z,1755627915.069 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-19T18:25:15.070Z,1755627915.070 [DAT](INFO): direction in FSK: [0.075443,0.146796,-0.986286]
2025-08-19T18:25:15.070Z,1755627915.070 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:15.074Z,1755627915.074 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.502552
2025-08-19T18:25:15.311Z,1755627915.311 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.739037
2025-08-19T18:25:15.563Z,1755627915.563 [DAT](INFO): DAT read: Rx Time:18:25:13.5988 

2025-08-19T18:25:15.564Z,1755627915.564 [DAT](INFO): Rx dataTimestamp_ set to:1755627915.563286
2025-08-19T18:25:15.565Z,1755627915.565 [DAT](INFO): DAT read: Bearing 201.9,   8.4 (Local)

2025-08-19T18:25:15.565Z,1755627915.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.9,   8.4 (Local)

2025-08-19T18:25:15.567Z,1755627915.567 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:25:15.572Z,1755627915.572 [DAT](INFO): DAT read: 18:25:13.5988 LVL= 28864, 30033, 32754, 26659, AGC= 31, IDX= 506, 0.25, 0.961, 0.711, 0.776,-0.937, PHS= 2.000, 1.693, 1.669, RAW=  86.4, -80.4, CAL=  88.0, -80.0, ROT=  62.0,  80.0

2025-08-19T18:25:15.573Z,1755627915.573 [DAT](INFO): got valid direction response:
 18:25:13.5988 LVL= 28864, 30033, 32754, 26659, AGC= 31, IDX= 506, 0.25, 0.961, 0.711, 0.776,-0.937, PHS= 2.000, 1.693, 1.669, RAW=  86.4, -80.4, CAL=  88.0, -80.0, ROT=  62.0,  80.0

2025-08-19T18:25:15.573Z,1755627915.573 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-19T18:25:15.574Z,1755627915.574 [DAT](INFO): direction in FSK: [0.081523,0.153322,-0.984808]
2025-08-19T18:25:15.575Z,1755627915.575 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:15.584Z,1755627915.584 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.011868
2025-08-19T18:25:15.814Z,1755627915.814 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.243004
2025-08-19T18:25:16.067Z,1755627916.067 [DAT](INFO): DAT read: Rx Time:18:25:14.0989 

2025-08-19T18:25:16.067Z,1755627916.067 [DAT](INFO): Rx dataTimestamp_ set to:1755627916.067176
2025-08-19T18:25:16.069Z,1755627916.069 [DAT](INFO): DAT read: Bearing 201.2,   8.2 (Local)

2025-08-19T18:25:16.069Z,1755627916.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.2,   8.2 (Local)

2025-08-19T18:25:16.071Z,1755627916.071 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:16.076Z,1755627916.076 [DAT](INFO): DAT read: 18:25:14.0989 LVL= 26096, 28241, 30866, 25747, AGC= 32, IDX= 507, 0.44, 2.419, 2.178, 2.242, 0.503, PHS= 2.018, 1.721, 1.695, RAW=  86.0, -80.8, CAL=  87.6, -80.3, ROT=  62.4,  80.3

2025-08-19T18:25:16.078Z,1755627916.078 [DAT](INFO): got valid direction response:
 18:25:14.0989 LVL= 26096, 28241, 30866, 25747, AGC= 32, IDX= 507, 0.44, 2.419, 2.178, 2.242, 0.503, PHS= 2.018, 1.721, 1.695, RAW=  86.0, -80.8, CAL=  87.6, -80.3, ROT=  62.4,  80.3

2025-08-19T18:25:16.079Z,1755627916.079 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-19T18:25:16.080Z,1755627916.080 [DAT](INFO): direction in FSK: [0.078060,0.149316,-0.985703]
2025-08-19T18:25:16.081Z,1755627916.081 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:16.087Z,1755627916.087 [DAT](INFO): ****** received valid address query ******
2025-08-19T18:25:16.087Z,1755627916.087 [DAT](INFO): ****** received valid ping request ******
2025-08-19T18:25:16.088Z,1755627916.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:16.318Z,1755627916.318 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:16.318Z,1755627916.318 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:16.319Z,1755627916.319 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:16.571Z,1755627916.571 [DAT](INFO): DAT read: Rx Time:18:25:14.5989 

2025-08-19T18:25:16.571Z,1755627916.571 [DAT](INFO): Rx dataTimestamp_ set to:1755627916.571149
2025-08-19T18:25:16.573Z,1755627916.573 [DAT](INFO): DAT read: Bearing 201.1,   8.6 (Local)

2025-08-19T18:25:16.573Z,1755627916.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.1,   8.6 (Local)

2025-08-19T18:25:16.575Z,1755627916.575 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:16.583Z,1755627916.583 [DAT](INFO): DAT read: 18:25:14.5989 LVL= 29136, 29681, 32754, 26579, AGC= 31, IDX= 507,-0.34,-0.727,-0.976,-0.910,-2.601, PHS= 1.976, 1.669, 1.646, RAW=  86.4, -80.3, CAL=  88.1, -79.9, ROT=  61.9,  79.9

2025-08-19T18:25:16.585Z,1755627916.585 [DAT](INFO): got valid direction response:
 18:25:14.5989 LVL= 29136, 29681, 32754, 26579, AGC= 31, IDX= 507,-0.34,-0.727,-0.976,-0.910,-2.601, PHS= 1.976, 1.669, 1.646, RAW=  86.4, -80.3, CAL=  88.1, -79.9, ROT=  61.9,  79.9

2025-08-19T18:25:16.585Z,1755627916.585 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:16.587Z,1755627916.587 [DAT](INFO): direction in FSK: [0.082600,0.154696,-0.984503]
2025-08-19T18:25:16.587Z,1755627916.587 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:16.592Z,1755627916.592 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:16.593Z,1755627916.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:16.822Z,1755627916.822 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:16.822Z,1755627916.822 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:16.823Z,1755627916.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:17.075Z,1755627917.075 [DAT](INFO): DAT read: Rx Time:18:25:15.0990 

2025-08-19T18:25:17.076Z,1755627917.076 [DAT](INFO): Rx dataTimestamp_ set to:1755627917.075761
2025-08-19T18:25:17.079Z,1755627917.079 [DAT](INFO): DAT read: Bearing 200.6,   8.7 (Local)

2025-08-19T18:25:17.079Z,1755627917.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.6,   8.7 (Local)

2025-08-19T18:25:17.083Z,1755627917.083 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:17.089Z,1755627917.089 [DAT](INFO): DAT read: 18:25:15.0990 LVL= 29168, 29937, 32754, 26867, AGC= 31, IDX= 508,-0.19, 0.712, 0.461, 0.529,-1.166, PHS= 1.980, 1.672, 1.652, RAW=  86.8, -80.3, CAL=  88.6, -79.9, ROT=  61.4,  79.9

2025-08-19T18:25:17.091Z,1755627917.091 [DAT](INFO): got valid direction response:
 18:25:15.0990 LVL= 29168, 29937, 32754, 26867, AGC= 31, IDX= 508,-0.19, 0.712, 0.461, 0.529,-1.166, PHS= 1.980, 1.672, 1.652, RAW=  86.8, -80.3, CAL=  88.6, -79.9, ROT=  61.4,  79.9

2025-08-19T18:25:17.092Z,1755627917.092 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:17.093Z,1755627917.093 [DAT](INFO): direction in FSK: [0.083947,0.153969,-0.984503]
2025-08-19T18:25:17.094Z,1755627917.094 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:17.110Z,1755627917.110 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:17.110Z,1755627917.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:17.326Z,1755627917.326 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:17.326Z,1755627917.326 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:17.327Z,1755627917.327 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:17.581Z,1755627917.581 [DAT](INFO): DAT read: Rx Time:18:25:15.5989 

2025-08-19T18:25:17.581Z,1755627917.581 [DAT](INFO): Rx dataTimestamp_ set to:1755627917.580722
2025-08-19T18:25:17.584Z,1755627917.584 [DAT](INFO): DAT read: Bearing 200.1,   8.9 (Local)

2025-08-19T18:25:17.584Z,1755627917.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.1,   8.9 (Local)

2025-08-19T18:25:17.587Z,1755627917.587 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:17.594Z,1755627917.594 [DAT](INFO): DAT read: 18:25:15.5989 LVL= 29168, 30337, 32754, 26787, AGC= 31, IDX= 507,-0.08,-0.289,-0.544,-0.476,-2.164, PHS= 1.977, 1.666, 1.644, RAW=  86.7, -80.2, CAL=  88.4, -79.7, ROT=  61.6,  79.7

2025-08-19T18:25:17.596Z,1755627917.596 [DAT](INFO): got valid direction response:
 18:25:15.5989 LVL= 29168, 30337, 32754, 26787, AGC= 31, IDX= 507,-0.08,-0.289,-0.544,-0.476,-2.164, PHS= 1.977, 1.666, 1.644, RAW=  86.7, -80.2, CAL=  88.4, -79.7, ROT=  61.6,  79.7

2025-08-19T18:25:17.596Z,1755627917.596 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:17.607Z,1755627917.607 [DAT](INFO): direction in FSK: [0.085043,0.157283,-0.983885]
2025-08-19T18:25:17.607Z,1755627917.607 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:17.615Z,1755627917.615 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:17.615Z,1755627917.615 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:17.830Z,1755627917.830 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:17.830Z,1755627917.830 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:17.831Z,1755627917.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:18.084Z,1755627918.084 [DAT](INFO): DAT read: Rx Time:18:25:16.0989 

2025-08-19T18:25:18.085Z,1755627918.085 [DAT](INFO): Rx dataTimestamp_ set to:1755627918.084594
2025-08-19T18:25:18.087Z,1755627918.087 [DAT](INFO): DAT read: Bearing 199.7,   9.0 (Local)

2025-08-19T18:25:18.088Z,1755627918.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.7,   9.0 (Local)

2025-08-19T18:25:18.091Z,1755627918.091 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:18.106Z,1755627918.106 [DAT](INFO): DAT read: 18:25:16.0989 LVL= 28832, 30129, 32754, 26691, AGC= 31, IDX= 507, 0.02, 0.611, 0.352, 0.419,-1.275, PHS= 1.988, 1.671, 1.650, RAW=  86.7, -80.1, CAL=  88.5, -79.6, ROT=  61.5,  79.6

2025-08-19T18:25:18.107Z,1755627918.107 [DAT](INFO): got valid direction response:
 18:25:16.0989 LVL= 28832, 30129, 32754, 26691, AGC= 31, IDX= 507, 0.02, 0.611, 0.352, 0.419,-1.275, PHS= 1.988, 1.671, 1.650, RAW=  86.7, -80.1, CAL=  88.5, -79.6, ROT=  61.5,  79.6

2025-08-19T18:25:18.108Z,1755627918.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:18.109Z,1755627918.109 [DAT](INFO): direction in FSK: [0.086136,0.158643,-0.983571]
2025-08-19T18:25:18.109Z,1755627918.109 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:18.116Z,1755627918.116 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:18.117Z,1755627918.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:18.337Z,1755627918.337 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:18.337Z,1755627918.337 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:18.338Z,1755627918.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:18.589Z,1755627918.589 [DAT](INFO): DAT read: Rx Time:18:25:16.5988 

2025-08-19T18:25:18.589Z,1755627918.589 [DAT](INFO): Rx dataTimestamp_ set to:1755627918.588711
2025-08-19T18:25:18.591Z,1755627918.591 [DAT](INFO): DAT read: Bearing 199.3,   9.2 (Local)

2025-08-19T18:25:18.592Z,1755627918.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.3,   9.2 (Local)

2025-08-19T18:25:18.595Z,1755627918.595 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:25:18.602Z,1755627918.602 [DAT](INFO): DAT read: 18:25:16.5988 LVL= 28048, 29601, 32754, 26227, AGC= 31, IDX= 506, 0.12, 0.345, 0.081, 0.147,-1.549, PHS= 1.996, 1.676, 1.652, RAW=  86.5, -80.0, CAL=  88.3, -79.5, ROT=  61.7,  79.5

2025-08-19T18:25:18.604Z,1755627918.604 [DAT](INFO): got valid direction response:
 18:25:16.5988 LVL= 28048, 29601, 32754, 26227, AGC= 31, IDX= 506, 0.12, 0.345, 0.081, 0.147,-1.549, PHS= 1.996, 1.676, 1.652, RAW=  86.5, -80.0, CAL=  88.3, -79.5, ROT=  61.7,  79.5

2025-08-19T18:25:18.604Z,1755627918.604 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:18.606Z,1755627918.606 [DAT](INFO): direction in FSK: [0.086396,0.160454,-0.983255]
2025-08-19T18:25:18.606Z,1755627918.606 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:18.631Z,1755627918.631 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:18.632Z,1755627918.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:18.838Z,1755627918.838 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:18.838Z,1755627918.838 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:18.839Z,1755627918.839 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:19.092Z,1755627919.092 [DAT](INFO): DAT read: Rx Time:18:25:17.0989 

2025-08-19T18:25:19.093Z,1755627919.093 [DAT](INFO): Rx dataTimestamp_ set to:1755627919.092262
2025-08-19T18:25:19.095Z,1755627919.095 [DAT](INFO): DAT read: Bearing 198.9,   9.0 (Local)

2025-08-19T18:25:19.095Z,1755627919.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.9,   9.0 (Local)

2025-08-19T18:25:19.099Z,1755627919.099 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:19.105Z,1755627919.105 [DAT](INFO): DAT read: 18:25:17.0989 LVL= 24496, 27377, 29762, 24659, AGC= 31, IDX= 507, 0.24, 1.732, 1.475, 1.542,-0.171, PHS= 2.005, 1.692, 1.669, RAW=  86.5, -80.3, CAL=  88.2, -79.8, ROT=  61.8,  79.8

2025-08-19T18:25:19.107Z,1755627919.107 [DAT](INFO): got valid direction response:
 18:25:17.0989 LVL= 24496, 27377, 29762, 24659, AGC= 31, IDX= 507, 0.24, 1.732, 1.475, 1.542,-0.171, PHS= 2.005, 1.692, 1.669, RAW=  86.5, -80.3, CAL=  88.2, -79.8, ROT=  61.8,  79.8

2025-08-19T18:25:19.107Z,1755627919.107 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:19.108Z,1755627919.108 [DAT](INFO): direction in FSK: [0.083681,0.156065,-0.984196]
2025-08-19T18:25:19.108Z,1755627919.108 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:19.111Z,1755627919.111 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:19.112Z,1755627919.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:19.342Z,1755627919.342 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:19.342Z,1755627919.342 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:19.343Z,1755627919.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:19.391Z,1755627919.391 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:25:19.596Z,1755627919.596 [DAT](INFO): DAT read: Rx Time:18:25:17.5988 

2025-08-19T18:25:19.597Z,1755627919.597 [DAT](INFO): Rx dataTimestamp_ set to:1755627919.596441
2025-08-19T18:25:19.599Z,1755627919.599 [DAT](INFO): DAT read: Bearing 198.7,   9.3 (Local)

2025-08-19T18:25:19.600Z,1755627919.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.7,   9.3 (Local)

2025-08-19T18:25:19.603Z,1755627919.603 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-19T18:25:19.608Z,1755627919.608 [DAT](INFO): DAT read: 18:25:17.5988 LVL= 26800, 29281, 32754, 26659, AGC= 31, IDX= 506, 0.43, 0.084,-0.178,-0.115,-1.808, PHS= 1.995, 1.676, 1.649, RAW=  86.1, -80.0, CAL=  87.9, -79.5, ROT=  62.1,  79.5

2025-08-19T18:25:19.609Z,1755627919.609 [DAT](INFO): got valid direction response:
 18:25:17.5988 LVL= 26800, 29281, 32754, 26659, AGC= 31, IDX= 506, 0.43, 0.084,-0.178,-0.115,-1.808, PHS= 1.995, 1.676, 1.649, RAW=  86.1, -80.0, CAL=  87.9, -79.5, ROT=  62.1,  79.5

2025-08-19T18:25:19.610Z,1755627919.610 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:19.611Z,1755627919.611 [DAT](INFO): direction in FSK: [0.085273,0.161053,-0.983255]
2025-08-19T18:25:19.611Z,1755627919.611 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:19.616Z,1755627919.616 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:19.616Z,1755627919.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:19.846Z,1755627919.846 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:19.846Z,1755627919.846 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:19.847Z,1755627919.847 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:20.100Z,1755627920.100 [DAT](INFO): DAT read: Rx Time:18:25:18.0990 

2025-08-19T18:25:20.101Z,1755627920.101 [DAT](INFO): Rx dataTimestamp_ set to:1755627920.100657
2025-08-19T18:25:20.103Z,1755627920.103 [DAT](INFO): DAT read: Bearing 198.3,   8.9 (Local)

2025-08-19T18:25:20.104Z,1755627920.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.3,   8.9 (Local)

2025-08-19T18:25:20.106Z,1755627920.106 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-19T18:25:20.111Z,1755627920.111 [DAT](INFO): DAT read: 18:25:18.0990 LVL= 24160, 25505, 26914, 23667, AGC= 31, IDX= 508,-0.35,-0.554,-0.799,-0.733,-2.431, PHS= 1.979, 1.677, 1.654, RAW=  86.4, -80.5, CAL=  88.1, -80.0, ROT=  61.9,  80.0

2025-08-19T18:25:20.112Z,1755627920.112 [DAT](INFO): got valid direction response:
 18:25:18.0990 LVL= 24160, 25505, 26914, 23667, AGC= 31, IDX= 508,-0.35,-0.554,-0.799,-0.733,-2.431, PHS= 1.979, 1.677, 1.654, RAW=  86.4, -80.5, CAL=  88.1, -80.0, ROT=  61.9,  80.0

2025-08-19T18:25:20.112Z,1755627920.112 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:20.122Z,1755627920.122 [DAT](INFO): direction in FSK: [0.081790,0.153180,-0.984808]
2025-08-19T18:25:20.122Z,1755627920.122 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:20.125Z,1755627920.125 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:20.130Z,1755627920.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:20.350Z,1755627920.350 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:20.350Z,1755627920.350 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:20.351Z,1755627920.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:20.395Z,1755627920.395 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:25:20.603Z,1755627920.603 [DAT](INFO): DAT read: Rx Time:18:25:18.5989 

2025-08-19T18:25:20.604Z,1755627920.604 [DAT](INFO): Rx dataTimestamp_ set to:1755627920.603635
2025-08-19T18:25:20.606Z,1755627920.606 [DAT](INFO): DAT read: Bearing 198.4,   9.3 (Local)

2025-08-19T18:25:20.606Z,1755627920.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.4,   9.3 (Local)

2025-08-19T18:25:20.608Z,1755627920.608 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-19T18:25:20.612Z,1755627920.612 [DAT](INFO): DAT read: 18:25:18.5989 LVL= 27120, 29009, 32754, 25955, AGC= 31, IDX= 507,-0.19,-1.474,-1.733,-1.668, 2.938, PHS= 1.974, 1.658, 1.633, RAW=  86.3, -80.0, CAL=  88.0, -79.5, ROT=  62.0,  79.5

2025-08-19T18:25:20.614Z,1755627920.614 [DAT](INFO): got valid direction response:
 18:25:18.5989 LVL= 27120, 29009, 32754, 25955, AGC= 31, IDX= 507,-0.19,-1.474,-1.733,-1.668, 2.938, PHS= 1.974, 1.658, 1.633, RAW=  86.3, -80.0, CAL=  88.0, -79.5, ROT=  62.0,  79.5

