2025-08-20T02:32:35.615Z,1755657155.615 [CommandExec](IMPORTANT): got command restart logs
2025-08-20T02:32:35.937Z,1755657155.937 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-20T02:32:35.937Z,1755657155.937 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-20T02:32:44.607Z,1755657164.607 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:32:53.704Z,1755657173.704 [NAL9602](INFO): SBD MO Status=2, MOMSN=882, MT Status=2, MTMSN=0
2025-08-20T02:32:53.704Z,1755657173.704 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-20T02:32:58.146Z,1755657178.146 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:33:02.678Z,1755657182.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:33:02.907Z,1755657182.907 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:33:02.907Z,1755657182.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:33:03.159Z,1755657183.159 [DAT](INFO): DAT read:
2025-08-20T02:33:03.160Z,1755657183.160 [DAT](INFO): DAT read: Tx time:02:33:01.5555
2025-08-20T02:33:03.161Z,1755657183.161 [DAT](INFO): Ping request sent.
2025-08-20T02:33:03.161Z,1755657183.161 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:33:03.161Z,1755657183.161 [DAT](INFO): publishing transmit ping time
2025-08-20T02:33:03.162Z,1755657183.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001246
2025-08-20T02:33:03.410Z,1755657183.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249840
2025-08-20T02:33:03.670Z,1755657183.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509482
2025-08-20T02:33:03.923Z,1755657183.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761950
2025-08-20T02:33:04.175Z,1755657184.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014774
2025-08-20T02:33:04.430Z,1755657184.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.269015
2025-08-20T02:33:04.679Z,1755657184.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517913
2025-08-20T02:33:04.933Z,1755657184.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772012
2025-08-20T02:33:05.183Z,1755657185.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022399
2025-08-20T02:33:05.435Z,1755657185.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273904
2025-08-20T02:33:05.686Z,1755657185.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525846
2025-08-20T02:33:05.939Z,1755657185.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777903
2025-08-20T02:33:06.191Z,1755657186.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030162
2025-08-20T02:33:06.446Z,1755657186.446 [DAT](INFO): DAT read: Rx Time:02:33:04.4455
2025-08-20T02:33:06.448Z,1755657186.448 [DAT](INFO): Rx dataTimestamp_ set to:1755657186.446410
2025-08-20T02:33:06.450Z,1755657186.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288525
2025-08-20T02:33:06.694Z,1755657186.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533865
2025-08-20T02:33:06.950Z,1755657186.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788197
2025-08-20T02:33:07.205Z,1755657187.205 [DAT](INFO): DAT read: 02:33:04.4455 LVL= 27920, 31601, 32754, 26899, AGC= 75, IDX= 37,-0.29, 1.068,-0.055,-0.475, 0.207, PHS= 0.963,-0.217,-0.726, RAW= 72.9, -0.3, CAL= 72.7, -3.4, ROT= 77.3, 3.4
2025-08-20T02:33:07.206Z,1755657187.206 [DAT](INFO): got valid direction response:
02:33:04.4455 LVL= 27920, 31601, 32754, 26899, AGC= 75, IDX= 37,-0.29, 1.068,-0.055,-0.475, 0.207, PHS= 0.963,-0.217,-0.726, RAW= 72.9, -0.3, CAL= 72.7, -3.4, ROT= 77.3, 3.4
2025-08-20T02:33:07.207Z,1755657187.207 [DAT](INFO): DAT read: Bearing 344.6, 77.1 (Local)
2025-08-20T02:33:07.207Z,1755657187.207 [DAT](INFO): Local bearing/azimuth received:
Bearing 344.6, 77.1 (Local)
2025-08-20T02:33:07.209Z,1755657187.209 [DAT](INFO): DAT read: Range 11 to 50 : 364.3 m (Round-trip 485.8 ms) speed -0.2 m/s
2025-08-20T02:33:07.209Z,1755657187.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:33:07.210Z,1755657187.210 [DAT](INFO): direction in FSK: [0.219459,0.973817,-0.059306]
2025-08-20T02:33:07.211Z,1755657187.211 [DAT](INFO): publishing direction and range info
2025-08-20T02:33:08.810Z,1755657188.810 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:33:18.506Z,1755657198.506 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:33:28.530Z,1755657208.530 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:34:00.526Z,1755657240.526 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:34:02.959Z,1755657242.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:34:03.187Z,1755657243.187 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:34:03.187Z,1755657243.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:34:03.439Z,1755657243.439 [DAT](INFO): DAT read: user:3150>
2025-08-20T02:34:03.440Z,1755657243.440 [DAT](INFO): DAT read: Tx time:02:34:01.8054
2025-08-20T02:34:03.440Z,1755657243.440 [DAT](INFO): Ping request sent.