2025-08-19T18:25:20.614Z,1755627920.614 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:20.615Z,1755627920.615 [DAT](INFO): direction in FSK: [0.085554,0.160904,-0.983255]
2025-08-19T18:25:20.615Z,1755627920.615 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:20.619Z,1755627920.619 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:20.619Z,1755627920.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:20.854Z,1755627920.854 [DAT](INFO): Reached modem response timeout
2025-08-19T18:25:20.854Z,1755627920.854 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:25:20.855Z,1755627920.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:25:21.106Z,1755627921.106 [DAT](INFO): DAT read: user:955>

2025-08-19T18:25:21.107Z,1755627921.107 [DAT](INFO): DAT read: user:955>

2025-08-19T18:25:21.108Z,1755627921.108 [DAT](INFO): DAT read: Tx time:18:25:19.5182

2025-08-19T18:25:21.108Z,1755627921.108 [DAT](INFO): Ping request sent.
2025-08-19T18:25:21.108Z,1755627921.108 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:21.108Z,1755627921.108 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:21.109Z,1755627921.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767
2025-08-19T18:25:21.358Z,1755627921.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250316
2025-08-19T18:25:21.611Z,1755627921.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502397
2025-08-19T18:25:21.862Z,1755627921.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754344
2025-08-19T18:25:22.115Z,1755627922.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006442
2025-08-19T18:25:22.367Z,1755627922.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258481
2025-08-19T18:25:22.618Z,1755627922.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510387
2025-08-19T18:25:22.870Z,1755627922.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762310
2025-08-19T18:25:23.122Z,1755627923.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014367
2025-08-19T18:25:23.374Z,1755627923.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266390
2025-08-19T18:25:23.626Z,1755627923.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518316
2025-08-19T18:25:23.879Z,1755627923.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770880
2025-08-19T18:25:24.131Z,1755627924.131 [DAT](INFO): DAT read: Rx Time:18:25:21.9238

2025-08-19T18:25:24.131Z,1755627924.131 [DAT](INFO): Rx dataTimestamp_ set to:1755627924.131038
2025-08-19T18:25:24.132Z,1755627924.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024106
2025-08-19T18:25:24.383Z,1755627924.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274429
2025-08-19T18:25:24.640Z,1755627924.640 [DAT](INFO): DAT read: 18:25:21.9238 LVL= 23872, 23073, 25970, 18851, AGC= 33, IDX= 218,-0.15, 2.552, 2.286, 2.359, 0.680, PHS= 1.975, 1.651, 1.636, RAW=  87.7, -79.9, CAL=  89.5, -79.4, ROT=  60.5,  79.4

2025-08-19T18:25:24.642Z,1755627924.642 [DAT](INFO): got valid direction response:
 18:25:21.9238 LVL= 23872, 23073, 25970, 18851, AGC= 33, IDX= 218,-0.15, 2.552, 2.286, 2.359, 0.680, PHS= 1.975, 1.651, 1.636, RAW=  87.7, -79.9, CAL=  89.5, -79.4, ROT=  60.5,  79.4

2025-08-19T18:25:24.642Z,1755627924.642 [DAT](INFO): DAT read: Bearing 199.7,   9.4 (Local)

2025-08-19T18:25:24.643Z,1755627924.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.7,   9.4 (Local)

2025-08-19T18:25:24.644Z,1755627924.644 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-19T18:25:24.645Z,1755627924.645 [DAT](INFO): DAT read: user:956>

2025-08-19T18:25:24.646Z,1755627924.646 [DAT](INFO): DAT read: Tx time:18:25:23.0182

2025-08-19T18:25:24.646Z,1755627924.646 [DAT](INFO): Ping request sent.
2025-08-19T18:25:24.646Z,1755627924.646 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:24.646Z,1755627924.646 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:25:24.647Z,1755627924.647 [DAT](INFO): direction in FSK: [0.090582,0.160103,-0.982935]
2025-08-19T18:25:24.648Z,1755627924.648 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:24.648Z,1755627924.648 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:24.655Z,1755627924.655 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:24.655Z,1755627924.655 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:27.406Z,1755627927.406 [DAT](INFO): DAT read: Rx Time:18:25:25.4238

2025-08-19T18:25:27.407Z,1755627927.407 [DAT](INFO): Rx dataTimestamp_ set to:1755627927.406610
2025-08-19T18:25:28.174Z,1755627928.174 [DAT](INFO): DAT read: 18:25:25.4238 LVL= 27440, 29553, 32754, 26227, AGC= 31, IDX= 442,-0.09, 1.533, 1.263, 1.339,-0.340, PHS= 1.975, 1.649, 1.635, RAW=  88.0, -79.8, CAL=  89.8, -79.3, ROT=  60.2,  79.3

2025-08-19T18:25:28.176Z,1755627928.176 [DAT](INFO): got valid direction response:
 18:25:25.4238 LVL= 27440, 29553, 32754, 26227, AGC= 31, IDX= 442,-0.09, 1.533, 1.263, 1.339,-0.340, PHS= 1.975, 1.649, 1.635, RAW=  88.0, -79.8, CAL=  89.8, -79.3, ROT=  60.2,  79.3

2025-08-19T18:25:28.177Z,1755627928.177 [DAT](INFO): DAT read: Bearing 201.7,   9.6 (Local)

2025-08-19T18:25:28.178Z,1755627928.178 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.7,   9.6 (Local)

2025-08-19T18:25:28.180Z,1755627928.180 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-19T18:25:28.181Z,1755627928.181 [DAT](INFO): DAT read: user:957>

2025-08-19T18:25:28.182Z,1755627928.182 [DAT](INFO): DAT read: Tx time:18:25:26.5182

2025-08-19T18:25:28.182Z,1755627928.182 [DAT](INFO): Ping request sent.
2025-08-19T18:25:28.182Z,1755627928.182 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:28.183Z,1755627928.183 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-19T18:25:28.184Z,1755627928.184 [DAT](INFO): direction in FSK: [0.092271,0.161115,-0.982613]
2025-08-19T18:25:28.185Z,1755627928.185 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:28.185Z,1755627928.185 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:28.200Z,1755627928.200 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:28.200Z,1755627928.200 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:30.939Z,1755627930.939 [DAT](INFO): DAT read: Rx Time:18:25:28.9237

2025-08-19T18:25:30.939Z,1755627930.939 [DAT](INFO): Rx dataTimestamp_ set to:1755627930.938765
2025-08-19T18:25:31.455Z,1755627931.455 [DAT](INFO): DAT read: 18:25:28.9237 LVL= 28848, 30065, 32754, 26979, AGC= 31, IDX= 441,-0.01,-0.850,-1.097,-1.034,-2.731, PHS= 1.984, 1.679, 1.653, RAW=  85.9, -80.4, CAL=  87.6, -79.9, ROT=  62.4,  79.9

2025-08-19T18:25:31.456Z,1755627931.456 [DAT](INFO): got valid direction response:
 18:25:28.9237 LVL= 28848, 30065, 32754, 26979, AGC= 31, IDX= 441,-0.01,-0.850,-1.097,-1.034,-2.731, PHS= 1.984, 1.679, 1.653, RAW=  85.9, -80.4, CAL=  87.6, -79.9, ROT=  62.4,  79.9

2025-08-19T18:25:31.457Z,1755627931.457 [DAT](INFO): DAT read: Bearing 202.9,   8.8 (Local)

2025-08-19T18:25:31.457Z,1755627931.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.9,   8.8 (Local)

2025-08-19T18:25:31.459Z,1755627931.459 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-19T18:25:31.460Z,1755627931.460 [DAT](INFO): DAT read: user:958>

2025-08-19T18:25:31.460Z,1755627931.460 [DAT](INFO): DAT read: Tx time:18:25:30.0182

2025-08-19T18:25:31.460Z,1755627931.460 [DAT](INFO): Ping request sent.
2025-08-19T18:25:31.461Z,1755627931.461 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:31.461Z,1755627931.461 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-19T18:25:31.462Z,1755627931.462 [DAT](INFO): direction in FSK: [0.081247,0.155411,-0.984503]
2025-08-19T18:25:31.462Z,1755627931.462 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:31.463Z,1755627931.463 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:31.466Z,1755627931.466 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:31.466Z,1755627931.466 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:31.802Z,1755627931.802 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:25:31.802Z,1755627931.802 [DockingStepper] No Fault, FailCount= 3
2025-08-19T18:25:32.180Z,1755627932.180 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:25:32.298Z,1755627932.298 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:25:34.466Z,1755627934.466 [DAT](INFO): DAT read: Rx Time:18:25:32.4237

2025-08-19T18:25:34.467Z,1755627934.467 [DAT](INFO): Rx dataTimestamp_ set to:1755627934.466630
2025-08-19T18:25:34.976Z,1755627934.976 [DAT](INFO): DAT read: 18:25:32.4237 LVL= 26128, 28209, 30498, 25651, AGC= 31, IDX= 441, 0.11,-1.473,-1.698,-1.649, 2.899, PHS= 2.014, 1.732, 1.691, RAW=  83.4, -81.0, CAL=  84.8, -80.6, ROT=  65.2,  80.6

2025-08-19T18:25:34.977Z,1755627934.977 [DAT](INFO): got valid direction response:
 18:25:32.4237 LVL= 26128, 28209, 30498, 25651, AGC= 31, IDX= 441, 0.11,-1.473,-1.698,-1.649, 2.899, PHS= 2.014, 1.732, 1.691, RAW=  83.4, -81.0, CAL=  84.8, -80.6, ROT=  65.2,  80.6

2025-08-19T18:25:34.978Z,1755627934.978 [DAT](INFO): DAT read: Bearing 201.2,   7.9 (Local)

2025-08-19T18:25:34.978Z,1755627934.978 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.2,   7.9 (Local)

2025-08-19T18:25:34.980Z,1755627934.980 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-19T18:25:34.980Z,1755627934.980 [DAT](INFO): DAT read: user:959>

2025-08-19T18:25:34.981Z,1755627934.981 [DAT](INFO): DAT read: Tx time:18:25:33.5182

2025-08-19T18:25:34.981Z,1755627934.981 [DAT](INFO): Ping request sent.
2025-08-19T18:25:34.982Z,1755627934.982 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:34.982Z,1755627934.982 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-19T18:25:34.983Z,1755627934.983 [DAT](INFO): direction in FSK: [0.068507,0.148264,-0.986572]
2025-08-19T18:25:34.983Z,1755627934.983 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:34.983Z,1755627934.983 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:34.986Z,1755627934.986 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:34.987Z,1755627934.987 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:35.814Z,1755627935.814 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:25:37.997Z,1755627937.997 [DAT](INFO): DAT read: Rx Time:18:25:35.9236

2025-08-19T18:25:37.998Z,1755627937.998 [DAT](INFO): Rx dataTimestamp_ set to:1755627937.997135
2025-08-19T18:25:38.262Z,1755627938.262 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging.
2025-08-19T18:25:38.504Z,1755627938.504 [DAT](INFO): DAT read: 18:25:35.9236 LVL= 29104, 29777, 32754, 26723, AGC= 32, IDX= 441, 0.25,-2.415,-2.635,-2.593, 1.946, PHS= 2.024, 1.747, 1.700, RAW=  82.3, -81.1, CAL=  83.7, -80.7, ROT=  66.3,  80.7

2025-08-19T18:25:38.505Z,1755627938.505 [DAT](INFO): got valid direction response:
 18:25:35.9236 LVL= 29104, 29777, 32754, 26723, AGC= 32, IDX= 441, 0.25,-2.415,-2.635,-2.593, 1.946, PHS= 2.024, 1.747, 1.700, RAW=  82.3, -81.1, CAL=  83.7, -80.7, ROT=  66.3,  80.7

2025-08-19T18:25:38.534Z,1755627938.534 [DAT](INFO): DAT read: Bearing 198.3,   8.2 (Local)

2025-08-19T18:25:38.534Z,1755627938.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.3,   8.2 (Local)

2025-08-19T18:25:38.535Z,1755627938.535 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-19T18:25:38.536Z,1755627938.536 [DAT](INFO): DAT read: user:960>

2025-08-19T18:25:38.537Z,1755627938.537 [DAT](INFO): DAT read: Tx time:18:25:37.0181

2025-08-19T18:25:38.537Z,1755627938.537 [DAT](INFO): Ping request sent.
2025-08-19T18:25:38.537Z,1755627938.537 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:38.567Z,1755627938.567 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-19T18:25:38.568Z,1755627938.568 [DAT](INFO): direction in FSK: [0.064956,0.147975,-0.986856]
2025-08-19T18:25:38.569Z,1755627938.569 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:38.605Z,1755627938.605 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:38.608Z,1755627938.608 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:38.609Z,1755627938.609 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:38.621Z,1755627938.621 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:25:38.751Z,1755627938.751 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:25:39.005Z,1755627939.005 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:25:41.524Z,1755627941.524 [DAT](INFO): DAT read: Rx Time:18:25:39.4236

2025-08-19T18:25:41.525Z,1755627941.525 [DAT](INFO): Rx dataTimestamp_ set to:1755627941.524578
2025-08-19T18:25:42.054Z,1755627942.054 [DAT](INFO): DAT read: 18:25:39.4236 LVL= 24880, 27633, 30034, 25139, AGC= 31, IDX= 441, 0.30,-3.088, 2.950, 3.007, 1.288, PHS= 2.009, 1.707, 1.675, RAW=  85.0, -80.5, CAL=  86.7, -80.0, ROT=  63.3,  80.0

2025-08-19T18:25:42.059Z,1755627942.059 [DAT](INFO): got valid direction response:
 18:25:39.4236 LVL= 24880, 27633, 30034, 25139, AGC= 31, IDX= 441, 0.30,-3.088, 2.950, 3.007, 1.288, PHS= 2.009, 1.707, 1.675, RAW=  85.0, -80.5, CAL=  86.7, -80.0, ROT=  63.3,  80.0

2025-08-19T18:25:42.063Z,1755627942.063 [DAT](INFO): DAT read: Bearing 198.0,   9.1 (Local)

2025-08-19T18:25:42.064Z,1755627942.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.0,   9.1 (Local)

2025-08-19T18:25:42.095Z,1755627942.095 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-19T18:25:42.095Z,1755627942.095 [DAT](INFO): DAT read: user:961>

2025-08-19T18:25:42.096Z,1755627942.096 [DAT](INFO): DAT read: Tx time:18:25:40.5181

2025-08-19T18:25:42.096Z,1755627942.096 [DAT](INFO): Ping request sent.
2025-08-19T18:25:42.097Z,1755627942.097 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:42.097Z,1755627942.097 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-19T18:25:42.106Z,1755627942.106 [DAT](INFO): direction in FSK: [0.078023,0.155132,-0.984808]
2025-08-19T18:25:42.106Z,1755627942.106 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:42.107Z,1755627942.107 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:42.118Z,1755627942.118 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:42.118Z,1755627942.118 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:44.458Z,1755627944.458 [DockingStepper](FAULT): Timed out moving from: 10447 to: 14700 response: ÿ
2025-08-19T18:25:44.458Z,1755627944.458 [DockingStepper] Hardware Fault, FailCount= 4
2025-08-19T18:25:44.458Z,1755627944.458 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:25:44.598Z,1755627944.598 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:25:44.751Z,1755627944.751 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:25:44.751Z,1755627944.751 [DockingStepper](INFO): Powering down
2025-08-19T18:25:45.058Z,1755627945.058 [DAT](INFO): DAT read: Rx Time:18:25:42.9236

2025-08-19T18:25:45.060Z,1755627945.060 [DAT](INFO): Rx dataTimestamp_ set to:1755627945.059284
2025-08-19T18:25:45.578Z,1755627945.578 [DAT](INFO): DAT read: 18:25:42.9236 LVL= 25584, 27937, 30738, 25539, AGC= 32, IDX= 441, 0.39, 2.151, 1.879, 1.956, 0.242, PHS= 2.011, 1.683, 1.670, RAW=  88.1, -80.0, CAL=  90.0, -79.5, ROT=  60.0,  79.5

2025-08-19T18:25:45.579Z,1755627945.579 [DAT](INFO): got valid direction response:
 18:25:42.9236 LVL= 25584, 27937, 30738, 25539, AGC= 32, IDX= 441, 0.39, 2.151, 1.879, 1.956, 0.242, PHS= 2.011, 1.683, 1.670, RAW=  88.1, -80.0, CAL=  90.0, -79.5, ROT=  60.0,  79.5

2025-08-19T18:25:45.580Z,1755627945.580 [DAT](INFO): DAT read: Bearing 201.8,   9.2 (Local)

2025-08-19T18:25:45.580Z,1755627945.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.8,   9.2 (Local)

2025-08-19T18:25:45.583Z,1755627945.583 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-19T18:25:45.584Z,1755627945.584 [DAT](INFO): DAT read: user:962>

2025-08-19T18:25:45.585Z,1755627945.585 [DAT](INFO): DAT read: Tx time:18:25:44.0181

2025-08-19T18:25:45.587Z,1755627945.587 [DAT](INFO): Ping request sent.
2025-08-19T18:25:45.587Z,1755627945.587 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:45.588Z,1755627945.588 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-19T18:25:45.589Z,1755627945.589 [DAT](INFO): direction in FSK: [0.091118,0.157821,-0.983255]
2025-08-19T18:25:45.590Z,1755627945.590 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:45.590Z,1755627945.590 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:45.600Z,1755627945.600 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:45.601Z,1755627945.601 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:48.586Z,1755627948.586 [DAT](INFO): DAT read: Rx Time:18:25:46.4236

2025-08-19T18:25:48.587Z,1755627948.587 [DAT](INFO): Rx dataTimestamp_ set to:1755627948.586624
2025-08-19T18:25:49.104Z,1755627949.104 [DAT](INFO): DAT read: 18:25:46.4236 LVL= 26272, 27809, 30690, 25491, AGC= 32, IDX= 442,-0.45, 0.110,-0.169,-0.077,-1.784, PHS= 1.996, 1.659, 1.663, RAW=  90.5, -79.9, CAL=  92.5, -79.4, ROT=  57.5,  79.4

2025-08-19T18:25:49.108Z,1755627949.108 [DAT](INFO): got valid direction response:
 18:25:46.4236 LVL= 26272, 27809, 30690, 25491, AGC= 32, IDX= 442,-0.45, 0.110,-0.169,-0.077,-1.784, PHS= 1.996, 1.659, 1.663, RAW=  90.5, -79.9, CAL=  92.5, -79.4, ROT=  57.5,  79.4

2025-08-19T18:25:49.120Z,1755627949.120 [DAT](INFO): DAT read: Bearing 206.9,   8.2 (Local)

2025-08-19T18:25:49.121Z,1755627949.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 206.9,   8.2 (Local)

2025-08-19T18:25:49.131Z,1755627949.131 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-19T18:25:49.170Z,1755627949.170 [DAT](INFO): DAT read: user:963>

2025-08-19T18:25:49.171Z,1755627949.171 [DAT](INFO): DAT read: Tx time:18:25:47.5181