2025-08-20T02:34:03.440Z,1755657243.440 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:34:03.441Z,1755657243.441 [DAT](INFO): publishing transmit ping time
2025-08-20T02:34:03.448Z,1755657243.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007380
2025-08-20T02:34:03.690Z,1755657243.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250037
2025-08-20T02:34:03.943Z,1755657243.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501977
2025-08-20T02:34:04.197Z,1755657244.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756095
2025-08-20T02:34:04.449Z,1755657244.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007979
2025-08-20T02:34:04.698Z,1755657244.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257980
2025-08-20T02:34:04.950Z,1755657244.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509996
2025-08-20T02:34:05.203Z,1755657245.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762103
2025-08-20T02:34:05.455Z,1755657245.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014388
2025-08-20T02:34:05.707Z,1755657245.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266273
2025-08-20T02:34:05.959Z,1755657245.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518078
2025-08-20T02:34:06.210Z,1755657246.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769966
2025-08-20T02:34:06.462Z,1755657246.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022006
2025-08-20T02:34:06.719Z,1755657246.719 [DAT](INFO): DAT read: Rx Time:02:34:04.6916
2025-08-20T02:34:06.719Z,1755657246.719 [DAT](INFO): Rx dataTimestamp_ set to:1755657246.718716
2025-08-20T02:34:06.720Z,1755657246.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279168
2025-08-20T02:34:06.982Z,1755657246.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541840
2025-08-20T02:34:07.241Z,1755657247.241 [DAT](INFO): DAT read: 02:34:04.6916 LVL= 26512, 32129, 32754, 28195, AGC= 69, IDX= 389, 0.32,-0.551,-1.946,-1.533,-1.657, PHS= 1.208,-0.243, 0.080, RAW= 102.3, -15.6, CAL= 101.6, -16.1, ROT= 48.4, 16.1
2025-08-20T02:34:07.243Z,1755657247.243 [DAT](INFO): got valid direction response:
02:34:04.6916 LVL= 26512, 32129, 32754, 28195, AGC= 69, IDX= 389, 0.32,-0.551,-1.946,-1.533,-1.657, PHS= 1.208,-0.243, 0.080, RAW= 102.3, -15.6, CAL= 101.6, -16.1, ROT= 48.4, 16.1
2025-08-20T02:34:07.245Z,1755657247.245 [DAT](INFO): DAT read: Bearing 24.8, 68.2 (Local)
2025-08-20T02:34:07.245Z,1755657247.245 [DAT](INFO): Local bearing/azimuth received:
Bearing 24.8, 68.2 (Local)
2025-08-20T02:34:07.248Z,1755657247.248 [DAT](INFO): DAT read: Range 11 to 50 : 361.5 m (Round-trip 482.1 ms) speed 0.3 m/s
2025-08-20T02:34:07.248Z,1755657247.248 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:34:07.262Z,1755657247.262 [DAT](INFO): direction in FSK: [0.637886,0.718469,-0.277315]
2025-08-20T02:34:07.262Z,1755657247.262 [DAT](INFO): publishing direction and range info
2025-08-20T02:34:27.642Z,1755657267.642 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.115601
2025-08-20T02:34:28.018Z,1755657268.018 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-20T02:34:28.018Z,1755657268.018 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-20T02:34:28.018Z,1755657268.018 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-20T02:34:28.018Z,1755657268.018 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-20T02:34:28.018Z,1755657268.018 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-20T02:34:28.018Z,1755657268.018 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-20T02:34:28.019Z,1755657268.019 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-20T02:34:28.647Z,1755657268.647 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:34:35.814Z,1755657275.814 [Radio_Surface](INFO): Powering down
2025-08-20T02:34:58.771Z,1755657298.771 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:34:59.774Z,1755657299.774 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-20T02:34:59.774Z,1755657299.774 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:35:03.238Z,1755657303.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:35:03.252Z,1755657303.252 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:35:03.252Z,1755657303.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:35:03.502Z,1755657303.502 [DAT](INFO): DAT read: user:3151>
2025-08-20T02:35:03.503Z,1755657303.503 [DAT](INFO): DAT read: Tx time:02:35:01.9054
2025-08-20T02:35:03.503Z,1755657303.503 [DAT](INFO): Ping request sent.
2025-08-20T02:35:03.503Z,1755657303.503 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:35:03.504Z,1755657303.504 [DAT](INFO): publishing transmit ping time
2025-08-20T02:35:03.504Z,1755657303.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767
2025-08-20T02:35:03.755Z,1755657303.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251116
2025-08-20T02:35:04.006Z,1755657304.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502880
2025-08-20T02:35:04.258Z,1755657304.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754938
2025-08-20T02:35:04.527Z,1755657304.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.023864
2025-08-20T02:35:04.781Z,1755657304.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.277665
2025-08-20T02:35:05.031Z,1755657305.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.527182
2025-08-20T02:35:05.283Z,1755657305.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779014
2025-08-20T02:35:05.534Z,1755657305.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030871
2025-08-20T02:35:05.787Z,1755657305.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283400
2025-08-20T02:35:06.039Z,1755657306.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535050
2025-08-20T02:35:06.290Z,1755657306.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786912
2025-08-20T02:35:06.542Z,1755657306.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038878
2025-08-20T02:35:06.794Z,1755657306.794 [DAT](INFO): DAT read: Rx Time:02:35:04.7421
2025-08-20T02:35:06.795Z,1755657306.795 [DAT](INFO): Rx dataTimestamp_ set to:1755657306.794684
2025-08-20T02:35:06.796Z,1755657306.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.292033
2025-08-20T02:35:07.046Z,1755657307.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542883
2025-08-20T02:35:07.304Z,1755657307.304 [DAT](INFO): DAT read: 02:35:04.7421 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 443,-0.18, 1.719, 0.205, 1.729, 1.106, PHS= 0.715,-0.856, 0.579, RAW= 145.5, -5.9, CAL= 145.5, -7.0, ROT= 4.5, 7.0
2025-08-20T02:35:07.305Z,1755657307.305 [DAT](INFO): got valid direction response:
02:35:04.7421 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 443,-0.18, 1.719, 0.205, 1.729, 1.106, PHS= 0.715,-0.856, 0.579, RAW= 145.5, -5.9, CAL= 145.5, -7.0, ROT= 4.5, 7.0
2025-08-20T02:35:07.307Z,1755657307.307 [DAT](INFO): DAT read: Bearing 132.6, 36.6 (Local)
2025-08-20T02:35:07.307Z,1755657307.307 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.6, 36.6 (Local)
2025-08-20T02:35:07.308Z,1755657307.308 [DAT](INFO): DAT read: Range 11 to 50 : 324.5 m (Round-trip 432.7 ms) speed 0.4 m/s
2025-08-20T02:35:07.309Z,1755657307.309 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:35:07.310Z,1755657307.310 [DAT](INFO): direction in FSK: [0.989486,0.077874,-0.121869]
2025-08-20T02:35:07.310Z,1755657307.310 [DAT](INFO): publishing direction and range info
2025-08-20T02:35:29.910Z,1755657329.910 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:35:30.914Z,1755657330.914 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:35:35.804Z,1755657335.804 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 272.94, 298.02, 219.71
2025-08-20T02:35:47.349Z,1755657347.349 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-20T02:35:47.350Z,1755657347.350 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-20T02:35:47.350Z,1755657347.350 [lineCaptureHoming:InitialDive] Stopped
2025-08-20T02:35:47.351Z,1755657347.351 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-20T02:35:47.351Z,1755657347.351 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-20T02:35:47.351Z,1755657347.351 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-20T02:35:47.351Z,1755657347.351 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-20T02:35:47.351Z,1755657347.351 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-20T02:35:47.351Z,1755657347.351 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-20T02:35:47.351Z,1755657347.351 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-20T02:35:47.351Z,1755657347.351 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-20T02:35:47.716Z,1755657347.716 [lineCaptureHoming:RepeatHack] Stopped
2025-08-20T02:35:47.717Z,1755657347.717 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-20T02:35:47.717Z,1755657347.717 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-20T02:35:47.717Z,1755657347.717 [lineCaptureHoming:Lap] Running Loop=1
2025-08-20T02:35:47.717Z,1755657347.717 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-20T02:35:47.717Z,1755657347.717 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-20T02:35:48.152Z,1755657348.152 [lineCaptureHoming:Lap:A] Stopped
2025-08-20T02:35:48.153Z,1755657348.153 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-20T02:35:48.153Z,1755657348.153 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-20T02:35:48.541Z,1755657348.541 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-20T02:35:48.541Z,1755657348.541 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-20T02:35:48.541Z,1755657348.541 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-20T02:35:48.541Z,1755657348.541 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-20T02:35:48.541Z,1755657348.541 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-20T02:35:48.545Z,1755657348.545 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-20T02:35:48.546Z,1755657348.546 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-20T02:35:48.547Z,1755657348.547 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-20T02:35:48.547Z,1755657348.547 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-20T02:35:48.547Z,1755657348.547 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-20T02:35:48.547Z,1755657348.547 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-20T02:35:48.547Z,1755657348.547 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-20T02:35:48.547Z,1755657348.547 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-20T02:35:48.548Z,1755657348.548 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-20T02:35:48.550Z,1755657348.550 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-20T02:35:48.550Z,1755657348.550 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-20T02:35:48.550Z,1755657348.550 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-20T02:35:48.550Z,1755657348.550 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-20T02:35:48.550Z,1755657348.550 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-20T02:35:48.551Z,1755657348.551 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-20T02:35:48.551Z,1755657348.551 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-20T02:35:48.551Z,1755657348.551 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-20T02:35:48.551Z,1755657348.551 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-20T02:35:48.552Z,1755657348.552 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-20T02:35:48.552Z,1755657348.552 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-20T02:35:48.950Z,1755657348.950 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-20T02:35:48.950Z,1755657348.950 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-20T02:35:48.950Z,1755657348.950 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-20T02:35:48.951Z,1755657348.951 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 324.500000 m (mode 0.000000 count ).
2025-08-20T02:35:48.951Z,1755657348.951 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-20T02:35:48.951Z,1755657348.951 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-20T02:35:48.972Z,1755657348.972 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-20T02:35:48.972Z,1755657348.972 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-20T02:35:49.336Z,1755657349.336 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-20T02:35:49.336Z,1755657349.336 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-20T02:35:49.337Z,1755657349.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:35:49.339Z,1755657349.339 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-20T02:35:49.339Z,1755657349.339 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-20T02:35:49.427Z,1755657349.427 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:35:49.427Z,1755657349.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:35:49.678Z,1755657349.678 [DAT](INFO): DAT read: user:3152>
2025-08-20T02:35:49.679Z,1755657349.679 [DAT](INFO): DAT read: Tx time:02:35:48.0553
2025-08-20T02:35:49.679Z,1755657349.679 [DAT](INFO): Ping request sent.