2025-08-19T18:25:49.172Z,1755627949.172 [DAT](INFO): Ping request sent.
2025-08-19T18:25:49.172Z,1755627949.172 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:49.172Z,1755627949.172 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-19T18:25:49.186Z,1755627949.186 [DAT](INFO): direction in FSK: [0.098837,0.155143,-0.982935]
2025-08-19T18:25:49.186Z,1755627949.186 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:49.187Z,1755627949.187 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:49.199Z,1755627949.199 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:49.199Z,1755627949.199 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:50.514Z,1755627950.514 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:25:51.519Z,1755627951.519 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:25:52.114Z,1755627952.114 [DAT](INFO): DAT read: Rx Time:18:25:49.9237

2025-08-19T18:25:52.115Z,1755627952.115 [DAT](INFO): Rx dataTimestamp_ set to:1755627952.114675
2025-08-19T18:25:52.624Z,1755627952.624 [DAT](INFO): DAT read: 18:25:49.9237 LVL= 24176, 27505, 30002, 25235, AGC= 31, IDX= 442,-0.35,-1.869,-2.130,-2.054, 2.549, PHS= 1.967, 1.649, 1.636, RAW=  88.0, -80.1, CAL=  89.8, -79.6, ROT=  60.2,  79.6

2025-08-19T18:25:52.625Z,1755627952.625 [DAT](INFO): got valid direction response:
 18:25:49.9237 LVL= 24176, 27505, 30002, 25235, AGC= 31, IDX= 442,-0.35,-1.869,-2.130,-2.054, 2.549, PHS= 1.967, 1.649, 1.636, RAW=  88.0, -80.1, CAL=  89.8, -79.6, ROT=  60.2,  79.6

2025-08-19T18:25:52.626Z,1755627952.626 [DAT](INFO): DAT read: Bearing 204.5,   8.5 (Local)

2025-08-19T18:25:52.626Z,1755627952.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.5,   8.5 (Local)

2025-08-19T18:25:52.628Z,1755627952.628 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-19T18:25:52.628Z,1755627952.628 [DAT](INFO): DAT read: user:964>

2025-08-19T18:25:52.629Z,1755627952.629 [DAT](INFO): DAT read: Tx time:18:25:51.0181

2025-08-19T18:25:52.630Z,1755627952.630 [DAT](INFO): Ping request sent.
2025-08-19T18:25:52.630Z,1755627952.630 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:52.630Z,1755627952.630 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-19T18:25:52.631Z,1755627952.631 [DAT](INFO): direction in FSK: [0.089713,0.156648,-0.983571]
2025-08-19T18:25:52.631Z,1755627952.631 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:52.631Z,1755627952.631 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:52.635Z,1755627952.635 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:52.635Z,1755627952.635 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:54.423Z,1755627954.423 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-19T18:25:54.424Z,1755627954.424 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-19T18:25:55.390Z,1755627955.390 [DAT](INFO): DAT read: Rx Time:18:25:53.4237

2025-08-19T18:25:55.391Z,1755627955.391 [DAT](INFO): Rx dataTimestamp_ set to:1755627955.390620
2025-08-19T18:25:56.152Z,1755627956.152 [DAT](INFO): DAT read: 18:25:53.4237 LVL= 27328, 29457, 32754, 26099, AGC= 31, IDX= 442,-0.27,-2.947, 3.062, 3.138, 1.470, PHS= 1.968, 1.638, 1.624, RAW=  88.0, -79.7, CAL=  89.9, -79.1, ROT=  60.1,  79.1

2025-08-19T18:25:56.153Z,1755627956.153 [DAT](INFO): got valid direction response:
 18:25:53.4237 LVL= 27328, 29457, 32754, 26099, AGC= 31, IDX= 442,-0.27,-2.947, 3.062, 3.138, 1.470, PHS= 1.968, 1.638, 1.624, RAW=  88.0, -79.7, CAL=  89.9, -79.1, ROT=  60.1,  79.1

2025-08-19T18:25:56.154Z,1755627956.154 [DAT](INFO): DAT read: Bearing 199.3,   9.7 (Local)

2025-08-19T18:25:56.155Z,1755627956.155 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.3,   9.7 (Local)

2025-08-19T18:25:56.156Z,1755627956.156 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-19T18:25:56.158Z,1755627956.158 [DAT](INFO): DAT read: user:965>

2025-08-19T18:25:56.159Z,1755627956.159 [DAT](INFO): DAT read: Tx time:18:25:54.5181

2025-08-19T18:25:56.159Z,1755627956.159 [DAT](INFO): Ping request sent.
2025-08-19T18:25:56.159Z,1755627956.159 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:56.160Z,1755627956.160 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-19T18:25:56.161Z,1755627956.161 [DAT](INFO): direction in FSK: [0.094262,0.163926,-0.981959]
2025-08-19T18:25:56.162Z,1755627956.162 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:56.162Z,1755627956.162 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:56.167Z,1755627956.167 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:56.168Z,1755627956.168 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:58.919Z,1755627958.919 [DAT](INFO): DAT read: Rx Time:18:25:56.9236

2025-08-19T18:25:58.920Z,1755627958.920 [DAT](INFO): Rx dataTimestamp_ set to:1755627958.919281
2025-08-19T18:25:59.442Z,1755627959.442 [DAT](INFO): DAT read: 18:25:56.9236 LVL= 24240, 27585, 30498, 25203, AGC= 31, IDX= 442,-0.21, 2.367, 2.083, 2.168, 0.502, PHS= 1.967, 1.625, 1.622, RAW=  89.5, -79.4, CAL=  91.5, -78.9, ROT=  58.5,  78.9

2025-08-19T18:25:59.446Z,1755627959.446 [DAT](INFO): got valid direction response:
 18:25:56.9236 LVL= 24240, 27585, 30498, 25203, AGC= 31, IDX= 442,-0.21, 2.367, 2.083, 2.168, 0.502, PHS= 1.967, 1.625, 1.622, RAW=  89.5, -79.4, CAL=  91.5, -78.9, ROT=  58.5,  78.9

2025-08-19T18:25:59.450Z,1755627959.450 [DAT](INFO): DAT read: Bearing 200.9,   9.7 (Local)

2025-08-19T18:25:59.450Z,1755627959.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.9,   9.7 (Local)

2025-08-19T18:25:59.451Z,1755627959.451 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-19T18:25:59.452Z,1755627959.452 [DAT](INFO): DAT read: user:966>

2025-08-19T18:25:59.453Z,1755627959.453 [DAT](INFO): DAT read: Tx time:18:25:58.0180

2025-08-19T18:25:59.453Z,1755627959.453 [DAT](INFO): Ping request sent.
2025-08-19T18:25:59.453Z,1755627959.453 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:25:59.454Z,1755627959.454 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-19T18:25:59.455Z,1755627959.455 [DAT](INFO): direction in FSK: [0.100592,0.164152,-0.981293]
2025-08-19T18:25:59.455Z,1755627959.455 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:59.455Z,1755627959.455 [DAT](INFO): publishing direction and range info
2025-08-19T18:25:59.459Z,1755627959.459 [DAT](INFO): publishing transmit ping time
2025-08-19T18:25:59.459Z,1755627959.459 [DAT](INFO): publishing direction and range info
2025-08-19T18:26:02.450Z,1755627962.450 [DAT](INFO): DAT read: Rx Time:18:26:00.4236

2025-08-19T18:26:02.451Z,1755627962.451 [DAT](INFO): Rx dataTimestamp_ set to:1755627962.450610
2025-08-19T18:26:02.960Z,1755627962.960 [DAT](INFO): DAT read: 18:26:00.4236 LVL= 24624, 27537, 30610, 24947, AGC= 32, IDX= 442,-0.14, 1.410, 1.128, 1.221,-0.476, PHS= 1.989, 1.650, 1.653, RAW=  90.5, -79.8, CAL=  92.5, -79.2, ROT=  57.5,  79.2

2025-08-19T18:26:02.961Z,1755627962.961 [DAT](INFO): got valid direction response:
 18:26:00.4236 LVL= 24624, 27537, 30610, 24947, AGC= 32, IDX= 442,-0.14, 1.410, 1.128, 1.221,-0.476, PHS= 1.989, 1.650, 1.653, RAW=  90.5, -79.8, CAL=  92.5, -79.2, ROT=  57.5,  79.2

2025-08-19T18:26:02.962Z,1755627962.962 [DAT](INFO): DAT read: Bearing 205.9,   9.0 (Local)

2025-08-19T18:26:02.963Z,1755627962.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.9,   9.0 (Local)

2025-08-19T18:26:02.964Z,1755627962.964 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-19T18:26:02.965Z,1755627962.965 [DAT](INFO): DAT read: user:967>

2025-08-19T18:26:02.966Z,1755627962.966 [DAT](INFO): DAT read: Tx time:18:26:01.5170

2025-08-19T18:26:02.966Z,1755627962.966 [DAT](INFO): Ping request sent.
2025-08-19T18:26:02.966Z,1755627962.966 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:26:02.966Z,1755627962.966 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-19T18:26:02.967Z,1755627962.967 [DAT](INFO): direction in FSK: [0.100680,0.158036,-0.982287]
2025-08-19T18:26:02.968Z,1755627962.968 [DAT](INFO): publishing transmit ping time
2025-08-19T18:26:02.968Z,1755627962.968 [DAT](INFO): publishing direction and range info
2025-08-19T18:26:02.975Z,1755627962.975 [DAT](INFO): publishing transmit ping time
2025-08-19T18:26:02.975Z,1755627962.975 [DAT](INFO): publishing direction and range info
2025-08-19T18:26:05.393Z,1755627965.393 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:26:05.393Z,1755627965.393 [DockingStepper] No Fault, FailCount= 4
2025-08-19T18:26:05.478Z,1755627965.478 [DAT](INFO): DAT read: Rx Time:18:26:03.3984

2025-08-19T18:26:05.479Z,1755627965.479 [DAT](INFO): Rx dataTimestamp_ set to:1755627965.478629
2025-08-19T18:26:05.763Z,1755627965.763 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:26:05.880Z,1755627965.880 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:26:06.010Z,1755627966.010 [DAT](INFO): DAT read: 18:26:03.3984 LVL= 23648, 23153, 26610, 17779, AGC= 33, IDX= 200,-0.23,-2.463,-2.748,-2.652, 1.964, PHS= 1.959, 1.617, 1.624, RAW=  91.0, -79.6, CAL=  93.1, -79.0, ROT=  56.9,  79.0

2025-08-19T18:26:06.011Z,1755627966.011 [DAT](INFO): got valid direction response:
 18:26:03.3984 LVL= 23648, 23153, 26610, 17779, AGC= 33, IDX= 200,-0.23,-2.463,-2.748,-2.652, 1.964, PHS= 1.959, 1.617, 1.624, RAW=  91.0, -79.6, CAL=  93.1, -79.0, ROT=  56.9,  79.0

2025-08-19T18:26:06.012Z,1755627966.012 [DAT](INFO): DAT read: OK

2025-08-19T18:26:06.013Z,1755627966.013 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:26:06.013Z,1755627966.013 [DAT](INFO): DAT read: user:968>

2025-08-19T18:26:06.014Z,1755627966.014 [DAT](INFO): DAT read: Tx time:18:26:04.5170

2025-08-19T18:26:06.015Z,1755627966.015 [DAT](INFO): Ping request sent.
2025-08-19T18:26:06.015Z,1755627966.015 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:26:06.015Z,1755627966.015 [DAT](INFO): #Rx 13: Read direction message, but no range.
2025-08-19T18:26:06.017Z,1755627966.017 [DAT](INFO): direction in FSK: [0.104201,0.159844,-0.981627]
2025-08-19T18:26:06.019Z,1755627966.019 [DAT](INFO): publishing transmit ping time
2025-08-19T18:26:06.024Z,1755627966.024 [DAT](INFO): publishing transmit ping time
2025-08-19T18:26:08.516Z,1755627968.516 [DAT](INFO): DAT read: Rx Time:18:26:06.3985

2025-08-19T18:26:08.516Z,1755627968.516 [DAT](INFO): Rx dataTimestamp_ set to:1755627968.515732
2025-08-19T18:26:08.549Z,1755627968.549 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -56,    -3,   :6,    -3,    +0,A
2025-08-19T18:26:09.023Z,1755627969.023 [DAT](INFO): DAT read: 18:26:06.3985 LVL= 25648, 29681, 32754, 26483, AGC= 31, IDX= 441,-0.26,-2.156,-2.454,-2.363, 2.273, PHS= 1.955, 1.601, 1.602, RAW=  90.2, -79.0, CAL=  92.3, -78.5, ROT=  57.7,  78.5

2025-08-19T18:26:09.024Z,1755627969.024 [DAT](INFO): got valid direction response:
 18:26:06.3985 LVL= 25648, 29681, 32754, 26483, AGC= 31, IDX= 441,-0.26,-2.156,-2.454,-2.363, 2.273, PHS= 1.955, 1.601, 1.602, RAW=  90.2, -79.0, CAL=  92.3, -78.5, ROT=  57.7,  78.5

2025-08-19T18:26:09.025Z,1755627969.025 [DAT](INFO): DAT read: OK

2025-08-19T18:26:09.025Z,1755627969.025 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:26:09.051Z,1755627969.051 [DAT](INFO): DAT read: user:969>

2025-08-19T18:26:09.052Z,1755627969.052 [DAT](INFO): DAT read: Tx time:18:26:07.5170

2025-08-19T18:26:09.052Z,1755627969.052 [DAT](INFO): Ping request sent.
2025-08-19T18:26:09.053Z,1755627969.053 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:26:09.053Z,1755627969.053 [DAT](INFO): #Rx 14: Read direction message, but no range.
2025-08-19T18:26:09.054Z,1755627969.054 [DAT](INFO): direction in FSK: [0.106533,0.168518,-0.979925]
2025-08-19T18:26:09.054Z,1755627969.054 [DAT](INFO): publishing transmit ping time
2025-08-19T18:26:09.057Z,1755627969.057 [DAT](INFO): publishing transmit ping time
2025-08-19T18:26:09.364Z,1755627969.364 [DockingStepper](INFO): Changing to mode: 4
2025-08-19T18:26:11.542Z,1755627971.542 [DAT](INFO): DAT read: Rx Time:18:26:09.3986

2025-08-19T18:26:11.543Z,1755627971.543 [DAT](INFO): Rx dataTimestamp_ set to:1755627971.542608
2025-08-19T18:26:12.052Z,1755627972.052 [DAT](INFO): DAT read: 18:26:09.3986 LVL= 29616, 29665, 32754, 26419, AGC= 33, IDX= 442,-0.34,-1.769,-2.061,-1.965, 2.633, PHS= 1.983, 1.634, 1.641, RAW=  91.0, -79.5, CAL=  93.0, -78.9, ROT=  57.0,  78.9

2025-08-19T18:26:12.054Z,1755627972.054 [DAT](INFO): got valid direction response:
 18:26:09.3986 LVL= 29616, 29665, 32754, 26419, AGC= 33, IDX= 442,-0.34,-1.769,-2.061,-1.965, 2.633, PHS= 1.983, 1.634, 1.641, RAW=  91.0, -79.5, CAL=  93.0, -78.9, ROT=  57.0,  78.9

2025-08-19T18:26:12.054Z,1755627972.054 [DAT](INFO): DAT read: OK

2025-08-19T18:26:12.054Z,1755627972.054 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:26:12.055Z,1755627972.055 [DAT](INFO): #Rx 15: Read direction message, but no range.
2025-08-19T18:26:12.056Z,1755627972.056 [DAT](INFO): direction in FSK: [0.104855,0.161462,-0.981293]
2025-08-19T18:26:13.783Z,1755627973.783 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022422133081,35.0, +100,1492.0,  0
2025-08-19T18:26:21.638Z,1755627981.638 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:26:22.643Z,1755627982.643 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:26:30.354Z,1755627990.354 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-19T18:16:30.3Z
2025-08-19T18:26:30.354Z,1755627990.354 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-19T18:26:30.354Z,1755627990.354 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-19T18:26:30.354Z,1755627990.354 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-19T18:26:30.354Z,1755627990.354 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-19T18:26:30.354Z,1755627990.354 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-19T18:26:30.828Z,1755627990.828 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-19T18:26:30.829Z,1755627990.829 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-19T18:26:30.829Z,1755627990.829 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-19T18:26:30.829Z,1755627990.829 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-19T18:26:30.829Z,1755627990.829 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-19T18:26:36.894Z,1755627996.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:26:37.042Z,1755627997.042 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:26:37.042Z,1755627997.042 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:26:37.303Z,1755627997.303 [DAT](INFO): DAT read: user:970>

2025-08-19T18:26:37.304Z,1755627997.304 [DAT](INFO): DAT read: Tx time:18:26:35.7178

2025-08-19T18:26:37.304Z,1755627997.304 [DAT](INFO): Ping request sent.
2025-08-19T18:26:37.304Z,1755627997.304 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:26:37.304Z,1755627997.304 [DAT](INFO): publishing transmit ping time
2025-08-19T18:26:37.305Z,1755627997.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001033
2025-08-19T18:26:37.554Z,1755627997.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250199
2025-08-19T18:26:37.806Z,1755627997.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502165
2025-08-19T18:26:38.059Z,1755627998.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754239
2025-08-19T18:26:38.310Z,1755627998.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006194
2025-08-19T18:26:38.563Z,1755627998.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259208
2025-08-19T18:26:38.814Z,1755627998.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510132
2025-08-19T18:26:39.066Z,1755627999.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762203
2025-08-19T18:26:39.319Z,1755627999.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014582
2025-08-19T18:26:39.570Z,1755627999.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266115
2025-08-19T18:26:39.822Z,1755627999.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518185
2025-08-19T18:26:40.075Z,1755628000.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770228
2025-08-19T18:26:40.326Z,1755628000.326 [DAT](INFO): DAT read: Rx Time:18:26:38.1233

2025-08-19T18:26:40.327Z,1755628000.327 [DAT](INFO): Rx dataTimestamp_ set to:1755628000.326624
2025-08-19T18:26:40.327Z,1755628000.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023231
2025-08-19T18:26:40.578Z,1755628000.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274211
2025-08-19T18:26:40.844Z,1755628000.844 [DAT](INFO): DAT read: 18:26:38.1233 LVL= 23360, 22881, 26962, 16931, AGC= 33, IDX= 169, 0.37, 1.167, 0.849, 0.962,-0.712, PHS= 1.981, 1.605, 1.630, RAW=  93.3, -78.8, CAL=  95.7, -78.3, ROT=  54.3,  78.3

2025-08-19T18:26:40.845Z,1755628000.845 [DAT](INFO): got valid direction response:
 18:26:38.1233 LVL= 23360, 22881, 26962, 16931, AGC= 33, IDX= 169, 0.37, 1.167, 0.849, 0.962,-0.712, PHS= 1.981, 1.605, 1.630, RAW=  93.3, -78.8, CAL=  95.7, -78.3, ROT=  54.3,  78.3

2025-08-19T18:26:40.850Z,1755628000.850 [DAT](INFO): DAT read: Bearing 211.2,   9.3 (Local)

2025-08-19T18:26:40.850Z,1755628000.850 [DAT](INFO): Local bearing/azimuth received:
 Bearing 211.2,   9.3 (Local)