2025-08-20T02:35:49.679Z,1755657349.679 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:35:49.680Z,1755657349.680 [DAT](INFO): publishing transmit ping time
2025-08-20T02:35:49.680Z,1755657349.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-08-20T02:35:49.752Z,1755657349.752 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-20T02:35:49.752Z,1755657349.752 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-20T02:35:49.754Z,1755657349.754 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-20T02:35:49.755Z,1755657349.755 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-20T02:35:49.930Z,1755657349.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250915
2025-08-20T02:35:50.183Z,1755657350.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503581
2025-08-20T02:35:50.184Z,1755657350.184 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-20T02:35:50.184Z,1755657350.184 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-20T02:35:50.184Z,1755657350.184 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-20T02:35:50.185Z,1755657350.185 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-20T02:35:50.192Z,1755657350.192 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-20T02:35:50.192Z,1755657350.192 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-20T02:35:50.193Z,1755657350.193 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-20T02:35:50.193Z,1755657350.193 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-20T02:35:50.193Z,1755657350.193 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-20T02:35:50.193Z,1755657350.193 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-20T02:35:50.197Z,1755657350.197 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-20T02:35:50.198Z,1755657350.198 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-20T02:35:50.198Z,1755657350.198 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-20T02:35:50.198Z,1755657350.198 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-20T02:35:50.198Z,1755657350.198 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-20T02:35:50.198Z,1755657350.198 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-20T02:35:50.198Z,1755657350.198 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-20T02:35:50.199Z,1755657350.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-20T02:35:50.199Z,1755657350.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-20T02:35:50.199Z,1755657350.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-20T02:35:50.199Z,1755657350.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-20T02:35:50.199Z,1755657350.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-20T02:35:50.199Z,1755657350.199 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-20T02:35:50.199Z,1755657350.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-20T02:35:50.199Z,1755657350.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-20T02:35:50.200Z,1755657350.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-20T02:35:50.200Z,1755657350.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-20T02:35:50.200Z,1755657350.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-20T02:35:50.200Z,1755657350.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-20T02:35:50.200Z,1755657350.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-20T02:35:50.200Z,1755657350.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-20T02:35:50.201Z,1755657350.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-20T02:35:50.201Z,1755657350.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-20T02:35:50.201Z,1755657350.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-20T02:35:50.201Z,1755657350.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-20T02:35:50.201Z,1755657350.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-20T02:35:50.201Z,1755657350.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-20T02:35:50.209Z,1755657350.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-20T02:35:50.435Z,1755657350.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755239
2025-08-20T02:35:50.557Z,1755657350.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-20T02:35:50.557Z,1755657350.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-20T02:35:50.557Z,1755657350.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-20T02:35:50.557Z,1755657350.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-20T02:35:50.557Z,1755657350.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-20T02:35:50.558Z,1755657350.558 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-20T02:35:50.559Z,1755657350.559 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-20T02:35:50.559Z,1755657350.559 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-20T02:35:50.559Z,1755657350.559 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-20T02:35:50.559Z,1755657350.559 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-20T02:35:50.559Z,1755657350.559 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-20T02:35:50.559Z,1755657350.559 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-20T02:35:50.559Z,1755657350.559 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-20T02:35:50.560Z,1755657350.560 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.582020 m.
2025-08-20T02:35:50.686Z,1755657350.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006983
2025-08-20T02:35:50.948Z,1755657350.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.268076
2025-08-20T02:35:51.067Z,1755657351.067 [DockingStepper](INFO): Changing to mode: 3
2025-08-20T02:35:51.195Z,1755657351.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515295
2025-08-20T02:35:51.380Z,1755657351.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:35:51.447Z,1755657351.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767431
2025-08-20T02:35:51.698Z,1755657351.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018877
2025-08-20T02:35:51.950Z,1755657351.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270888
2025-08-20T02:35:52.203Z,1755657352.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523040
2025-08-20T02:35:52.455Z,1755657352.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775484
2025-08-20T02:35:52.706Z,1755657352.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026905
2025-08-20T02:35:52.960Z,1755657352.960 [DAT](INFO): DAT read: Rx Time:02:35:50.8523
2025-08-20T02:35:52.961Z,1755657352.961 [DAT](INFO): Rx dataTimestamp_ set to:1755657352.960061
2025-08-20T02:35:52.962Z,1755657352.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282292
2025-08-20T02:35:53.210Z,1755657353.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530897
2025-08-20T02:35:53.417Z,1755657353.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:35:53.472Z,1755657353.472 [DAT](INFO): DAT read: 02:35:50.8523 LVL= 20960, 28305, 21490, 24051, AGC= 69, IDX= 35, 0.20, 0.752,-0.648, 1.442, 0.800, PHS= 0.053,-1.404, 0.597, RAW= 165.2, 8.4, CAL= 164.9, 8.8, ROT= 345.1, -8.8
2025-08-20T02:35:53.474Z,1755657353.474 [DAT](INFO): got valid direction response:
02:35:50.8523 LVL= 20960, 28305, 21490, 24051, AGC= 69, IDX= 35, 0.20, 0.752,-0.648, 1.442, 0.800, PHS= 0.053,-1.404, 0.597, RAW= 165.2, 8.4, CAL= 164.9, 8.8, ROT= 345.1, -8.8
2025-08-20T02:35:53.475Z,1755657353.475 [DAT](INFO): DAT read: $Error in header
2025-08-20T02:35:53.476Z,1755657353.476 [DAT](INFO): Received a bad header
2025-08-20T02:35:53.490Z,1755657353.490 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-20T02:35:53.491Z,1755657353.491 [DAT](INFO): direction in FSK: [0.955000,-0.254106,0.152986]