2025-08-19T18:26:40.851Z,1755628000.851 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-19T18:26:40.852Z,1755628000.852 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:26:40.853Z,1755628000.853 [DAT](INFO): direction in FSK: [0.118335,0.164680,-0.979223]
2025-08-19T18:26:40.862Z,1755628000.862 [DAT](INFO): publishing direction and range info
2025-08-19T18:26:52.770Z,1755628012.770 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:26:53.774Z,1755628013.774 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:27:23.898Z,1755628043.898 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:27:24.578Z,1755628044.578 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-19T18:27:24.578Z,1755628044.578 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-19T18:27:24.592Z,1755628044.592 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:27:24.902Z,1755628044.902 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:27:24.966Z,1755628044.966 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:27:25.218Z,1755628045.218 [DAT](INFO): DAT read: user:971>

2025-08-19T18:27:25.219Z,1755628045.219 [DAT](INFO): DAT read: Tx time:18:27:23.6166

2025-08-19T18:27:25.219Z,1755628045.219 [DAT](INFO): Ping request sent.
2025-08-19T18:27:25.220Z,1755628045.220 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:27:25.220Z,1755628045.220 [DAT](INFO): publishing transmit ping time
2025-08-19T18:27:25.220Z,1755628045.220 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:27:25.470Z,1755628045.470 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:27:27.486Z,1755628047.486 [DAT](INFO): DAT read: Rx Time:18:27:25.5007

2025-08-19T18:27:27.487Z,1755628047.487 [DAT](INFO): Rx dataTimestamp_ set to:1755628047.486656
2025-08-19T18:27:28.247Z,1755628048.247 [DAT](INFO): DAT read: 18:27:25.5007 LVL= 23984, 27233, 31314, 24227, AGC= 32, IDX= 228,-0.30,-1.656,-1.982,-1.857, 2.811, PHS= 1.918, 1.535, 1.571, RAW=  94.9, -78.3, CAL=  97.4, -77.7, ROT=  52.6,  77.7

2025-08-19T18:27:28.248Z,1755628048.248 [DAT](INFO): got valid direction response:
 18:27:25.5007 LVL= 23984, 27233, 31314, 24227, AGC= 32, IDX= 228,-0.30,-1.656,-1.982,-1.857, 2.811, PHS= 1.918, 1.535, 1.571, RAW=  94.9, -78.3, CAL=  97.4, -77.7, ROT=  52.6,  77.7

2025-08-19T18:27:28.248Z,1755628048.248 [DAT](INFO): DAT read: OK

2025-08-19T18:27:28.248Z,1755628048.248 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:27:28.249Z,1755628048.249 [DAT](INFO): DAT read: user:972>

2025-08-19T18:27:28.250Z,1755628048.250 [DAT](INFO): DAT read: Tx time:18:27:26.6166

2025-08-19T18:27:28.250Z,1755628048.250 [DAT](INFO): Ping request sent.
2025-08-19T18:27:28.250Z,1755628048.250 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:27:28.250Z,1755628048.250 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-19T18:27:28.251Z,1755628048.251 [DAT](INFO): direction in FSK: [0.129390,0.169234,-0.977046]
2025-08-19T18:27:28.252Z,1755628048.252 [DAT](INFO): publishing transmit ping time
2025-08-19T18:27:28.255Z,1755628048.255 [DAT](INFO): publishing transmit ping time
2025-08-19T18:27:30.511Z,1755628050.511 [DAT](INFO): DAT read: Rx Time:18:27:28.5008

2025-08-19T18:27:30.511Z,1755628050.511 [DAT](INFO): Rx dataTimestamp_ set to:1755628050.510707
2025-08-19T18:27:31.019Z,1755628051.019 [DAT](INFO): DAT read: 18:27:28.5008 LVL= 24400, 28225, 31058, 25475, AGC= 32, IDX= 437,-0.34,-1.643,-1.956,-1.839, 2.777, PHS= 1.964, 1.594, 1.622, RAW=  93.9, -79.0, CAL=  96.2, -78.4, ROT=  53.8,  78.4

2025-08-19T18:27:31.020Z,1755628051.020 [DAT](INFO): got valid direction response:
 18:27:28.5008 LVL= 24400, 28225, 31058, 25475, AGC= 32, IDX= 437,-0.34,-1.643,-1.956,-1.839, 2.777, PHS= 1.964, 1.594, 1.622, RAW=  93.9, -79.0, CAL=  96.2, -78.4, ROT=  53.8,  78.4

2025-08-19T18:27:31.020Z,1755628051.020 [DAT](INFO): DAT read: OK

2025-08-19T18:27:31.020Z,1755628051.020 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:27:31.021Z,1755628051.021 [DAT](INFO): DAT read: user:973>

2025-08-19T18:27:31.021Z,1755628051.021 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-19T18:27:31.022Z,1755628051.022 [DAT](INFO): direction in FSK: [0.118758,0.162262,-0.979575]
2025-08-19T18:27:31.267Z,1755628051.267 [DAT](INFO): DAT read: Tx time:18:27:29.6166

2025-08-19T18:27:31.267Z,1755628051.267 [DAT](INFO): Ping request sent.
2025-08-19T18:27:31.267Z,1755628051.267 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:27:31.267Z,1755628051.267 [DAT](INFO): publishing transmit ping time
2025-08-19T18:27:33.535Z,1755628053.535 [DAT](INFO): DAT read: Rx Time:18:27:31.5008

2025-08-19T18:27:33.535Z,1755628053.535 [DAT](INFO): Rx dataTimestamp_ set to:1755628053.534783
2025-08-19T18:27:34.042Z,1755628054.042 [DAT](INFO): DAT read: 18:27:31.5008 LVL= 26816, 31793, 32754, 28963, AGC= 33, IDX= 438,-0.37,-2.043,-2.355,-2.242, 2.363, PHS= 1.979, 1.610, 1.634, RAW=  93.3, -79.0, CAL=  95.6, -78.4, ROT=  54.4,  78.4

2025-08-19T18:27:34.043Z,1755628054.043 [DAT](INFO): got valid direction response:
 18:27:31.5008 LVL= 26816, 31793, 32754, 28963, AGC= 33, IDX= 438,-0.37,-2.043,-2.355,-2.242, 2.363, PHS= 1.979, 1.610, 1.634, RAW=  93.3, -79.0, CAL=  95.6, -78.4, ROT=  54.4,  78.4

2025-08-19T18:27:34.044Z,1755628054.044 [DAT](INFO): DAT read: OK

2025-08-19T18:27:34.044Z,1755628054.044 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:27:34.044Z,1755628054.044 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-19T18:27:34.046Z,1755628054.046 [DAT](INFO): direction in FSK: [0.117052,0.163497,-0.979575]
2025-08-19T18:27:35.970Z,1755628055.970 [DockingStepper](FAULT): Timed out moving from: 10480 to: 14700 response: ÿ
2025-08-19T18:27:35.970Z,1755628055.970 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-19T18:27:35.970Z,1755628055.970 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:27:35.975Z,1755628055.975 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:27:36.248Z,1755628056.248 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:27:36.248Z,1755628056.248 [DockingStepper](INFO): Powering down
2025-08-19T18:27:55.026Z,1755628075.026 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:27:56.039Z,1755628076.039 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:27:56.860Z,1755628076.860 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:27:56.861Z,1755628076.861 [DockingStepper] No Fault, FailCount= 1
2025-08-19T18:27:57.268Z,1755628077.268 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:27:57.382Z,1755628077.382 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:28:00.881Z,1755628080.881 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:28:09.474Z,1755628089.474 [DockingStepper](FAULT): Timed out moving from: 10466 to: 14700 response: ÿ
2025-08-19T18:28:09.474Z,1755628089.474 [DockingStepper] Hardware Fault, FailCount= 2
2025-08-19T18:28:09.474Z,1755628089.474 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:28:09.478Z,1755628089.478 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:28:09.798Z,1755628089.798 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:28:09.798Z,1755628089.798 [DockingStepper](INFO): Powering down
2025-08-19T18:28:24.730Z,1755628104.730 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-19T18:28:24.731Z,1755628104.731 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-19T18:28:24.771Z,1755628104.771 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:28:25.022Z,1755628105.022 [DAT](INFO): DAT read: user:974>

2025-08-19T18:28:25.023Z,1755628105.023 [DAT](INFO): DAT read: Tx time:18:28:23.4163

2025-08-19T18:28:25.023Z,1755628105.023 [DAT](INFO): Ping request sent.
2025-08-19T18:28:25.024Z,1755628105.024 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:28:25.024Z,1755628105.024 [DAT](INFO): publishing transmit ping time
2025-08-19T18:28:25.024Z,1755628105.024 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:28:25.275Z,1755628105.275 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:28:26.158Z,1755628106.158 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:28:27.162Z,1755628107.162 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:28:27.290Z,1755628107.290 [DAT](INFO): DAT read: Rx Time:18:28:25.3023

2025-08-19T18:28:27.291Z,1755628107.291 [DAT](INFO): Rx dataTimestamp_ set to:1755628107.290683
2025-08-19T18:28:28.051Z,1755628108.051 [DAT](INFO): DAT read: 18:28:25.3023 LVL= 24416, 28545, 32242, 26035, AGC= 31, IDX= 456, 0.25, 0.079,-0.253,-0.136,-1.791, PHS= 1.972, 1.583, 1.611, RAW=  93.7, -78.4, CAL=  96.1, -77.8, ROT=  53.9,  77.8

2025-08-19T18:28:28.052Z,1755628108.052 [DAT](INFO): got valid direction response:
 18:28:25.3023 LVL= 24416, 28545, 32242, 26035, AGC= 31, IDX= 456, 0.25, 0.079,-0.253,-0.136,-1.791, PHS= 1.972, 1.583, 1.611, RAW=  93.7, -78.4, CAL=  96.1, -77.8, ROT=  53.9,  77.8

2025-08-19T18:28:28.052Z,1755628108.052 [DAT](INFO): DAT read: OK

2025-08-19T18:28:28.052Z,1755628108.052 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:28:28.053Z,1755628108.053 [DAT](INFO): DAT read: user:975>

2025-08-19T18:28:28.054Z,1755628108.054 [DAT](INFO): DAT read: Tx time:18:28:26.4163

2025-08-19T18:28:28.054Z,1755628108.054 [DAT](INFO): Ping request sent.
2025-08-19T18:28:28.054Z,1755628108.054 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:28:28.054Z,1755628108.054 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-19T18:28:28.055Z,1755628108.055 [DAT](INFO): direction in FSK: [0.124512,0.170748,-0.977416]
2025-08-19T18:28:28.056Z,1755628108.056 [DAT](INFO): publishing transmit ping time
2025-08-19T18:28:28.059Z,1755628108.059 [DAT](INFO): publishing transmit ping time
2025-08-19T18:28:30.314Z,1755628110.314 [DAT](INFO): DAT read: Rx Time:18:28:28.3024

2025-08-19T18:28:30.315Z,1755628110.315 [DAT](INFO): Rx dataTimestamp_ set to:1755628110.314660
2025-08-19T18:28:30.405Z,1755628110.405 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:28:30.405Z,1755628110.405 [DockingStepper] No Fault, FailCount= 2
2025-08-19T18:28:30.822Z,1755628110.822 [DAT](INFO): DAT read: 18:28:28.3024 LVL= 26592, 32625, 32754, 29971, AGC= 32, IDX= 441, 0.17, 0.739, 0.404, 0.528,-1.158, PHS= 2.000, 1.608, 1.643, RAW=  94.6, -78.5, CAL=  97.1, -77.9, ROT=  52.9,  77.9

2025-08-19T18:28:30.823Z,1755628110.823 [DAT](INFO): got valid direction response:
 18:28:28.3024 LVL= 26592, 32625, 32754, 29971, AGC= 32, IDX= 441, 0.17, 0.739, 0.404, 0.528,-1.158, PHS= 2.000, 1.608, 1.643, RAW=  94.6, -78.5, CAL=  97.1, -77.9, ROT=  52.9,  77.9

2025-08-19T18:28:30.824Z,1755628110.824 [DAT](INFO): DAT read: OK

2025-08-19T18:28:30.824Z,1755628110.824 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:28:30.824Z,1755628110.824 [DAT](INFO): DAT read: user:976>

2025-08-19T18:28:30.826Z,1755628110.826 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-19T18:28:30.829Z,1755628110.829 [DAT](INFO): direction in FSK: [0.126444,0.167188,-0.977783]
2025-08-19T18:28:30.875Z,1755628110.875 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:28:30.994Z,1755628110.994 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:28:31.070Z,1755628111.070 [DAT](INFO): DAT read: Tx time:18:28:29.4163

2025-08-19T18:28:31.071Z,1755628111.071 [DAT](INFO): Ping request sent.
2025-08-19T18:28:31.071Z,1755628111.071 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:28:31.071Z,1755628111.071 [DAT](INFO): publishing transmit ping time
2025-08-19T18:28:33.343Z,1755628113.343 [DAT](INFO): DAT read: Rx Time:18:28:31.3025

2025-08-19T18:28:33.343Z,1755628113.343 [DAT](INFO): Rx dataTimestamp_ set to:1755628113.342696
2025-08-19T18:28:33.850Z,1755628113.850 [DAT](INFO): DAT read: 18:28:31.3025 LVL= 29840, 30417, 32754, 27187, AGC= 34, IDX= 442, 0.13, 0.448, 0.132, 0.259,-1.450, PHS= 2.000, 1.627, 1.664, RAW=  95.2, -79.2, CAL=  97.6, -78.7, ROT=  52.4,  78.7

2025-08-19T18:28:33.851Z,1755628113.851 [DAT](INFO): got valid direction response:
 18:28:31.3025 LVL= 29840, 30417, 32754, 27187, AGC= 34, IDX= 442, 0.13, 0.448, 0.132, 0.259,-1.450, PHS= 2.000, 1.627, 1.664, RAW=  95.2, -79.2, CAL=  97.6, -78.7, ROT=  52.4,  78.7

2025-08-19T18:28:33.852Z,1755628113.852 [DAT](INFO): DAT read: OK

2025-08-19T18:28:33.852Z,1755628113.852 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:28:33.852Z,1755628113.852 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-19T18:28:33.853Z,1755628113.853 [DAT](INFO): direction in FSK: [0.119556,0.155246,-0.980615]
2025-08-19T18:28:34.423Z,1755628114.423 [DockingStepper](INFO): Changing to mode: 4
2025-08-19T18:28:37.246Z,1755628117.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:28:37.374Z,1755628117.374 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:28:37.374Z,1755628117.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:28:37.629Z,1755628117.629 [DAT](INFO): DAT read: user:977>

2025-08-19T18:28:37.632Z,1755628117.632 [DAT](INFO): DAT read: Tx time:18:28:36.0172

2025-08-19T18:28:37.633Z,1755628117.633 [DAT](INFO): Ping request sent.
2025-08-19T18:28:37.633Z,1755628117.633 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:28:37.635Z,1755628117.635 [DAT](INFO): publishing transmit ping time
2025-08-19T18:28:37.637Z,1755628117.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003689
2025-08-19T18:28:37.878Z,1755628117.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245794
2025-08-19T18:28:38.130Z,1755628118.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497735
2025-08-19T18:28:38.382Z,1755628118.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749754
2025-08-19T18:28:38.643Z,1755628118.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010184
2025-08-19T18:28:38.890Z,1755628118.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257734
2025-08-19T18:28:39.142Z,1755628119.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509774
2025-08-19T18:28:39.394Z,1755628119.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761801
2025-08-19T18:28:39.649Z,1755628119.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016030
2025-08-19T18:28:39.899Z,1755628119.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266260
2025-08-19T18:28:40.151Z,1755628120.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517877
2025-08-19T18:28:40.403Z,1755628120.403 [DAT](INFO): DAT read: Rx Time:18:28:38.4227

2025-08-19T18:28:40.403Z,1755628120.403 [DAT](INFO): Rx dataTimestamp_ set to:1755628120.403003
2025-08-19T18:28:40.404Z,1755628120.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771185
2025-08-19T18:28:40.657Z,1755628120.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023957
2025-08-19T18:28:40.909Z,1755628120.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275601
2025-08-19T18:28:41.163Z,1755628121.163 [DAT](INFO): DAT read: 18:28:38.4227 LVL= 23344, 22305, 24898, 17203, AGC= 33, IDX= 122,-0.31, 0.768, 0.442, 0.559,-1.082, PHS= 1.952, 1.569, 1.597, RAW=  93.8, -78.4, CAL=  96.2, -77.8, ROT=  53.8,  77.8

2025-08-19T18:28:41.164Z,1755628121.164 [DAT](INFO): got valid direction response:
 18:28:38.4227 LVL= 23344, 22305, 24898, 17203, AGC= 33, IDX= 122,-0.31, 0.768, 0.442, 0.559,-1.082, PHS= 1.952, 1.569, 1.597, RAW=  93.8, -78.4, CAL=  96.2, -77.8, ROT=  53.8,  77.8

2025-08-19T18:28:41.165Z,1755628121.165 [DAT](INFO): DAT read: Bearing 210.8,  10.3 (Local)

2025-08-19T18:28:41.166Z,1755628121.166 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.8,  10.3 (Local)

2025-08-19T18:28:41.167Z,1755628121.167 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-19T18:28:41.168Z,1755628121.168 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:28:41.169Z,1755628121.169 [DAT](INFO): direction in FSK: [0.124810,0.170531,-0.977416]
2025-08-19T18:28:41.169Z,1755628121.169 [DAT](INFO): publishing direction and range info
2025-08-19T18:28:57.282Z,1755628137.282 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:28:58.294Z,1755628138.294 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:29:28.418Z,1755628168.418 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:29:29.423Z,1755628169.423 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:29:43.900Z,1755628183.900 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     ,     +2156.62,       +26.38,   5.71,  0.00
2025-08-19T18:29:48.735Z,1755628188.735 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022422170599,35.0, +10.5,   0.0,14
2025-08-19T18:29:54.838Z,1755628194.838 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-19T18:29:54.838Z,1755628194.838 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-19T18:29:54.848Z,1755628194.848 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:29:55.318Z,1755628195.318 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:29:55.571Z,1755628195.571 [DAT](INFO): DAT read: user:978>

2025-08-19T18:29:55.571Z,1755628195.571 [DAT](INFO): DAT read: Tx time:18:29:53.9658

2025-08-19T18:29:55.572Z,1755628195.572 [DAT](INFO): Ping request sent.
2025-08-19T18:29:55.572Z,1755628195.572 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:29:55.572Z,1755628195.572 [DAT](INFO): publishing transmit ping time
2025-08-19T18:29:55.572Z,1755628195.572 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:29:55.826Z,1755628195.826 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:29:57.843Z,1755628197.843 [DAT](INFO): DAT read: Rx Time:18:29:55.8548

2025-08-19T18:29:57.844Z,1755628197.844 [DAT](INFO): Rx dataTimestamp_ set to:1755628197.843219
2025-08-19T18:29:58.601Z,1755628198.601 [DAT](INFO): DAT read: 18:29:55.8548 LVL= 24416, 28561, 31778, 25875, AGC= 33, IDX= 279, 0.30, 0.949, 0.633, 0.752,-0.926, PHS= 1.977, 1.605, 1.634, RAW=  94.1, -79.0, CAL=  96.5, -78.4, ROT=  53.5,  78.4