2025-08-20T02:35:53.494Z,1755657353.494 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:53.494Z,1755657353.494 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:53.494Z,1755657353.494 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:53.714Z,1755657353.714 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:53.714Z,1755657353.714 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:53.714Z,1755657353.714 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:53.967Z,1755657353.967 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:53.967Z,1755657353.967 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:53.967Z,1755657353.967 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:54.218Z,1755657354.218 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:54.218Z,1755657354.218 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:54.218Z,1755657354.218 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:54.471Z,1755657354.471 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:54.471Z,1755657354.471 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:54.472Z,1755657354.471 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:54.722Z,1755657354.722 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:54.722Z,1755657354.722 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:54.722Z,1755657354.722 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:54.975Z,1755657354.975 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:54.975Z,1755657354.975 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:54.975Z,1755657354.975 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:55.226Z,1755657355.226 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:55.226Z,1755657355.226 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:55.226Z,1755657355.226 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:55.479Z,1755657355.479 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:55.479Z,1755657355.479 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:55.479Z,1755657355.479 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:55.730Z,1755657355.730 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:55.730Z,1755657355.730 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:55.730Z,1755657355.730 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:55.803Z,1755657355.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:35:55.982Z,1755657355.982 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:55.982Z,1755657355.982 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:55.982Z,1755657355.982 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:56.234Z,1755657356.234 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:56.234Z,1755657356.234 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:56.234Z,1755657356.234 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:56.486Z,1755657356.486 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:56.487Z,1755657356.487 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:56.487Z,1755657356.487 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:56.738Z,1755657356.738 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:56.738Z,1755657356.738 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:56.738Z,1755657356.738 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:56.992Z,1755657356.992 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:56.992Z,1755657356.992 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:56.993Z,1755657356.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:57.069Z,1755657357.069 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-20T02:35:57.242Z,1755657357.242 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:57.242Z,1755657357.242 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:57.242Z,1755657357.242 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:57.495Z,1755657357.495 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:57.495Z,1755657357.495 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:57.495Z,1755657357.495 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:57.746Z,1755657357.746 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:57.746Z,1755657357.746 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:57.746Z,1755657357.746 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:57.841Z,1755657357.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:35:57.999Z,1755657357.999 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:57.999Z,1755657357.999 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:57.999Z,1755657357.999 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:58.250Z,1755657358.250 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:58.250Z,1755657358.250 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:58.251Z,1755657358.251 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:58.502Z,1755657358.502 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:58.502Z,1755657358.502 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:58.502Z,1755657358.502 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:58.754Z,1755657358.754 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:58.754Z,1755657358.754 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:58.754Z,1755657358.754 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:59.008Z,1755657359.008 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:59.009Z,1755657359.009 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:59.009Z,1755657359.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:59.258Z,1755657359.258 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:59.258Z,1755657359.258 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:59.258Z,1755657359.258 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:59.511Z,1755657359.511 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:35:59.511Z,1755657359.511 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:35:59.511Z,1755657359.511 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-20T02:35:59.762Z,1755657359.762 [DAT](INFO): Reached modem response timeout
2025-08-20T02:35:59.762Z,1755657359.762 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:35:59.763Z,1755657359.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:35:59.844Z,1755657359.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:00.016Z,1755657360.016 [DAT](INFO): DAT read:
2025-08-20T02:36:00.017Z,1755657360.017 [DAT](INFO): Reached modem response timeout
2025-08-20T02:36:00.018Z,1755657360.018 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:36:00.019Z,1755657360.019 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:00.266Z,1755657360.266 [DAT](INFO): Reached modem response timeout
2025-08-20T02:36:00.267Z,1755657360.267 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:36:00.267Z,1755657360.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:00.518Z,1755657360.518 [DAT](INFO): Reached modem response timeout
2025-08-20T02:36:00.518Z,1755657360.518 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:36:00.519Z,1755657360.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:00.770Z,1755657360.770 [DAT](INFO): Reached modem response timeout
2025-08-20T02:36:00.770Z,1755657360.770 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:36:00.771Z,1755657360.771 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:01.028Z,1755657361.028 [DAT](INFO): Reached modem response timeout
2025-08-20T02:36:01.029Z,1755657361.029 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:36:01.030Z,1755657361.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:01.044Z,1755657361.044 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:36:01.278Z,1755657361.278 [DAT](INFO): Reached modem response timeout
2025-08-20T02:36:01.278Z,1755657361.278 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:36:01.279Z,1755657361.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:01.530Z,1755657361.530 [DAT](INFO): Reached modem response timeout
2025-08-20T02:36:01.531Z,1755657361.531 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:36:01.531Z,1755657361.531 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:01.782Z,1755657361.782 [DAT](INFO): Reached modem response timeout
2025-08-20T02:36:01.782Z,1755657361.782 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:36:01.783Z,1755657361.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:01.889Z,1755657361.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:02.038Z,1755657362.038 [DAT](INFO): DAT read: Response Not Received
2025-08-20T02:36:02.040Z,1755657362.040 [DAT](INFO): response not received
2025-08-20T02:36:02.044Z,1755657362.044 [DAT](INFO): DAT read: user:3154>
2025-08-20T02:36:02.047Z,1755657362.047 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:36:02.051Z,1755657362.051 [DAT](INFO): DAT read: Tx time:02:36:00.5053
2025-08-20T02:36:02.052Z,1755657362.052 [DAT](INFO): Ping request sent.