2025-08-19T18:29:58.603Z,1755628198.603 [DAT](INFO): got valid direction response:
 18:29:55.8548 LVL= 24416, 28561, 31778, 25875, AGC= 33, IDX= 279, 0.30, 0.949, 0.633, 0.752,-0.926, PHS= 1.977, 1.605, 1.634, RAW=  94.1, -79.0, CAL=  96.5, -78.4, ROT=  53.5,  78.4

2025-08-19T18:29:58.603Z,1755628198.603 [DAT](INFO): DAT read: OK

2025-08-19T18:29:58.604Z,1755628198.604 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:29:58.604Z,1755628198.604 [DAT](INFO): DAT read: user:979>

2025-08-19T18:29:58.606Z,1755628198.606 [DAT](INFO): DAT read: Tx time:18:29:56.9671

2025-08-19T18:29:58.606Z,1755628198.606 [DAT](INFO): Ping request sent.
2025-08-19T18:29:58.606Z,1755628198.606 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:29:58.606Z,1755628198.606 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-19T18:29:58.608Z,1755628198.608 [DAT](INFO): direction in FSK: [0.119606,0.161638,-0.979575]
2025-08-19T18:29:58.609Z,1755628198.609 [DAT](INFO): publishing transmit ping time
2025-08-19T18:29:58.614Z,1755628198.614 [DAT](INFO): publishing transmit ping time
2025-08-19T18:29:59.542Z,1755628199.542 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:30:00.547Z,1755628200.547 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:30:00.866Z,1755628200.866 [DAT](INFO): DAT read: Rx Time:18:29:58.8549

2025-08-19T18:30:00.867Z,1755628200.867 [DAT](INFO): Rx dataTimestamp_ set to:1755628200.866228
2025-08-19T18:30:01.371Z,1755628201.371 [DAT](INFO): DAT read: 18:29:58.8549 LVL= 28272, 32753, 32754, 29027, AGC= 33, IDX= 424, 0.21, 0.365, 0.035, 0.151,-1.522, PHS= 1.989, 1.602, 1.629, RAW=  93.6, -78.6, CAL=  96.0, -77.9, ROT=  54.0,  77.9

2025-08-19T18:30:01.372Z,1755628201.372 [DAT](INFO): got valid direction response:
 18:29:58.8549 LVL= 28272, 32753, 32754, 29027, AGC= 33, IDX= 424, 0.21, 0.365, 0.035, 0.151,-1.522, PHS= 1.989, 1.602, 1.629, RAW=  93.6, -78.6, CAL=  96.0, -77.9, ROT=  54.0,  77.9

2025-08-19T18:30:01.372Z,1755628201.372 [DAT](INFO): DAT read: OK

2025-08-19T18:30:01.373Z,1755628201.373 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:30:01.373Z,1755628201.373 [DAT](INFO): DAT read: user:980>

2025-08-19T18:30:01.377Z,1755628201.377 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-19T18:30:01.379Z,1755628201.379 [DAT](INFO): direction in FSK: [0.123211,0.169585,-0.977783]
2025-08-19T18:30:01.619Z,1755628201.619 [DAT](INFO): DAT read: Tx time:18:29:59.9671

2025-08-19T18:30:01.619Z,1755628201.619 [DAT](INFO): Ping request sent.
2025-08-19T18:30:01.619Z,1755628201.619 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:30:01.619Z,1755628201.619 [DAT](INFO): publishing transmit ping time
2025-08-19T18:30:03.889Z,1755628203.889 [DAT](INFO): DAT read: Rx Time:18:30:01.8550

2025-08-19T18:30:03.891Z,1755628203.891 [DAT](INFO): Rx dataTimestamp_ set to:1755628203.889806
2025-08-19T18:30:04.394Z,1755628204.394 [DAT](INFO): DAT read: 18:30:01.8550 LVL= 24896, 30321, 32754, 26467, AGC= 32, IDX= 441, 0.12, 0.577, 0.248, 0.354,-1.311, PHS= 1.991, 1.604, 1.621, RAW=  92.2, -78.4, CAL=  94.6, -77.8, ROT=  55.4,  77.8

2025-08-19T18:30:04.395Z,1755628204.395 [DAT](INFO): got valid direction response:
 18:30:01.8550 LVL= 24896, 30321, 32754, 26467, AGC= 32, IDX= 441, 0.12, 0.577, 0.248, 0.354,-1.311, PHS= 1.991, 1.604, 1.621, RAW=  92.2, -78.4, CAL=  94.6, -77.8, ROT=  55.4,  77.8

2025-08-19T18:30:04.396Z,1755628204.396 [DAT](INFO): DAT read: OK

2025-08-19T18:30:04.396Z,1755628204.396 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:30:04.396Z,1755628204.396 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-19T18:30:04.401Z,1755628204.401 [DAT](INFO): direction in FSK: [0.119999,0.173949,-0.977416]
2025-08-19T18:30:06.258Z,1755628206.258 [DockingStepper](FAULT): Timed out moving from: 10465 to: 14700 response: ÿ
2025-08-19T18:30:06.258Z,1755628206.258 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-19T18:30:06.258Z,1755628206.258 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:30:06.262Z,1755628206.263 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:30:06.554Z,1755628206.554 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:30:06.554Z,1755628206.554 [DockingStepper](INFO): Powering down
2025-08-19T18:30:27.152Z,1755628227.152 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:30:27.152Z,1755628227.152 [DockingStepper] No Fault, FailCount= 1
2025-08-19T18:30:27.605Z,1755628227.605 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:30:27.722Z,1755628227.722 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:30:30.682Z,1755628230.682 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:30:31.184Z,1755628231.184 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:30:31.686Z,1755628231.686 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:30:37.641Z,1755628237.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:30:37.703Z,1755628237.703 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:30:37.703Z,1755628237.703 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:30:37.954Z,1755628237.954 [DAT](INFO): DAT read: user:981>

2025-08-19T18:30:37.955Z,1755628237.955 [DAT](INFO): DAT read: Tx time:18:30:36.3681

2025-08-19T18:30:37.955Z,1755628237.955 [DAT](INFO): Ping request sent.
2025-08-19T18:30:37.955Z,1755628237.955 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:30:37.956Z,1755628237.956 [DAT](INFO): publishing transmit ping time
2025-08-19T18:30:37.956Z,1755628237.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000778
2025-08-19T18:30:38.206Z,1755628238.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250951
2025-08-19T18:30:38.459Z,1755628238.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503015
2025-08-19T18:30:38.710Z,1755628238.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754924
2025-08-19T18:30:38.962Z,1755628238.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007007
2025-08-19T18:30:39.214Z,1755628239.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258956
2025-08-19T18:30:39.470Z,1755628239.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514428
2025-08-19T18:30:39.719Z,1755628239.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763624
2025-08-19T18:30:39.970Z,1755628239.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014936
2025-08-19T18:30:40.222Z,1755628240.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266940
2025-08-19T18:30:40.475Z,1755628240.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519134
2025-08-19T18:30:40.727Z,1755628240.727 [DAT](INFO): DAT read: Rx Time:18:30:38.7736

2025-08-19T18:30:40.727Z,1755628240.727 [DAT](INFO): Rx dataTimestamp_ set to:1755628240.726696
2025-08-19T18:30:40.728Z,1755628240.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772107
2025-08-19T18:30:40.978Z,1755628240.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022963
2025-08-19T18:30:41.241Z,1755628241.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284929
2025-08-19T18:30:41.496Z,1755628241.496 [DAT](INFO): DAT read: 18:30:38.7736 LVL= 29552, 27889, 29890, 22611, AGC= 36, IDX= 106,-0.48,-2.559,-2.863,-2.752, 1.839, PHS= 1.987, 1.626, 1.648, RAW=  93.2, -79.3, CAL=  95.4, -78.8, ROT=  54.6,  78.8

2025-08-19T18:30:41.497Z,1755628241.497 [DAT](INFO): got valid direction response:
 18:30:38.7736 LVL= 29552, 27889, 29890, 22611, AGC= 36, IDX= 106,-0.48,-2.559,-2.863,-2.752, 1.839, PHS= 1.987, 1.626, 1.648, RAW=  93.2, -79.3, CAL=  95.4, -78.8, ROT=  54.6,  78.8

2025-08-19T18:30:41.498Z,1755628241.498 [DAT](INFO): DAT read: Bearing 210.0,   9.4 (Local)

2025-08-19T18:30:41.498Z,1755628241.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.0,   9.4 (Local)

2025-08-19T18:30:41.499Z,1755628241.499 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-19T18:30:41.500Z,1755628241.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:30:41.501Z,1755628241.501 [DAT](INFO): direction in FSK: [0.112516,0.158326,-0.980955]
2025-08-19T18:30:41.501Z,1755628241.501 [DAT](INFO): publishing direction and range info
2025-08-19T18:30:42.646Z,1755628242.646 [DockingStepper](FAULT): Timed out moving from: 10475 to: 14700 response: ÿ
2025-08-19T18:30:42.646Z,1755628242.646 [DockingStepper] Hardware Fault, FailCount= 2
2025-08-19T18:30:42.646Z,1755628242.646 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:30:42.650Z,1755628242.650 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:30:42.907Z,1755628242.907 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:30:42.907Z,1755628242.907 [DockingStepper](INFO): Powering down
2025-08-19T18:30:55.052Z,1755628255.052 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-19T18:30:55.052Z,1755628255.052 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-19T18:30:55.118Z,1755628255.118 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:30:55.372Z,1755628255.372 [DAT](INFO): DAT read: user:982>

2025-08-19T18:30:55.373Z,1755628255.373 [DAT](INFO): DAT read: Tx time:18:30:53.7655

2025-08-19T18:30:55.374Z,1755628255.374 [DAT](INFO): Ping request sent.
2025-08-19T18:30:55.374Z,1755628255.374 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:30:55.374Z,1755628255.374 [DAT](INFO): publishing transmit ping time
2025-08-19T18:30:55.374Z,1755628255.374 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:30:55.628Z,1755628255.628 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:30:57.649Z,1755628257.649 [DAT](INFO): DAT read: Rx Time:18:30:55.6565

2025-08-19T18:30:57.651Z,1755628257.651 [DAT](INFO): Rx dataTimestamp_ set to:1755628257.649841
2025-08-19T18:30:58.407Z,1755628258.407 [DAT](INFO): DAT read: 18:30:55.6565 LVL= 24304, 30145, 32754, 26099, AGC= 33, IDX= 299, 0.14, 0.047,-0.279,-0.177,-1.840, PHS= 1.990, 1.607, 1.619, RAW=  91.6, -78.4, CAL=  94.0, -77.8, ROT=  56.0,  77.8

2025-08-19T18:30:58.408Z,1755628258.408 [DAT](INFO): got valid direction response:
 18:30:55.6565 LVL= 24304, 30145, 32754, 26099, AGC= 33, IDX= 299, 0.14, 0.047,-0.279,-0.177,-1.840, PHS= 1.990, 1.607, 1.619, RAW=  91.6, -78.4, CAL=  94.0, -77.8, ROT=  56.0,  77.8

2025-08-19T18:30:58.408Z,1755628258.408 [DAT](INFO): DAT read: OK

2025-08-19T18:30:58.408Z,1755628258.408 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:30:58.409Z,1755628258.409 [DAT](INFO): DAT read: user:983>

2025-08-19T18:30:58.410Z,1755628258.410 [DAT](INFO): DAT read: Tx time:18:30:56.7655

2025-08-19T18:30:58.410Z,1755628258.410 [DAT](INFO): Ping request sent.
2025-08-19T18:30:58.410Z,1755628258.410 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:30:58.410Z,1755628258.410 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-19T18:30:58.411Z,1755628258.411 [DAT](INFO): direction in FSK: [0.118171,0.175196,-0.977416]
2025-08-19T18:30:58.412Z,1755628258.412 [DAT](INFO): publishing transmit ping time
2025-08-19T18:30:58.415Z,1755628258.415 [DAT](INFO): publishing transmit ping time
2025-08-19T18:31:00.674Z,1755628260.674 [DAT](INFO): DAT read: Rx Time:18:30:58.6566

2025-08-19T18:31:00.675Z,1755628260.675 [DAT](INFO): Rx dataTimestamp_ set to:1755628260.674677
2025-08-19T18:31:01.184Z,1755628261.184 [DAT](INFO): DAT read: 18:30:58.6566 LVL= 25504, 30801, 32754, 27251, AGC= 32, IDX= 444, 0.09, 0.146,-0.186,-0.081,-1.739, PHS= 1.987, 1.598, 1.614, RAW=  92.0, -78.3, CAL=  94.4, -77.7, ROT=  55.6,  77.7

2025-08-19T18:31:01.186Z,1755628261.186 [DAT](INFO): got valid direction response:
 18:30:58.6566 LVL= 25504, 30801, 32754, 27251, AGC= 32, IDX= 444, 0.09, 0.146,-0.186,-0.081,-1.739, PHS= 1.987, 1.598, 1.614, RAW=  92.0, -78.3, CAL=  94.4, -77.7, ROT=  55.6,  77.7

2025-08-19T18:31:01.186Z,1755628261.186 [DAT](INFO): DAT read: OK

2025-08-19T18:31:01.187Z,1755628261.187 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:31:01.187Z,1755628261.187 [DAT](INFO): DAT read: user:984>

2025-08-19T18:31:01.188Z,1755628261.188 [DAT](INFO): DAT read: Tx time:18:30:59.7655

2025-08-19T18:31:01.189Z,1755628261.189 [DAT](INFO): Ping request sent.
2025-08-19T18:31:01.189Z,1755628261.189 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:31:01.189Z,1755628261.189 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-19T18:31:01.190Z,1755628261.190 [DAT](INFO): direction in FSK: [0.120355,0.175774,-0.977046]
2025-08-19T18:31:01.191Z,1755628261.191 [DAT](INFO): publishing transmit ping time
2025-08-19T18:31:01.193Z,1755628261.193 [DAT](INFO): publishing transmit ping time
2025-08-19T18:31:01.814Z,1755628261.814 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:31:02.819Z,1755628262.819 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:31:03.522Z,1755628263.522 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:31:03.522Z,1755628263.522 [DockingStepper] No Fault, FailCount= 2
2025-08-19T18:31:03.699Z,1755628263.699 [DAT](INFO): DAT read: Rx Time:18:31:01.6571

2025-08-19T18:31:03.700Z,1755628263.700 [DAT](INFO): Rx dataTimestamp_ set to:1755628263.699268
2025-08-19T18:31:03.943Z,1755628263.943 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:31:04.062Z,1755628264.062 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:31:04.206Z,1755628264.206 [DAT](INFO): DAT read: 18:31:01.6571 LVL= 29984, 32753, 32754, 31603, AGC= 32, IDX= 449, 0.07,-1.858,-2.184,-2.072, 2.538, PHS= 1.989, 1.606, 1.629, RAW=  93.0, -78.6, CAL=  95.4, -78.0, ROT=  54.6,  78.0

2025-08-19T18:31:04.207Z,1755628264.207 [DAT](INFO): got valid direction response:
 18:31:01.6571 LVL= 29984, 32753, 32754, 31603, AGC= 32, IDX= 449, 0.07,-1.858,-2.184,-2.072, 2.538, PHS= 1.989, 1.606, 1.629, RAW=  93.0, -78.6, CAL=  95.4, -78.0, ROT=  54.6,  78.0

2025-08-19T18:31:04.208Z,1755628264.208 [DAT](INFO): DAT read: OK

2025-08-19T18:31:04.208Z,1755628264.208 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:31:04.208Z,1755628264.208 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-19T18:31:04.209Z,1755628264.209 [DAT](INFO): direction in FSK: [0.120439,0.169475,-0.978148]
2025-08-19T18:31:07.551Z,1755628267.551 [DockingStepper](INFO): Changing to mode: 4
2025-08-19T18:31:32.946Z,1755628292.946 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:31:33.951Z,1755628293.951 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:32:04.070Z,1755628324.070 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:32:05.074Z,1755628325.074 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:32:25.147Z,1755628345.147 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-19T18:32:25.150Z,1755628345.150 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-19T18:32:25.188Z,1755628345.188 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:32:25.690Z,1755628345.690 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:32:25.942Z,1755628345.942 [DAT](INFO): DAT read: user:985>

2025-08-19T18:32:25.943Z,1755628345.943 [DAT](INFO): DAT read: Tx time:18:32:24.3651

2025-08-19T18:32:25.943Z,1755628345.943 [DAT](INFO): Ping request sent.
2025-08-19T18:32:25.944Z,1755628345.944 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:32:25.944Z,1755628345.944 [DAT](INFO): publishing transmit ping time
2025-08-19T18:32:25.944Z,1755628345.944 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:32:26.194Z,1755628346.194 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:32:28.210Z,1755628348.210 [DAT](INFO): DAT read: Rx Time:18:32:26.2590

2025-08-19T18:32:28.211Z,1755628348.211 [DAT](INFO): Rx dataTimestamp_ set to:1755628348.210601
2025-08-19T18:32:28.967Z,1755628348.967 [DAT](INFO): DAT read: 18:32:26.2590 LVL= 29120, 32753, 32754, 31395, AGC= 32, IDX= 458,-0>

2025-08-19T18:32:28.968Z,1755628348.968 [DAT](INFO): unknown deviceResponse_: 18:32:26.2590 LVL= 29120, 32753, 32754, 31395, AGC= 32, IDX= 458,-0>

2025-08-19T18:32:28.969Z,1755628348.969 [DAT](INFO): DAT read: Tx time:18:32:27.3651

2025-08-19T18:32:28.969Z,1755628348.969 [DAT](INFO): Ping request sent.
2025-08-19T18:32:28.969Z,1755628348.969 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:32:28.969Z,1755628348.969 [DAT](INFO): publishing transmit ping time
2025-08-19T18:32:31.235Z,1755628351.235 [DAT](INFO): DAT read: Rx Time:18:32:29.2591

2025-08-19T18:32:31.235Z,1755628351.235 [DAT](INFO): Rx dataTimestamp_ set to:1755628351.234813
2025-08-19T18:32:31.995Z,1755628351.995 [DAT](INFO): DAT read: 18:32:29.2591 LVL= 25520, 30689, 32754, 27491, AGC= 32, IDX= 442, 0.38, 0.039,-0.270,-0.158,-1.818, PHS= 1.959, 1.593, 1.616, RAW=  93.2, -79.0, CAL=  95.5, -78.4, ROT=  54.5,  78.4

2025-08-19T18:32:31.996Z,1755628351.996 [DAT](INFO): got valid direction response:
 18:32:29.2591 LVL= 25520, 30689, 32754, 27491, AGC= 32, IDX= 442, 0.38, 0.039,-0.270,-0.158,-1.818, PHS= 1.959, 1.593, 1.616, RAW=  93.2, -79.0, CAL=  95.5, -78.4, ROT=  54.5,  78.4

2025-08-19T18:32:31.996Z,1755628351.996 [DAT](INFO): DAT read: OK

2025-08-19T18:32:31.997Z,1755628351.997 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:32:31.997Z,1755628351.997 [DAT](INFO): DAT read: user:987>

2025-08-19T18:32:31.998Z,1755628351.998 [DAT](INFO): DAT read: Tx time:18:32:30.3651

2025-08-19T18:32:31.999Z,1755628351.999 [DAT](INFO): Ping request sent.
2025-08-19T18:32:31.999Z,1755628351.999 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:32:31.999Z,1755628351.999 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-19T18:32:32.000Z,1755628352.000 [DAT](INFO): direction in FSK: [0.116767,0.163701,-0.979575]
2025-08-19T18:32:32.000Z,1755628352.000 [DAT](INFO): publishing transmit ping time
2025-08-19T18:32:32.003Z,1755628352.003 [DAT](INFO): publishing transmit ping time
2025-08-19T18:32:34.258Z,1755628354.258 [DAT](INFO): DAT read: Rx Time:18:32:32.2592

2025-08-19T18:32:34.259Z,1755628354.259 [DAT](INFO): Rx dataTimestamp_ set to:1755628354.258518
2025-08-19T18:32:34.766Z,1755628354.766 [DAT](INFO): DAT read: 18:32:32.2592 LVL= 24896, 29809, 32754, 26387, AGC= 32, IDX= 443, 0.31,-0.160,-0.475,-0.380,-2.045, PHS= 1.988, 1.615, 1.621, RAW=  90.8, -78.7, CAL=  93.0, -78.1, ROT=  57.0,  78.1

2025-08-19T18:32:34.767Z,1755628354.767 [DAT](INFO): got valid direction response:
 18:32:32.2592 LVL= 24896, 29809, 32754, 26387, AGC= 32, IDX= 443, 0.31,-0.160,-0.475,-0.380,-2.045, PHS= 1.988, 1.615, 1.621, RAW=  90.8, -78.7, CAL=  93.0, -78.1, ROT=  57.0,  78.1

2025-08-19T18:32:34.768Z,1755628354.768 [DAT](INFO): DAT read: OK

2025-08-19T18:32:34.768Z,1755628354.768 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:32:34.768Z,1755628354.768 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-19T18:32:34.770Z,1755628354.770 [DAT](INFO): direction in FSK: [0.112307,0.172937,-0.978509]
2025-08-19T18:32:35.194Z,1755628355.194 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:32:36.198Z,1755628356.198 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:32:36.546Z,1755628356.546 [DockingStepper](FAULT): Timed out moving from: 10496 to: 14700 response: ÿ
2025-08-19T18:32:36.546Z,1755628356.546 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-19T18:32:36.546Z,1755628356.546 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:32:36.551Z,1755628356.551 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:32:36.875Z,1755628356.875 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:32:36.875Z,1755628356.875 [DockingStepper](INFO): Powering down
2025-08-19T18:32:37.648Z,1755628357.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:32:37.787Z,1755628357.787 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:32:37.787Z,1755628357.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:32:38.038Z,1755628358.038 [DAT](INFO): DAT read: user:988>

2025-08-19T18:32:38.039Z,1755628358.039 [DAT](INFO): DAT read: Tx time:18:32:36.4660

2025-08-19T18:32:38.039Z,1755628358.039 [DAT](INFO): Ping request sent.
2025-08-19T18:32:38.039Z,1755628358.039 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:32:38.040Z,1755628358.040 [DAT](INFO): publishing transmit ping time
2025-08-19T18:32:38.040Z,1755628358.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771
2025-08-19T18:32:38.290Z,1755628358.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251002
2025-08-19T18:32:38.542Z,1755628358.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503096
2025-08-19T18:32:38.794Z,1755628358.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755094
2025-08-19T18:32:39.046Z,1755628359.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007045
2025-08-19T18:32:39.307Z,1755628359.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267161
2025-08-19T18:32:39.558Z,1755628359.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518963
2025-08-19T18:32:39.811Z,1755628359.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771821
2025-08-19T18:32:40.063Z,1755628360.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023197
2025-08-19T18:32:40.315Z,1755628360.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275823
2025-08-19T18:32:40.566Z,1755628360.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527040
2025-08-19T18:32:40.821Z,1755628360.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780689
2025-08-19T18:32:41.070Z,1755628361.070 [DAT](INFO): DAT read: Rx Time:18:32:38.8714

2025-08-19T18:32:41.071Z,1755628361.071 [DAT](INFO): Rx dataTimestamp_ set to:1755628361.070618
2025-08-19T18:32:41.071Z,1755628361.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032103
2025-08-19T18:32:41.324Z,1755628361.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284128
2025-08-19T18:32:41.580Z,1755628361.580 [DAT](INFO): DAT read: 18:32:38.8714 LVL= 23280, 22433, 24898, 17219, AGC= 34, IDX=  41, 0.37, 2.423, 2.090, 2.216, 0.555, PHS= 1.970, 1.580, 1.617, RAW=  94.9, -78.4, CAL=  97.4, -77.8, ROT=  52.6,  77.8

2025-08-19T18:32:41.581Z,1755628361.581 [DAT](INFO): got valid direction response:
 18:32:38.8714 LVL= 23280, 22433, 24898, 17219, AGC= 34, IDX=  41, 0.37, 2.423, 2.090, 2.216, 0.555, PHS= 1.970, 1.580, 1.617, RAW=  94.9, -78.4, CAL=  97.4, -77.8, ROT=  52.6,  77.8

2025-08-19T18:32:41.582Z,1755628361.582 [DAT](INFO): DAT read: Bearing 217.4,   9.7 (Local)

2025-08-19T18:32:41.582Z,1755628361.582 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.4,   9.7 (Local)

2025-08-19T18:32:41.583Z,1755628361.583 [DAT](INFO): DAT read: Range 11 to 50 : 0.9 m  (Round-trip  1.3 ms) speed  0.0 m/s

2025-08-19T18:32:41.584Z,1755628361.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:32:41.585Z,1755628361.585 [DAT](INFO): direction in FSK: [0.128354,0.167879,-0.977416]
2025-08-19T18:32:41.586Z,1755628361.586 [DAT](INFO): publishing direction and range info
2025-08-19T18:32:49.394Z,1755628369.394 [Sonardyne_Nano](INFO): Battery at maximum, disabling charging
2025-08-19T18:32:57.532Z,1755628377.532 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:32:57.532Z,1755628377.532 [DockingStepper] No Fault, FailCount= 1
2025-08-19T18:32:57.875Z,1755628377.875 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:32:57.994Z,1755628377.994 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:33:01.566Z,1755628381.566 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:33:06.322Z,1755628386.322 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:33:07.326Z,1755628387.326 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:33:12.938Z,1755628392.938 [DockingStepper](FAULT): Timed out moving from: 10495 to: 14700 response: ÿ
2025-08-19T18:33:12.938Z,1755628392.938 [DockingStepper] Hardware Fault, FailCount= 2
2025-08-19T18:33:12.938Z,1755628392.938 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:33:12.943Z,1755628392.943 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:33:13.363Z,1755628393.363 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:33:13.363Z,1755628393.363 [DockingStepper](INFO): Powering down
2025-08-19T18:33:24.097Z,1755628404.097 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022422204117,35.0, +10.5,   0.0,1491.8,A,  0.00,  57.05,  56.71,  55.02,  57.39
2025-08-19T18:33:25.326Z,1755628405.326 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-19T18:33:25.326Z,1755628405.326 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-19T18:33:25.458Z,1755628405.458 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:33:25.710Z,1755628405.710 [DAT](INFO): DAT read: user:989>

2025-08-19T18:33:25.711Z,1755628405.711 [DAT](INFO): DAT read: Tx time:18:33:24.1148

2025-08-19T18:33:25.711Z,1755628405.711 [DAT](INFO): Ping request sent.
2025-08-19T18:33:25.711Z,1755628405.711 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:33:25.711Z,1755628405.711 [DAT](INFO): publishing transmit ping time
2025-08-19T18:33:25.712Z,1755628405.712 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:33:25.962Z,1755628405.962 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:33:27.978Z,1755628407.978 [DAT](INFO): DAT read: Rx Time:18:33:26.0107

2025-08-19T18:33:27.979Z,1755628407.979 [DAT](INFO): Rx dataTimestamp_ set to:1755628407.978561
2025-08-19T18:33:28.741Z,1755628408.741 [DAT](INFO): DAT read: 18:33:26.0107 LVL= 24336, 28529, 30994, 25459, AGC= 33, IDX= 349,-0.07,-0.849,-1.158,-1.052,-2.703, PHS= 1.955, 1.589, 1.606, RAW=  92.4, -78.9, CAL=  94.6, -78.3, ROT=  55.4,  78.3

2025-08-19T18:33:28.743Z,1755628408.743 [DAT](INFO): got valid direction response:
 18:33:26.0107 LVL= 24336, 28529, 30994, 25459, AGC= 33, IDX= 349,-0.07,-0.849,-1.158,-1.052,-2.703, PHS= 1.955, 1.589, 1.606, RAW=  92.4, -78.9, CAL=  94.6, -78.3, ROT=  55.4,  78.3

2025-08-19T18:33:28.744Z,1755628408.744 [DAT](INFO): DAT read: OK

2025-08-19T18:33:28.744Z,1755628408.744 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:33:28.745Z,1755628408.745 [DAT](INFO): DAT read: user:990>

2025-08-19T18:33:28.746Z,1755628408.746 [DAT](INFO): DAT read: Tx time:18:33:27.1148

2025-08-19T18:33:28.746Z,1755628408.746 [DAT](INFO): Ping request sent.
2025-08-19T18:33:28.746Z,1755628408.746 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:33:28.747Z,1755628408.747 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-19T18:33:28.749Z,1755628408.749 [DAT](INFO): direction in FSK: [0.115151,0.166922,-0.979223]
2025-08-19T18:33:28.749Z,1755628408.749 [DAT](INFO): publishing transmit ping time
2025-08-19T18:33:28.766Z,1755628408.766 [DAT](INFO): publishing transmit ping time
2025-08-19T18:33:31.003Z,1755628411.003 [DAT](INFO): DAT read: Rx Time:18:33:29.0108

2025-08-19T18:33:31.003Z,1755628411.003 [DAT](INFO): Rx dataTimestamp_ set to:1755628411.002710
2025-08-19T18:33:31.763Z,1755628411.763 [DAT](INFO): DAT read: 18:33:29.0108 LVL= 26608, 31153, 32754, 28467, AGC= 32, IDX= 446,-0.14,-1.161,-1.488,-1.365,-3.008, PHS= 1.949, 1.564, 1.599, RAW=  94.6, -78.5, CAL=  97.1, -77.8, ROT=  52.9,  77.8

2025-08-19T18:33:31.764Z,1755628411.764 [DAT](INFO): got valid direction response:
 18:33:29.0108 LVL= 26608, 31153, 32754, 28467, AGC= 32, IDX= 446,-0.14,-1.161,-1.488,-1.365,-3.008, PHS= 1.949, 1.564, 1.599, RAW=  94.6, -78.5, CAL=  97.1, -77.8, ROT=  52.9,  77.8

2025-08-19T18:33:31.764Z,1755628411.764 [DAT](INFO): DAT read: OK

2025-08-19T18:33:31.765Z,1755628411.765 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:33:31.765Z,1755628411.765 [DAT](INFO): DAT read: user:991>

2025-08-19T18:33:31.766Z,1755628411.766 [DAT](INFO): DAT read: Tx time:18:33:30.1148

2025-08-19T18:33:31.766Z,1755628411.766 [DAT](INFO): Ping request sent.
2025-08-19T18:33:31.766Z,1755628411.766 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:33:31.767Z,1755628411.767 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-19T18:33:31.768Z,1755628411.768 [DAT](INFO): direction in FSK: [0.127473,0.168549,-0.977416]
2025-08-19T18:33:31.768Z,1755628411.768 [DAT](INFO): publishing transmit ping time
2025-08-19T18:33:31.771Z,1755628411.771 [DAT](INFO): publishing transmit ping time
2025-08-19T18:33:33.852Z,1755628413.852 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:33:33.852Z,1755628413.852 [DockingStepper] No Fault, FailCount= 2
2025-08-19T18:33:34.026Z,1755628414.026 [DAT](INFO): DAT read: Rx Time:18:33:32.0109

2025-08-19T18:33:34.027Z,1755628414.027 [DAT](INFO): Rx dataTimestamp_ set to:1755628414.026619
2025-08-19T18:33:34.273Z,1755628414.273 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:33:34.394Z,1755628414.394 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:33:34.534Z,1755628414.534 [DAT](INFO): DAT read: 18:33:32.0109 LVL= 30192, 32753, 32754, 32179, AGC= 31, IDX= 447,-0.21,-1.599,-1.932,-1.798, 2.840, PHS= 1.946, 1.557, 1.602, RAW=  96.1, -78.4, CAL=  98.6, -77.8, ROT=  51.4,  77.8

2025-08-19T18:33:34.535Z,1755628414.535 [DAT](INFO): got valid direction response:
 18:33:32.0109 LVL= 30192, 32753, 32754, 32179, AGC= 31, IDX= 447,-0.21,-1.599,-1.932,-1.798, 2.840, PHS= 1.946, 1.557, 1.602, RAW=  96.1, -78.4, CAL=  98.6, -77.8, ROT=  51.4,  77.8

2025-08-19T18:33:34.536Z,1755628414.536 [DAT](INFO): DAT read: OK

2025-08-19T18:33:34.536Z,1755628414.536 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:33:34.536Z,1755628414.536 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-19T18:33:34.538Z,1755628414.538 [DAT](INFO): direction in FSK: [0.131841,0.165155,-0.977416]
2025-08-19T18:33:37.446Z,1755628417.446 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:33:37.872Z,1755628417.872 [DockingStepper](INFO): Changing to mode: 4
2025-08-19T18:33:38.450Z,1755628418.450 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:34:08.574Z,1755628448.574 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:34:09.578Z,1755628449.578 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:34:37.662Z,1755628477.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-19T18:34:37.858Z,1755628477.858 [DAT](DEBUG): Acoustic response timeout
2025-08-19T18:34:37.858Z,1755628477.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-19T18:34:38.111Z,1755628478.111 [DAT](INFO): DAT read: user:992>

2025-08-19T18:34:38.112Z,1755628478.112 [DAT](INFO): DAT read: Tx time:18:34:36.5156

2025-08-19T18:34:38.113Z,1755628478.113 [DAT](INFO): Ping request sent.
2025-08-19T18:34:38.113Z,1755628478.113 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:34:38.113Z,1755628478.113 [DAT](INFO): publishing transmit ping time
2025-08-19T18:34:38.114Z,1755628478.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001449
2025-08-19T18:34:38.362Z,1755628478.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249792
2025-08-19T18:34:38.615Z,1755628478.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502052
2025-08-19T18:34:38.867Z,1755628478.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754607
2025-08-19T18:34:39.119Z,1755628479.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006500
2025-08-19T18:34:39.370Z,1755628479.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257773
2025-08-19T18:34:39.623Z,1755628479.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509892
2025-08-19T18:34:39.708Z,1755628479.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:34:39.874Z,1755628479.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761799
2025-08-19T18:34:40.128Z,1755628480.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015047
2025-08-19T18:34:40.379Z,1755628480.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265907
2025-08-19T18:34:40.631Z,1755628480.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518272
2025-08-19T18:34:40.710Z,1755628480.710 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:34:40.883Z,1755628480.883 [DAT](INFO): DAT read: Rx Time:18:34:38.9211

2025-08-19T18:34:40.883Z,1755628480.883 [DAT](INFO): Rx dataTimestamp_ set to:1755628480.882748
2025-08-19T18:34:40.884Z,1755628480.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943
2025-08-19T18:34:41.134Z,1755628481.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021768
2025-08-19T18:34:41.389Z,1755628481.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275743
2025-08-19T18:34:41.644Z,1755628481.644 [DAT](INFO): DAT read: 18:34:38.9211 LVL= 23280, 22641, 24882, 17395, AGC= 34, IDX=  26,-0.33,-1.544,-1.874,-1.741, 2.919, PHS= 1.923, 1.535, 1.580, RAW=  96.0, -78.4, CAL=  98.6, -77.7, ROT=  51.4,  77.7

2025-08-19T18:34:41.645Z,1755628481.645 [DAT](INFO): got valid direction response:
 18:34:38.9211 LVL= 23280, 22641, 24882, 17395, AGC= 34, IDX=  26,-0.33,-1.544,-1.874,-1.741, 2.919, PHS= 1.923, 1.535, 1.580, RAW=  96.0, -78.4, CAL=  98.6, -77.7, ROT=  51.4,  77.7

2025-08-19T18:34:41.646Z,1755628481.646 [DAT](INFO): DAT read: Bearing 222.0,   9.1 (Local)

2025-08-19T18:34:41.646Z,1755628481.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.0,   9.1 (Local)

2025-08-19T18:34:41.647Z,1755628481.647 [DAT](INFO): DAT read: Range 11 to 50 : 1.0 m  (Round-trip  1.4 ms) speed  0.0 m/s

2025-08-19T18:34:41.648Z,1755628481.648 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-19T18:34:41.649Z,1755628481.649 [DAT](INFO): direction in FSK: [0.132905,0.166488,-0.977046]
2025-08-19T18:34:41.649Z,1755628481.649 [DAT](INFO): publishing direction and range info
2025-08-19T18:34:55.437Z,1755628495.437 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-19T18:34:55.438Z,1755628495.438 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-19T18:34:55.439Z,1755628495.439 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Found local IP address 10.89.11.2 for eth0
2025-08-19T18:34:55.439Z,1755628495.439 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): No IP address on dock subnet, restarting DHCP
2025-08-19T18:34:55.465Z,1755628495.465 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:34:55.516Z,1755628495.516 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-19T18:34:56.002Z,1755628496.002 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:34:56.254Z,1755628496.254 [DAT](INFO): DAT read: user:993>

2025-08-19T18:34:56.255Z,1755628496.255 [DAT](INFO): DAT read: Tx time:18:34:54.6645

2025-08-19T18:34:56.256Z,1755628496.256 [DAT](INFO): Ping request sent.
2025-08-19T18:34:56.256Z,1755628496.256 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:34:56.256Z,1755628496.256 [DAT](INFO): publishing transmit ping time
2025-08-19T18:34:56.257Z,1755628496.257 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:34:56.506Z,1755628496.506 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-19T18:34:58.523Z,1755628498.523 [DAT](INFO): DAT read: Rx Time:18:34:56.5632

2025-08-19T18:34:58.523Z,1755628498.523 [DAT](INFO): Rx dataTimestamp_ set to:1755628498.523138
2025-08-19T18:34:59.288Z,1755628499.288 [DAT](INFO): DAT read: 18:34:56.5632 LVL= 30080, 30849, 32754, 27475, AGC= 34, IDX= 378, 0.16, 0.827, 0.515, 0.640,-1.073, PHS= 2.002, 1.633, 1.669, RAW=  95.1, -79.4, CAL=  97.4, -78.8, ROT=  52.6,  78.8

2025-08-19T18:34:59.290Z,1755628499.290 [DAT](INFO): got valid direction response:
 18:34:56.5632 LVL= 30080, 30849, 32754, 27475, AGC= 34, IDX= 378, 0.16, 0.827, 0.515, 0.640,-1.073, PHS= 2.002, 1.633, 1.669, RAW=  95.1, -79.4, CAL=  97.4, -78.8, ROT=  52.6,  78.8

2025-08-19T18:34:59.290Z,1755628499.290 [DAT](INFO): DAT read: OK

2025-08-19T18:34:59.290Z,1755628499.290 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:34:59.291Z,1755628499.291 [DAT](INFO): DAT read: user:994>

2025-08-19T18:34:59.292Z,1755628499.292 [DAT](INFO): DAT read: Tx time:18:34:57.6645