2025-08-20T02:36:02.052Z,1755657362.052 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:02.053Z,1755657362.053 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:02.055Z,1755657362.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003014
2025-08-20T02:36:02.286Z,1755657362.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.234524
2025-08-20T02:36:02.539Z,1755657362.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.486727
2025-08-20T02:36:02.790Z,1755657362.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738478
2025-08-20T02:36:03.045Z,1755657363.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992392
2025-08-20T02:36:03.294Z,1755657363.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242495
2025-08-20T02:36:03.547Z,1755657363.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494569
2025-08-20T02:36:03.798Z,1755657363.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746402
2025-08-20T02:36:04.053Z,1755657364.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000569
2025-08-20T02:36:04.303Z,1755657364.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250631
2025-08-20T02:36:04.311Z,1755657364.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:04.554Z,1755657364.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502398
2025-08-20T02:36:04.807Z,1755657364.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755532
2025-08-20T02:36:05.063Z,1755657365.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010691
2025-08-20T02:36:05.314Z,1755657365.314 [DAT](INFO): DAT read: Rx Time:02:36:03.2950
2025-08-20T02:36:05.315Z,1755657365.315 [DAT](INFO): Rx dataTimestamp_ set to:1755657365.314651
2025-08-20T02:36:05.315Z,1755657365.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263556
2025-08-20T02:36:05.567Z,1755657365.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514887
2025-08-20T02:36:05.832Z,1755657365.832 [DAT](INFO): DAT read: 02:36:03.2950 LVL= 27792, 30641, 24946, 32755, AGC= 70, IDX= 344, 0.12, 3.033, 1.719,-2.361,-2.983, PHS=-0.165,-1.537, 0.578, RAW= 170.3, 12.1, CAL= 170.4, 14.3, ROT= 339.6, -14.3
2025-08-20T02:36:05.840Z,1755657365.840 [DAT](INFO): got valid direction response:
02:36:03.2950 LVL= 27792, 30641, 24946, 32755, AGC= 70, IDX= 344, 0.12, 3.033, 1.719,-2.361,-2.983, PHS=-0.165,-1.537, 0.578, RAW= 170.3, 12.1, CAL= 170.4, 14.3, ROT= 339.6, -14.3
2025-08-20T02:36:05.850Z,1755657365.850 [DAT](INFO): DAT read: Bearing 194.3, -23.1 (Local)
2025-08-20T02:36:05.850Z,1755657365.850 [DAT](INFO): Local bearing/azimuth received:
Bearing 194.3, -23.1 (Local)
2025-08-20T02:36:05.852Z,1755657365.852 [DAT](INFO): DAT read: Range 11 to 50 : 289.1 m (Round-trip 385.5 ms) speed -0.2 m/s
2025-08-20T02:36:05.853Z,1755657365.853 [DAT](INFO): DAT read: user:3155>
2025-08-20T02:36:05.857Z,1755657365.857 [DAT](INFO): DAT read: Tx time:02:36:04.4053
2025-08-20T02:36:05.858Z,1755657365.858 [DAT](INFO): Ping request sent.
2025-08-20T02:36:05.858Z,1755657365.858 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:05.858Z,1755657365.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:05.859Z,1755657365.859 [DAT](INFO): direction in FSK: [0.908241,-0.337772,0.246999]
2025-08-20T02:36:05.860Z,1755657365.860 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:05.860Z,1755657365.860 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:05.867Z,1755657365.867 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:05.867Z,1755657365.867 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:06.343Z,1755657366.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:06.574Z,1755657366.574 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:06.574Z,1755657366.574 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:06.574Z,1755657366.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:06.826Z,1755657366.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968426
2025-08-20T02:36:07.081Z,1755657367.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222473
2025-08-20T02:36:07.330Z,1755657367.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472509
2025-08-20T02:36:07.582Z,1755657367.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724442
2025-08-20T02:36:07.834Z,1755657367.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976454
2025-08-20T02:36:08.089Z,1755657368.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230543
2025-08-20T02:36:08.338Z,1755657368.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480488
2025-08-20T02:36:08.387Z,1755657368.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:08.591Z,1755657368.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732776
2025-08-20T02:36:08.842Z,1755657368.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984465
2025-08-20T02:36:09.097Z,1755657369.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238702
2025-08-20T02:36:09.346Z,1755657369.346 [DAT](INFO): DAT read: Rx Time:02:36:07.1933
2025-08-20T02:36:09.347Z,1755657369.347 [DAT](INFO): Rx dataTimestamp_ set to:1755657369.346615
2025-08-20T02:36:09.347Z,1755657369.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489505
2025-08-20T02:36:09.599Z,1755657369.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740568
2025-08-20T02:36:09.856Z,1755657369.856 [DAT](INFO): DAT read: 02:36:07.1933 LVL= 32752, 32753, 26674, 32755, AGC= 67, IDX= 407, 0.15,-0.886,-2.182, 0.175,-0.506, PHS=-0.278,-1.631, 0.637, RAW= 173.6, 12.8, CAL= 173.8, 15.6, ROT= 336.2, -15.6
2025-08-20T02:36:09.857Z,1755657369.857 [DAT](INFO): got valid direction response:
02:36:07.1933 LVL= 32752, 32753, 26674, 32755, AGC= 67, IDX= 407, 0.15,-0.886,-2.182, 0.175,-0.506, PHS=-0.278,-1.631, 0.637, RAW= 173.6, 12.8, CAL= 173.8, 15.6, ROT= 336.2, -15.6
2025-08-20T02:36:09.858Z,1755657369.858 [DAT](INFO): DAT read: Bearing 199.3, -27.8 (Local)
2025-08-20T02:36:09.858Z,1755657369.858 [DAT](INFO): Local bearing/azimuth received:
Bearing 199.3, -27.8 (Local)
2025-08-20T02:36:09.860Z,1755657369.860 [DAT](INFO): DAT read: Range 11 to 50 : 287.8 m (Round-trip 383.8 ms) speed 0.3 m/s
2025-08-20T02:36:09.861Z,1755657369.861 [DAT](INFO): DAT read: user:3156>
2025-08-20T02:36:09.861Z,1755657369.861 [DAT](INFO): DAT read: Tx time:02:36:08.3069
2025-08-20T02:36:09.862Z,1755657369.862 [DAT](INFO): Ping request sent.