2025-08-19T18:34:59.292Z,1755628499.292 [DAT](INFO): Ping request sent.
2025-08-19T18:34:59.292Z,1755628499.292 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:34:59.292Z,1755628499.292 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-19T18:34:59.294Z,1755628499.294 [DAT](INFO): direction in FSK: [0.117973,0.154303,-0.980955]
2025-08-19T18:34:59.294Z,1755628499.294 [DAT](INFO): publishing transmit ping time
2025-08-19T18:34:59.297Z,1755628499.297 [DAT](INFO): publishing transmit ping time
2025-08-19T18:35:01.556Z,1755628501.556 [DAT](INFO): DAT read: Rx Time:18:34:59.5633

2025-08-19T18:35:01.557Z,1755628501.557 [DAT](INFO): Rx dataTimestamp_ set to:1755628501.556417
2025-08-19T18:35:02.326Z,1755628502.326 [DAT](INFO): DAT read: 18:34:59.5633 LVL= 29680, 30417, 32754, 27123, AGC= 34, IDX= 443, 0.08, 0.170,-0.135,-0.022,-1.723, PHS= 1.995, 1.633, 1.657, RAW=  93.5, -79.4, CAL=  95.7, -78.8, ROT=  54.3,  78.8

2025-08-19T18:35:02.330Z,1755628502.330 [DAT](INFO): got valid direction response:
 18:34:59.5633 LVL= 29680, 30417, 32754, 27123, AGC= 34, IDX= 443, 0.08, 0.170,-0.135,-0.022,-1.723, PHS= 1.995, 1.633, 1.657, RAW=  93.5, -79.4, CAL=  95.7, -78.8, ROT=  54.3,  78.8

2025-08-19T18:35:02.331Z,1755628502.331 [DAT](INFO): DAT read: OK

2025-08-19T18:35:02.332Z,1755628502.332 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:35:02.354Z,1755628502.354 [DAT](INFO): DAT read: user:995>

2025-08-19T18:35:02.355Z,1755628502.355 [DAT](INFO): DAT read: Tx time:18:35:00.6645

2025-08-19T18:35:02.355Z,1755628502.355 [DAT](INFO): Ping request sent.
2025-08-19T18:35:02.355Z,1755628502.355 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:35:02.355Z,1755628502.355 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-19T18:35:02.356Z,1755628502.356 [DAT](INFO): direction in FSK: [0.113344,0.157734,-0.980955]
2025-08-19T18:35:02.357Z,1755628502.357 [DAT](INFO): publishing transmit ping time
2025-08-19T18:35:02.364Z,1755628502.364 [DAT](INFO): publishing transmit ping time
2025-08-19T18:35:04.483Z,1755628504.483 [DockingStepper](FAULT): Timed out moving from: 10494 to: 14700 response: ÿ
2025-08-19T18:35:04.483Z,1755628504.483 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-19T18:35:04.483Z,1755628504.483 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:35:04.487Z,1755628504.487 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:35:04.583Z,1755628504.583 [DAT](INFO): DAT read: Rx Time:18:35:02.5634

2025-08-19T18:35:04.584Z,1755628504.584 [DAT](INFO): Rx dataTimestamp_ set to:1755628504.583414
2025-08-19T18:35:04.765Z,1755628504.765 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:35:04.766Z,1755628504.766 [DockingStepper](INFO): Powering down
2025-08-19T18:35:05.094Z,1755628505.094 [DAT](INFO): DAT read: 18:35:02.5634 LVL= 27840, 32241, 32754, 29027, AGC= 31, IDX= 444, 0.01,-0.569,-0.898,-0.790,-2.425, PHS= 1.958, 1.571, 1.591, RAW=  92.6, -78.2, CAL=  95.0, -77.6, ROT=  55.0,  77.6

2025-08-19T18:35:05.095Z,1755628505.095 [DAT](INFO): got valid direction response:
 18:35:02.5634 LVL= 27840, 32241, 32754, 29027, AGC= 31, IDX= 444, 0.01,-0.569,-0.898,-0.790,-2.425, PHS= 1.958, 1.571, 1.591, RAW=  92.6, -78.2, CAL=  95.0, -77.6, ROT=  55.0,  77.6

2025-08-19T18:35:05.096Z,1755628505.096 [DAT](INFO): DAT read: OK

2025-08-19T18:35:05.096Z,1755628505.096 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:35:05.096Z,1755628505.096 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-19T18:35:05.101Z,1755628505.101 [DAT](INFO): direction in FSK: [0.123167,0.175901,-0.976672]
2025-08-19T18:35:10.830Z,1755628510.830 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:35:11.834Z,1755628511.834 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:35:25.346Z,1755628525.346 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:35:25.346Z,1755628525.346 [DockingStepper] No Fault, FailCount= 1
2025-08-19T18:35:25.763Z,1755628525.763 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:35:25.886Z,1755628525.886 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:35:29.381Z,1755628529.381 [DockingStepper](INFO): Changing to mode: 1
2025-08-19T18:35:38.018Z,1755628538.018 [DockingStepper](FAULT): Timed out moving from: 10495 to: 14700 response: ÿ
2025-08-19T18:35:38.018Z,1755628538.018 [DockingStepper] Hardware Fault, FailCount= 2
2025-08-19T18:35:38.018Z,1755628538.018 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:35:38.024Z,1755628538.024 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:35:38.272Z,1755628538.272 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:35:38.273Z,1755628538.273 [DockingStepper](INFO): Powering down
2025-08-19T18:35:41.954Z,1755628541.954 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:35:42.958Z,1755628542.958 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:35:55.613Z,1755628555.613 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-19T18:35:55.614Z,1755628555.614 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Reached max slide retries without successful comms or charge, attempt will be aborted
2025-08-19T18:35:55.614Z,1755628555.614 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-19T18:35:55.774Z,1755628555.774 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:35:56.026Z,1755628556.026 [DAT](INFO): DAT read: user:996>

2025-08-19T18:35:56.027Z,1755628556.027 [DAT](INFO): DAT read: Tx time:18:35:54.4143

2025-08-19T18:35:56.027Z,1755628556.027 [DAT](INFO): Ping request sent.
2025-08-19T18:35:56.028Z,1755628556.028 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:35:56.028Z,1755628556.028 [DAT](INFO): publishing transmit ping time
2025-08-19T18:35:56.028Z,1755628556.028 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:35:56.060Z,1755628556.060 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-19T18:35:56.278Z,1755628556.278 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-19T18:35:58.294Z,1755628558.294 [DAT](INFO): DAT read: Rx Time:18:35:56.3149

2025-08-19T18:35:58.295Z,1755628558.295 [DAT](INFO): Rx dataTimestamp_ set to:1755628558.294616
2025-08-19T18:35:59.005Z,1755628559.005 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-19T18:35:59.005Z,1755628559.005 [DockingStepper] No Fault, FailCount= 2
2025-08-19T18:35:59.055Z,1755628559.055 [DAT](INFO): DAT read: 18:35:56.3149 LVL= 26608, 31121, 32754, 27619, AGC= 31, IDX= 461, 0.32, 0.519, 0.187, 0.310,-1.324, PHS= 1.945, 1.556, 1.590, RAW=  94.5, -78.3, CAL=  97.0, -77.7, ROT=  53.0,  77.7

2025-08-19T18:35:59.056Z,1755628559.056 [DAT](INFO): got valid direction response:
 18:35:56.3149 LVL= 26608, 31121, 32754, 27619, AGC= 31, IDX= 461, 0.32, 0.519, 0.187, 0.310,-1.324, PHS= 1.945, 1.556, 1.590, RAW=  94.5, -78.3, CAL=  97.0, -77.7, ROT=  53.0,  77.7

2025-08-19T18:35:59.056Z,1755628559.056 [DAT](INFO): DAT read: OK

2025-08-19T18:35:59.056Z,1755628559.056 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:35:59.057Z,1755628559.057 [DAT](INFO): DAT read: user:997>

2025-08-19T18:35:59.057Z,1755628559.057 [DAT](INFO): DAT read: Tx time:18:35:57.4143

2025-08-19T18:35:59.058Z,1755628559.058 [DAT](INFO): Ping request sent.
2025-08-19T18:35:59.058Z,1755628559.058 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:35:59.058Z,1755628559.058 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-19T18:35:59.059Z,1755628559.059 [DAT](INFO): direction in FSK: [0.128205,0.170134,-0.977046]
2025-08-19T18:35:59.059Z,1755628559.059 [DAT](INFO): publishing transmit ping time
2025-08-19T18:35:59.062Z,1755628559.062 [DAT](INFO): publishing transmit ping time
2025-08-19T18:35:59.325Z,1755628559.325 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-19T18:35:59.442Z,1755628559.442 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-19T18:36:01.318Z,1755628561.318 [DAT](INFO): DAT read: Rx Time:18:35:59.3150

2025-08-19T18:36:01.319Z,1755628561.319 [DAT](INFO): Rx dataTimestamp_ set to:1755628561.318674
2025-08-19T18:36:01.827Z,1755628561.827 [DAT](INFO): DAT read: 18:35:59.3150 LVL= 29680, 32753, 32754, 31219, AGC= 32, IDX= 446, 0.20, 0.365, 0.035, 0.158,-1.526, PHS= 1.993, 1.606, 1.641, RAW=  94.6, -78.7, CAL=  97.0, -78.1, ROT=  53.0,  78.1

2025-08-19T18:36:01.828Z,1755628561.828 [DAT](INFO): got valid direction response:
 18:35:59.3150 LVL= 29680, 32753, 32754, 31219, AGC= 32, IDX= 446, 0.20, 0.365, 0.035, 0.158,-1.526, PHS= 1.993, 1.606, 1.641, RAW=  94.6, -78.7, CAL=  97.0, -78.1, ROT=  53.0,  78.1

2025-08-19T18:36:01.829Z,1755628561.829 [DAT](INFO): DAT read: OK

2025-08-19T18:36:01.829Z,1755628561.829 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:36:01.829Z,1755628561.829 [DAT](INFO): DAT read: user:998>

2025-08-19T18:36:01.830Z,1755628561.830 [DAT](INFO): DAT read: Tx time:18:36:00.4143

2025-08-19T18:36:01.831Z,1755628561.831 [DAT](INFO): Ping request sent.
2025-08-19T18:36:01.831Z,1755628561.831 [DAT](INFO): transmitted an acoustic signal
2025-08-19T18:36:01.831Z,1755628561.831 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-19T18:36:01.832Z,1755628561.832 [DAT](INFO): direction in FSK: [0.124097,0.164682,-0.978509]
2025-08-19T18:36:01.832Z,1755628561.832 [DAT](INFO): publishing transmit ping time
2025-08-19T18:36:01.835Z,1755628561.835 [DAT](INFO): publishing transmit ping time
2025-08-19T18:36:02.924Z,1755628562.924 [DockingStepper](INFO): Changing to mode: 4
2025-08-19T18:36:04.342Z,1755628564.342 [DAT](INFO): DAT read: Rx Time:18:36:02.3151

2025-08-19T18:36:04.343Z,1755628564.343 [DAT](INFO): Rx dataTimestamp_ set to:1755628564.342628
2025-08-19T18:36:04.850Z,1755628564.850 [DAT](INFO): DAT read: 18:36:02.3151 LVL= 24304, 28193, 30834, 25443, AGC= 32, IDX= 447, 0.09, 0.391, 0.083, 0.201,-1.477, PHS= 1.970, 1.605, 1.634, RAW=  94.2, -79.2, CAL=  96.4, -78.6, ROT=  53.6,  78.6

2025-08-19T18:36:04.851Z,1755628564.851 [DAT](INFO): got valid direction response:
 18:36:02.3151 LVL= 24304, 28193, 30834, 25443, AGC= 32, IDX= 447, 0.09, 0.391, 0.083, 0.201,-1.477, PHS= 1.970, 1.605, 1.634, RAW=  94.2, -79.2, CAL=  96.4, -78.6, ROT=  53.6,  78.6

2025-08-19T18:36:04.852Z,1755628564.852 [DAT](INFO): DAT read: OK

2025-08-19T18:36:04.852Z,1755628564.852 [DAT](INFO): unknown deviceResponse_: OK

2025-08-19T18:36:04.852Z,1755628564.852 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-19T18:36:04.853Z,1755628564.853 [DAT](INFO): direction in FSK: [0.117294,0.159093,-0.980271]
2025-08-19T18:36:13.086Z,1755628573.086 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:36:14.090Z,1755628574.090 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:36:26.318Z,1755628586.318 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-19T18:36:26.318Z,1755628586.318 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-19T18:36:26.319Z,1755628586.319 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-19T18:36:26.319Z,1755628586.319 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-19T18:36:26.320Z,1755628586.320 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-19T18:36:26.329Z,1755628586.329 [DockingStepper](INFO): Changing to mode: 2
2025-08-19T18:36:26.747Z,1755628586.747 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-19T18:36:26.747Z,1755628586.747 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-19T18:36:26.747Z,1755628586.747 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-19T18:36:26.747Z,1755628586.747 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-19T18:36:26.747Z,1755628586.747 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-19T18:36:26.748Z,1755628586.748 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-19T18:36:27.141Z,1755628587.141 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-19T18:36:27.141Z,1755628587.141 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-19T18:36:27.141Z,1755628587.141 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-19T18:36:27.141Z,1755628587.141 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-19T18:36:27.141Z,1755628587.141 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-19T18:36:27.141Z,1755628587.141 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-19T18:36:27.142Z,1755628587.142 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-19T18:36:27.142Z,1755628587.142 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-19T18:36:27.142Z,1755628587.142 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-19T18:36:27.142Z,1755628587.142 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-19T18:36:27.609Z,1755628587.609 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-19T18:36:27.609Z,1755628587.609 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-19T18:36:27.609Z,1755628587.609 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-19T18:36:27.609Z,1755628587.609 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-19T18:36:27.609Z,1755628587.609 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-19T18:36:27.609Z,1755628587.609 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-19T18:36:27.609Z,1755628587.609 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-19T18:36:27.610Z,1755628587.610 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-19T18:36:27.610Z,1755628587.610 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-19T18:36:27.610Z,1755628587.610 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-19T18:36:27.610Z,1755628587.610 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-19T18:36:27.610Z,1755628587.610 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-19T18:36:27.610Z,1755628587.610 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-19T18:36:27.610Z,1755628587.610 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-19T18:36:27.610Z,1755628587.610 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-19T18:36:27.610Z,1755628587.610 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-19T18:36:27.611Z,1755628587.611 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-19T18:36:27.972Z,1755628587.972 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-19T18:36:27.972Z,1755628587.972 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-19T18:36:27.972Z,1755628587.972 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-19T18:36:27.972Z,1755628587.972 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-19T18:36:27.972Z,1755628587.972 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-19T18:36:27.972Z,1755628587.972 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-19T18:36:27.972Z,1755628587.972 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-19T18:36:27.972Z,1755628587.972 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-19T18:36:27.972Z,1755628587.972 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-19T18:36:27.973Z,1755628587.973 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-19T18:36:27.973Z,1755628587.973 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-19T18:36:27.973Z,1755628587.973 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-19T18:36:27.973Z,1755628587.973 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-19T18:36:27.973Z,1755628587.973 [lineCaptureHoming:Lap] Stopped
2025-08-19T18:36:27.973Z,1755628587.973 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-19T18:36:27.978Z,1755628587.978 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-19T18:36:27.978Z,1755628587.978 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-19T18:36:27.978Z,1755628587.978 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming] Stopped
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:Science] Stopped
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:Science:B] Stopped
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:Science:C] Stopped
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:Science:E] Stopped
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-19T18:36:27.979Z,1755628587.979 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-19T18:36:27.980Z,1755628587.980 [lineCaptureHoming:TrackAC.] Stopped
2025-08-19T18:36:27.981Z,1755628587.981 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-19T18:36:28.039Z,1755628588.039 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-08-19T18:36:28.181Z,1755628588.181 [WetLabsBB2FL](INFO): Powering down
2025-08-19T18:36:28.350Z,1755628588.350 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-19T18:36:28.350Z,1755628588.350 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-19T18:36:28.354Z,1755628588.354 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-19T18:36:33.528Z,1755628593.528 [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>

2025-08-19T18:36:33.549Z,1755628593.549 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-19T18:36:33.552Z,1755628593.552 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-19T18:36:33.558Z,1755628593.558 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-19T18:36:33.570Z,1755628593.570 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-19T18:36:33.573Z,1755628593.573 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-19T18:36:33.588Z,1755628593.588 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-19T18:36:33.611Z,1755628593.611 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-19T18:36:33.617Z,1755628593.617 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-19T18:36:33.670Z,1755628593.670 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-19T18:36:33.686Z,1755628593.686 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-19T18:36:33.688Z,1755628593.688 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-19T18:36:33.706Z,1755628593.706 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-19T18:36:33.709Z,1755628593.709 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-19T18:36:33.709Z,1755628593.709 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-19T18:36:33.717Z,1755628593.717 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-19T18:36:33.719Z,1755628593.719 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-19T18:36:33.816Z,1755628593.816 [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>

2025-08-19T18:36:33.830Z,1755628593.830 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-19T18:36:33.832Z,1755628593.832 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-19T18:36:33.834Z,1755628593.834 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-19T18:36:33.837Z,1755628593.837 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-19T18:36:33.838Z,1755628593.838 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-19T18:36:33.844Z,1755628593.844 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-19T18:36:33.851Z,1755628593.851 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-19T18:36:33.926Z,1755628593.926 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-19T18:36:33.926Z,1755628593.926 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-19T18:36:33.927Z,1755628593.927 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-19T18:36:34.010Z,1755628594.010 [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>

2025-08-19T18:36:34.018Z,1755628594.018 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-19T18:36:34.021Z,1755628594.021 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-19T18:36:34.035Z,1755628594.035 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-19T18:36:34.035Z,1755628594.035 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-19T18:36:34.037Z,1755628594.037 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-19T18:36:34.194Z,1755628594.194 [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>

2025-08-19T18:36:34.198Z,1755628594.198 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-19T18:36:34.200Z,1755628594.200 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-19T18:36:34.202Z,1755628594.202 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-19T18:36:34.204Z,1755628594.204 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-19T18:36:34.207Z,1755628594.207 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-19T18:36:34.214Z,1755628594.214 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-19T18:36:34.217Z,1755628594.217 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-19T18:36:34.224Z,1755628594.224 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-19T18:36:34.224Z,1755628594.224 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-19T18:36:34.231Z,1755628594.231 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-19T18:36:36.090Z,1755628596.090 [DockingStepper](FAULT): Timed out moving from: 10495 to: 6111 response: ÿ
2025-08-19T18:36:36.090Z,1755628596.090 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-19T18:36:36.090Z,1755628596.090 [DockingStepper](ERROR): Hardware Fault
2025-08-19T18:36:36.136Z,1755628596.136 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-19T18:36:36.371Z,1755628596.371 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-19T18:36:36.371Z,1755628596.371 [DockingStepper](INFO): Powering down
2025-08-19T18:36:38.529Z,1755628598.529 [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>

2025-08-19T18:36:38.556Z,1755628598.556 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-19T18:36:38.558Z,1755628598.558 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-19T18:36:38.560Z,1755628598.560 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-19T18:36:38.563Z,1755628598.563 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-19T18:36:38.564Z,1755628598.564 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-19T18:36:38.567Z,1755628598.567 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-19T18:36:38.569Z,1755628598.569 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-19T18:36:38.591Z,1755628598.591 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-19T18:36:38.598Z,1755628598.598 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-19T18:36:38.600Z,1755628598.600 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-19T18:36:38.606Z,1755628598.606 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-19T18:36:38.608Z,1755628598.608 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-19T18:36:38.611Z,1755628598.611 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-19T18:36:38.613Z,1755628598.613 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-19T18:36:38.635Z,1755628598.635 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-19T18:36:38.637Z,1755628598.637 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-19T18:36:38.647Z,1755628598.647 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-19T18:36:38.649Z,1755628598.649 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-19T18:36:38.655Z,1755628598.655 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-19T18:36:38.662Z,1755628598.662 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-19T18:36:38.665Z,1755628598.665 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-19T18:36:38.691Z,1755628598.691 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-19T18:36:38.743Z,1755628598.743 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-19T18:36:38.750Z,1755628598.750 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-19T18:36:38.753Z,1755628598.753 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-19T18:36:38.771Z,1755628598.771 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-19T18:36:38.794Z,1755628598.794 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-19T18:36:38.797Z,1755628598.797 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-19T18:36:38.807Z,1755628598.807 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-19T18:36:38.818Z,1755628598.818 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-19T18:36:38.820Z,1755628598.820 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-19T18:36:38.835Z,1755628598.835 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-19T18:36:38.845Z,1755628598.845 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-19T18:36:38.848Z,1755628598.848 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-19T18:36:38.854Z,1755628598.854 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-19T18:36:38.856Z,1755628598.856 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-19T18:36:38.871Z,1755628598.871 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-19T18:36:38.880Z,1755628598.880 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-19T18:36:38.902Z,1755628598.902 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-19T18:36:38.904Z,1755628598.904 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-19T18:36:38.912Z,1755628598.912 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-19T18:36:38.915Z,1755628598.915 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-19T18:36:38.917Z,1755628598.917 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-19T18:36:38.943Z,1755628598.943 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-19T18:36:38.950Z,1755628598.950 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-19T18:36:38.960Z,1755628598.960 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-19T18:36:38.996Z,1755628598.996 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-19T18:36:39.002Z,1755628599.002 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-19T18:36:39.005Z,1755628599.005 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-19T18:36:39.019Z,1755628599.019 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-19T18:36:39.030Z,1755628599.030 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-19T18:36:39.032Z,1755628599.032 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-19T18:36:39.039Z,1755628599.039 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-19T18:36:39.046Z,1755628599.046 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-19T18:36:39.048Z,1755628599.048 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-19T18:36:39.054Z,1755628599.054 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-19T18:36:39.057Z,1755628599.057 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-19T18:36:39.064Z,1755628599.064 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-19T18:36:39.075Z,1755628599.075 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-19T18:36:39.077Z,1755628599.077 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-19T18:36:39.087Z,1755628599.087 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-19T18:36:39.089Z,1755628599.089 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-19T18:36:39.100Z,1755628599.100 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-19T18:36:39.103Z,1755628599.103 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-19T18:36:39.105Z,1755628599.105 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-19T18:36:39.140Z,1755628599.140 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-19T18:36:39.150Z,1755628599.150 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-19T18:36:39.153Z,1755628599.153 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-19T18:36:39.164Z,1755628599.164 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-19T18:36:39.174Z,1755628599.174 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-19T18:36:39.177Z,1755628599.177 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-19T18:36:39.184Z,1755628599.184 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-19T18:36:39.191Z,1755628599.191 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-19T18:36:39.199Z,1755628599.199 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-19T18:36:39.207Z,1755628599.207 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-19T18:36:39.214Z,1755628599.214 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-19T18:36:39.217Z,1755628599.217 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-19T18:36:39.224Z,1755628599.224 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-19T18:36:39.239Z,1755628599.239 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-19T18:36:39.254Z,1755628599.254 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-19T18:36:39.256Z,1755628599.256 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-19T18:36:39.263Z,1755628599.263 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-19T18:36:39.273Z,1755628599.273 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-19T18:36:39.276Z,1755628599.276 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-19T18:36:39.282Z,1755628599.282 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-19T18:36:39.285Z,1755628599.285 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-19T18:36:39.291Z,1755628599.291 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-19T18:36:39.298Z,1755628599.298 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-19T18:36:39.300Z,1755628599.300 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-19T18:36:39.315Z,1755628599.315 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-19T18:36:39.322Z,1755628599.322 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-19T18:36:39.324Z,1755628599.324 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-19T18:36:39.327Z,1755628599.327 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-19T18:36:39.342Z,1755628599.342 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-19T18:36:39.344Z,1755628599.344 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-19T18:36:39.351Z,1755628599.351 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-19T18:36:39.353Z,1755628599.353 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-19T18:36:39.360Z,1755628599.360 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-19T18:36:39.362Z,1755628599.362 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-19T18:36:39.365Z,1755628599.365 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-19T18:36:39.375Z,1755628599.375 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-19T18:36:39.382Z,1755628599.382 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-19T18:36:39.384Z,1755628599.384 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-19T18:36:39.415Z,1755628599.415 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-19T18:36:39.417Z,1755628599.417 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-19T18:36:39.430Z,1755628599.430 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-19T18:36:39.432Z,1755628599.432 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-19T18:36:39.439Z,1755628599.439 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-19T18:36:39.441Z,1755628599.441 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-19T18:36:39.452Z,1755628599.452 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-19T18:36:39.457Z,1755628599.457 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-19T18:36:39.467Z,1755628599.467 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-19T18:36:39.470Z,1755628599.470 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-19T18:36:39.472Z,1755628599.472 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-19T18:36:39.479Z,1755628599.479 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-19T18:36:39.506Z,1755628599.506 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-19T18:36:39.508Z,1755628599.508 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-19T18:36:39.539Z,1755628599.539 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-19T18:36:39.562Z,1755628599.562 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-19T18:36:39.564Z,1755628599.564 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-19T18:36:39.571Z,1755628599.571 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-19T18:36:39.592Z,1755628599.592 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-19T18:36:39.595Z,1755628599.595 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-19T18:36:39.597Z,1755628599.597 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-19T18:36:39.605Z,1755628599.605 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-19T18:36:39.612Z,1755628599.612 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-19T18:36:39.626Z,1755628599.626 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-19T18:36:39.628Z,1755628599.628 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-19T18:36:39.636Z,1755628599.636 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-19T18:36:39.652Z,1755628599.652 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-19T18:36:39.671Z,1755628599.671 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-19T18:36:39.673Z,1755628599.673 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-19T18:36:39.679Z,1755628599.679 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-19T18:36:39.783Z,1755628599.783 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-19T18:36:39.812Z,1755628599.812 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-19T18:36:39.875Z,1755628599.875 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-19T18:36:39.975Z,1755628599.975 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-19T18:36:40.015Z,1755628600.015 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-19T18:36:40.053Z,1755628600.053 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-19T18:36:40.111Z,1755628600.111 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-19T18:36:40.140Z,1755628600.140 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-19T18:36:40.168Z,1755628600.168 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-19T18:36:40.203Z,1755628600.203 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-19T18:36:40.239Z,1755628600.239 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-19T18:36:40.308Z,1755628600.308 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-19T18:36:40.382Z,1755628600.382 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-19T18:36:40.453Z,1755628600.453 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-19T18:36:40.478Z,1755628600.478 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-19T18:36:40.520Z,1755628600.520 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-19T18:36:40.541Z,1755628600.541 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-19T18:36:40.591Z,1755628600.591 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-19T18:36:40.633Z,1755628600.633 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-19T18:36:40.638Z,1755628600.638 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-19T18:36:40.640Z,1755628600.640 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-19T18:36:40.642Z,1755628600.642 [OnDock:N.Docked](DEBUG): Construct.
2025-08-19T18:36:40.642Z,1755628600.642 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-19T18:36:40.655Z,1755628600.655 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-19T18:36:40.655Z,1755628600.655 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-19T18:36:40.814Z,1755628600.814 [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
    }
  }
}


2025-08-19T18:36:40.815Z,1755628600.815 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-08-19T18:36:40.867Z,1755628600.867 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-19T18:36:40.867Z,1755628600.867 [DefaultWithUndock] Running Loop=1
2025-08-19T18:36:40.867Z,1755628600.867 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-19T18:36:40.868Z,1755628600.868 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-19T18:36:40.868Z,1755628600.868 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-19T18:36:44.234Z,1755628604.234 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-19T18:36:44.956Z,1755628604.956 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 1 hour
2025-08-19T18:36:44.958Z,1755628604.958 [CommandExec](IMPORTANT): got command run
2025-08-19T18:36:44.960Z,1755628604.960 [CommandExec](IMPORTANT): Running 
2025-08-19T18:36:45.196Z,1755628605.196 [DefaultWithUndock] Stopped
2025-08-19T18:36:45.196Z,1755628605.196 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-19T18:36:45.196Z,1755628605.196 [DefaultWithUndock:A.Wait] Stopped
2025-08-19T18:36:45.196Z,1755628605.196 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-19T18:36:45.196Z,1755628605.196 [MissionManager](IMPORTANT): Started mission OnDock
2025-08-19T18:36:45.197Z,1755628605.197 [OnDock] Running Loop=1
2025-08-19T18:36:45.197Z,1755628605.197 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-08-19T18:36:45.197Z,1755628605.197 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-19T18:36:45.197Z,1755628605.197 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-08-19T18:36:45.197Z,1755628605.197 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-19T18:36:45.197Z,1755628605.197 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-19T18:36:45.199Z,1755628605.199 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-19T18:36:45.199Z,1755628605.199 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-19T18:36:45.199Z,1755628605.199 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-19T18:36:45.199Z,1755628605.199 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-19T18:36:45.199Z,1755628605.199 [OnDock:BackseatDriver] Running Loop=1
2025-08-19T18:36:45.199Z,1755628605.199 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-08-19T18:36:45.199Z,1755628605.199 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-08-19T18:36:45.199Z,1755628605.199 [OnDock:PowerOnly] Running Loop=1
2025-08-19T18:36:45.199Z,1755628605.199 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:PowerOnly:A] Running Loop=1
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:PowerOnly:B] Running Loop=1
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:PowerOnly:C] Running Loop=1
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:PowerOnly:D] Running Loop=1
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:dataRead] Running Loop=1
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:dataRead:A] Running Loop=1
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:science] Running Loop=1
2025-08-19T18:36:45.200Z,1755628605.200 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science] Running Loop=1
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science:A] Running Loop=1
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science:B] Running Loop=1
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science:C] Running Loop=1
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science:D] Running Loop=1
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science:E] Running Loop=1
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science:F] Running Loop=1
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-08-19T18:36:45.201Z,1755628605.201 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-08-19T18:36:45.202Z,1755628605.202 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-08-19T18:36:45.202Z,1755628605.202 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-08-19T18:36:45.202Z,1755628605.202 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-08-19T18:36:45.202Z,1755628605.202 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-08-19T18:36:45.202Z,1755628605.202 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-08-19T18:36:45.202Z,1755628605.202 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-08-19T18:36:45.202Z,1755628605.202 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-08-19T18:36:45.202Z,1755628605.202 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-19T18:36:45.202Z,1755628605.202 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-19T18:36:45.203Z,1755628605.203 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-08-19T18:36:45.203Z,1755628605.203 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-08-19T18:36:45.203Z,1755628605.203 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-08-19T18:36:45.203Z,1755628605.203 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-08-19T18:36:45.203Z,1755628605.203 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-08-19T18:36:45.203Z,1755628605.203 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-08-19T18:36:45.203Z,1755628605.203 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-08-19T18:36:45.204Z,1755628605.204 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-08-19T18:36:45.204Z,1755628605.204 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-19T18:36:45.204Z,1755628605.204 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-19T18:36:45.204Z,1755628605.204 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-08-19T18:36:45.204Z,1755628605.204 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-08-19T18:36:45.204Z,1755628605.204 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-19T18:36:45.204Z,1755628605.204 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-08-19T18:36:45.205Z,1755628605.205 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-08-19T18:36:45.205Z,1755628605.205 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-19T18:36:45.205Z,1755628605.205 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-08-19T18:36:45.205Z,1755628605.205 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-08-19T18:36:45.205Z,1755628605.205 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-19T18:36:45.205Z,1755628605.205 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-19T18:36:45.206Z,1755628605.206 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-19T18:36:45.206Z,1755628605.206 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-19T18:36:45.206Z,1755628605.206 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-19T18:36:45.206Z,1755628605.206 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-19T18:36:45.206Z,1755628605.206 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-19T18:36:45.206Z,1755628605.206 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-19T18:36:45.206Z,1755628605.206 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-19T18:36:45.206Z,1755628605.206 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-19T18:36:45.207Z,1755628605.207 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-19T18:36:45.207Z,1755628605.207 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-19T18:36:45.207Z,1755628605.207 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-19T18:36:45.207Z,1755628605.207 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-19T18:36:45.207Z,1755628605.207 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-19T18:36:45.207Z,1755628605.207 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-19T18:36:45.207Z,1755628605.207 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-19T18:36:45.207Z,1755628605.207 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-19T18:36:45.207Z,1755628605.207 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-19T18:36:45.208Z,1755628605.208 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-19T18:36:45.208Z,1755628605.208 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-19T18:36:45.208Z,1755628605.208 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-19T18:36:45.208Z,1755628605.208 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-19T18:36:45.208Z,1755628605.208 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-19T18:36:45.208Z,1755628605.208 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-19T18:36:45.209Z,1755628605.209 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-19T18:36:45.209Z,1755628605.209 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-08-19T18:36:45.209Z,1755628605.209 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-08-19T18:36:45.209Z,1755628605.209 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-19T18:36:45.209Z,1755628605.209 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-19T18:36:45.210Z,1755628605.210 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-08-19T18:36:45.210Z,1755628605.210 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-08-19T18:36:45.210Z,1755628605.210 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-08-19T18:36:45.210Z,1755628605.210 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-19T18:36:45.210Z,1755628605.210 [OnDock:J.] Running Loop=1
2025-08-19T18:36:45.210Z,1755628605.210 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-08-19T18:36:45.210Z,1755628605.210 [OnDock:PeriodicCheck] Running Loop=1
2025-08-19T18:36:45.210Z,1755628605.210 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-08-19T18:36:45.210Z,1755628605.210 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-08-19T18:36:45.211Z,1755628605.211 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-08-19T18:36:45.211Z,1755628605.211 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-08-19T18:36:45.211Z,1755628605.211 [OnDock:B] Running Loop=1
2025-08-19T18:36:45.211Z,1755628605.211 [OnDock:PeriodicCheck] Running Loop=1
2025-08-19T18:36:45.211Z,1755628605.211 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-08-19T18:36:45.212Z,1755628605.212 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-08-19T18:36:45.212Z,1755628605.212 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-08-19T18:36:45.212Z,1755628605.212 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-08-19T18:36:45.212Z,1755628605.212 [OnDock:J.] Running Loop=1
2025-08-19T18:36:45.215Z,1755628605.215 [OnDock:science] Stopped
2025-08-19T18:36:45.215Z,1755628605.215 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-08-19T18:36:45.215Z,1755628605.215 [OnDock:science:Science] Stopped
2025-08-19T18:36:45.215Z,1755628605.215 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-08-19T18:36:45.215Z,1755628605.215 [OnDock:science:Science:A] Stopped
2025-08-19T18:36:45.215Z,1755628605.215 [OnDock:science:Science:B] Stopped
2025-08-19T18:36:45.215Z,1755628605.216 [OnDock:science:Science:C] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:D] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:E] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:F] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:Read_Oil] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:OceanCurrent] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:PeakDetectChl] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-08-19T18:36:45.216Z,1755628605.216 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:PeakDetectOil] Stopped
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-08-19T18:36:45.217Z,1755628605.217 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-19T18:36:45.218Z,1755628605.218 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-19T18:36:45.219Z,1755628605.219 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-08-19T18:36:45.220Z,1755628605.220 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-08-19T18:36:45.221Z,1755628605.221 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-19T18:36:45.221Z,1755628605.221 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-19T18:36:45.221Z,1755628605.221 [OnDock:dataRead] Running Loop=1
2025-08-19T18:36:45.221Z,1755628605.221 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-19T18:36:45.222Z,1755628605.222 [OnDock:PowerOnly] Running Loop=1
2025-08-19T18:36:45.222Z,1755628605.222 [OnDock:PowerOnly:D] Stopped
2025-08-19T18:36:45.222Z,1755628605.222 [OnDock:PowerOnly:C] Stopped
2025-08-19T18:36:45.222Z,1755628605.222 [OnDock:PowerOnly:B] Stopped
2025-08-19T18:36:45.222Z,1755628605.222 [OnDock:PowerOnly:A] Stopped
2025-08-19T18:36:45.222Z,1755628605.222 [OnDock:BackseatDriver] Running Loop=1
2025-08-19T18:36:45.223Z,1755628605.223 [OnDock:B] Stopped
2025-08-19T18:36:45.223Z,1755628605.223 [OnDock:C] Running Loop=1
2025-08-19T18:36:45.223Z,1755628605.223 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-19T18:36:45.223Z,1755628605.223 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-19T18:36:45.223Z,1755628605.223 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-19T18:36:45.224Z,1755628605.224 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-19T18:36:45.238Z,1755628605.238 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-19T18:36:45.279Z,1755628605.279 [CommandExec](IMPORTANT): got command ! ifconfig
2025-08-19T18:36:45.440Z,1755628605.440 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            inet addr:10.89.11.2  Bcast:10.89.11.255  Mask:255.255.255.0
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:5461 errors:0 dropped:0 overruns:0 frame:0
            TX packets:7730 errors:0 dropped:0 overruns:0 carrier:0
            collisions:34 txqueuelen:1000 
            RX bytes:1652053 (1.5 Mb)  TX bytes:5295295 (5.0 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:763 errors:0 dropped:0 overruns:0 frame:0
            TX packets:763 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:69174 (67.5 Kb)  TX bytes:69174 (67.5 Kb)
  
  
2025-08-19T18:36:46.020Z,1755628606.020 [OnDock:C] Stopped
2025-08-19T18:36:46.020Z,1755628606.020 [OnDock:D] Running Loop=1
2025-08-19T18:36:46.330Z,1755628606.330 [OnDock:D] Stopped
2025-08-19T18:36:46.330Z,1755628606.330 [OnDock:E] Running Loop=1
2025-08-19T18:36:46.738Z,1755628606.738 [OnDock:E] Stopped
2025-08-19T18:36:46.739Z,1755628606.739 [OnDock:K] Running Loop=1
2025-08-19T18:36:47.169Z,1755628607.169 [OnDock:K](IMPORTANT): Restarting logs
2025-08-19T18:36:47.169Z,1755628607.169 [OnDock:K] Stopped
2025-08-19T18:36:47.169Z,1755628607.169 [OnDock:L.Execute] Running Loop=1
2025-08-19T18:36:47.539Z,1755628607.539 [OnDock:L.Execute](INFO): Executing command restart logs
2025-08-19T18:36:47.540Z,1755628607.540 [OnDock:L.Execute] Stopped
2025-08-19T18:36:47.540Z,1755628607.540 [OnDock:N.Docked] Running Loop=1
2025-08-19T18:36:47.540Z,1755628607.540 [OnDock:N.Docked](DEBUG): Initialize.
2025-08-19T18:36:47.540Z,1755628607.540 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.