2025-08-20T02:36:09.862Z,1755657369.862 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:09.862Z,1755657369.862 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:09.863Z,1755657369.863 [DAT](INFO): direction in FSK: [0.881255,-0.388679,0.268920]
2025-08-20T02:36:09.863Z,1755657369.863 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:09.864Z,1755657369.864 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:09.867Z,1755657369.867 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:09.867Z,1755657369.867 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:10.752Z,1755657370.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:10.858Z,1755657370.858 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:10.858Z,1755657370.858 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:10.859Z,1755657370.859 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:11.110Z,1755657371.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248694
2025-08-20T02:36:11.362Z,1755657371.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500658
2025-08-20T02:36:11.627Z,1755657371.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765493
2025-08-20T02:36:11.878Z,1755657371.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016703
2025-08-20T02:36:12.130Z,1755657372.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268700
2025-08-20T02:36:12.382Z,1755657372.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520619
2025-08-20T02:36:12.635Z,1755657372.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772749
2025-08-20T02:36:12.792Z,1755657372.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:12.886Z,1755657372.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024734
2025-08-20T02:36:13.139Z,1755657373.139 [DAT](INFO): DAT read: Rx Time:02:36:11.0934
2025-08-20T02:36:13.139Z,1755657373.139 [DAT](INFO): Rx dataTimestamp_ set to:1755657373.138795
2025-08-20T02:36:13.140Z,1755657373.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277899
2025-08-20T02:36:13.390Z,1755657373.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528709
2025-08-20T02:36:13.648Z,1755657373.648 [DAT](INFO): DAT read: 02:36:11.0934 LVL= 28544, 32753, 21298, 32755, AGC= 67, IDX= 424, 0.42, 1.205,-0.092, 2.373, 1.643, PHS=-0.336,-1.690, 0.686, RAW= 175.4, 12.9, CAL= 175.5, 15.9, ROT= 334.5, -15.9
2025-08-20T02:36:13.652Z,1755657373.652 [DAT](INFO): got valid direction response:
02:36:11.0934 LVL= 28544, 32753, 21298, 32755, AGC= 67, IDX= 424, 0.42, 1.205,-0.092, 2.373, 1.643, PHS=-0.336,-1.690, 0.686, RAW= 175.4, 12.9, CAL= 175.5, 15.9, ROT= 334.5, -15.9
2025-08-20T02:36:13.655Z,1755657373.655 [DAT](INFO): DAT read: Bearing 202.8, -30.1 (Local)
2025-08-20T02:36:13.655Z,1755657373.655 [DAT](INFO): Local bearing/azimuth received:
Bearing 202.8, -30.1 (Local)
2025-08-20T02:36:13.657Z,1755657373.657 [DAT](INFO): DAT read: Range 11 to 50 : 286.8 m (Round-trip 382.4 ms) speed 0.2 m/s
2025-08-20T02:36:13.662Z,1755657373.662 [DAT](INFO): DAT read: user:3157>
2025-08-20T02:36:13.662Z,1755657373.662 [DAT](INFO): DAT read: Tx time:02:36:12.2069
2025-08-20T02:36:13.663Z,1755657373.663 [DAT](INFO): Ping request sent.
2025-08-20T02:36:13.663Z,1755657373.663 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:13.663Z,1755657373.663 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:13.664Z,1755657373.664 [DAT](INFO): direction in FSK: [0.868053,-0.414040,0.273959]
2025-08-20T02:36:13.664Z,1755657373.664 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:13.665Z,1755657373.665 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:13.684Z,1755657373.684 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:13.684Z,1755657373.684 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:14.796Z,1755657374.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:14.903Z,1755657374.903 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:14.903Z,1755657374.903 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:14.903Z,1755657374.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:15.154Z,1755657375.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491585
2025-08-20T02:36:15.407Z,1755657375.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744145
2025-08-20T02:36:15.659Z,1755657375.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995763
2025-08-20T02:36:15.912Z,1755657375.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248843
2025-08-20T02:36:16.163Z,1755657376.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500061
2025-08-20T02:36:16.415Z,1755657376.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752367
2025-08-20T02:36:16.666Z,1755657376.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003593
2025-08-20T02:36:16.816Z,1755657376.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:16.919Z,1755657376.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256241
2025-08-20T02:36:17.171Z,1755657377.171 [DAT](INFO): DAT read: Rx Time:02:36:15.0227
2025-08-20T02:36:17.172Z,1755657377.172 [DAT](INFO): Rx dataTimestamp_ set to:1755657377.171300
2025-08-20T02:36:17.172Z,1755657377.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509622
2025-08-20T02:36:17.273Z,1755657377.273 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 286.80 m. Transitioning docking module to standby.
2025-08-20T02:36:17.422Z,1755657377.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759576
2025-08-20T02:36:17.680Z,1755657377.680 [DAT](INFO): DAT read: 02:36:15.0227 LVL= 32752, 32753, 26610, 32755, AGC= 70, IDX= 71,-0.01, 2.454, 1.207,-2.613, 2.901, PHS=-0.345,-1.649, 0.725, RAW= 176.7, 12.3, CAL= 176.8, 15.0, ROT= 333.2, -15.0
2025-08-20T02:36:17.681Z,1755657377.681 [DAT](INFO): got valid direction response:
02:36:15.0227 LVL= 32752, 32753, 26610, 32755, AGC= 70, IDX= 71,-0.01, 2.454, 1.207,-2.613, 2.901, PHS=-0.345,-1.649, 0.725, RAW= 176.7, 12.3, CAL= 176.8, 15.0, ROT= 333.2, -15.0
2025-08-20T02:36:17.682Z,1755657377.682 [DAT](INFO): DAT read: Bearing 204.4, -31.7 (Local)
2025-08-20T02:36:17.683Z,1755657377.683 [DAT](INFO): Local bearing/azimuth received:
Bearing 204.4, -31.7 (Local)
2025-08-20T02:36:17.684Z,1755657377.684 [DAT](INFO): DAT read: Range 11 to 50 : 308.7 m (Round-trip 411.7 ms) speed 0.1 m/s
2025-08-20T02:36:17.685Z,1755657377.685 [DAT](INFO): DAT read: user:3158>
2025-08-20T02:36:17.698Z,1755657377.698 [DAT](INFO): DAT read: Tx time:02:36:16.1553
2025-08-20T02:36:17.698Z,1755657377.698 [DAT](INFO): Ping request sent.
2025-08-20T02:36:17.698Z,1755657377.698 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:17.699Z,1755657377.699 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:17.700Z,1755657377.700 [DAT](INFO): direction in FSK: [0.862172,-0.435514,0.258819]
2025-08-20T02:36:17.700Z,1755657377.700 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:17.700Z,1755657377.700 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:17.707Z,1755657377.707 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:17.708Z,1755657377.708 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:17.747Z,1755657377.747 [DockingStepper](INFO): Changing to mode: 1
2025-08-20T02:36:18.855Z,1755657378.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:18.935Z,1755657378.935 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:18.935Z,1755657378.935 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:18.936Z,1755657378.936 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:19.187Z,1755657379.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488473
2025-08-20T02:36:19.438Z,1755657379.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740159
2025-08-20T02:36:19.690Z,1755657379.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992153
2025-08-20T02:36:19.942Z,1755657379.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244168
2025-08-20T02:36:20.195Z,1755657380.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496732
2025-08-20T02:36:20.446Z,1755657380.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748159
2025-08-20T02:36:20.699Z,1755657380.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000366
2025-08-20T02:36:20.951Z,1755657380.951 [DAT](INFO): DAT read: Rx Time:02:36:18.9397
2025-08-20T02:36:20.951Z,1755657380.951 [DAT](INFO): Rx dataTimestamp_ set to:1755657380.950890
2025-08-20T02:36:20.952Z,1755657380.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253436
2025-08-20T02:36:21.202Z,1755657381.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504091
2025-08-20T02:36:21.273Z,1755657381.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:21.457Z,1755657381.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758519
2025-08-20T02:36:21.712Z,1755657381.712 [DAT](INFO): DAT read: 02:36:18.9397 LVL= 28368, 32753, 30930, 32755, AGC= 69, IDX= 114, 0.20, 1.513, 0.294, 2.705, 1.931, PHS=-0.316,-1.592, 0.731, RAW= 176.7, 11.7, CAL= 176.7, 14.1, ROT= 333.3, -14.1
2025-08-20T02:36:21.714Z,1755657381.714 [DAT](INFO): got valid direction response:
02:36:18.9397 LVL= 28368, 32753, 30930, 32755, AGC= 69, IDX= 114, 0.20, 1.513, 0.294, 2.705, 1.931, PHS=-0.316,-1.592, 0.731, RAW= 176.7, 11.7, CAL= 176.7, 14.1, ROT= 333.3, -14.1
2025-08-20T02:36:21.714Z,1755657381.714 [DAT](INFO): DAT read: Bearing 205.1, -31.7 (Local)
2025-08-20T02:36:21.715Z,1755657381.715 [DAT](INFO): Local bearing/azimuth received:
Bearing 205.1, -31.7 (Local)
2025-08-20T02:36:21.716Z,1755657381.716 [DAT](INFO): DAT read: Range 11 to 50 : 285.1 m (Round-trip 380.2 ms) speed 0.0 m/s
2025-08-20T02:36:21.717Z,1755657381.717 [DAT](INFO): DAT read: user:3159>
2025-08-20T02:36:21.718Z,1755657381.718 [DAT](INFO): DAT read: Tx time:02:36:20.0553
2025-08-20T02:36:21.718Z,1755657381.718 [DAT](INFO): Ping request sent.
2025-08-20T02:36:21.718Z,1755657381.718 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:21.718Z,1755657381.718 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:21.719Z,1755657381.719 [DAT](INFO): direction in FSK: [0.866456,-0.435782,0.243615]
2025-08-20T02:36:21.720Z,1755657381.720 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:21.720Z,1755657381.720 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:21.741Z,1755657381.741 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:21.741Z,1755657381.741 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:23.297Z,1755657383.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:23.470Z,1755657383.470 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:23.470Z,1755657383.470 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:23.471Z,1755657383.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:23.734Z,1755657383.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016244
2025-08-20T02:36:23.752Z,1755657383.752 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-20T02:36:23.986Z,1755657383.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268270
2025-08-20T02:36:24.110Z,1755657384.110 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-20T02:36:24.110Z,1755657384.110 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-20T02:36:24.110Z,1755657384.110 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-20T02:36:24.238Z,1755657384.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520199
2025-08-20T02:36:24.490Z,1755657384.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772262
2025-08-20T02:36:24.526Z,1755657384.526 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-20T02:36:24.526Z,1755657384.526 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-20T02:36:24.526Z,1755657384.526 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-20T02:36:24.742Z,1755657384.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024238
2025-08-20T02:36:24.912Z,1755657384.912 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-20T02:36:24.912Z,1755657384.912 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-20T02:36:24.912Z,1755657384.912 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-20T02:36:24.912Z,1755657384.912 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-20T02:36:24.912Z,1755657384.912 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-20T02:36:24.995Z,1755657384.995 [DAT](INFO): DAT read: Rx Time:02:36:22.8547
2025-08-20T02:36:24.996Z,1755657384.996 [DAT](INFO): Rx dataTimestamp_ set to:1755657384.995196
2025-08-20T02:36:24.997Z,1755657384.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278119
2025-08-20T02:36:25.246Z,1755657385.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528195
2025-08-20T02:36:25.309Z,1755657385.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:25.315Z,1755657385.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-20T02:36:25.315Z,1755657385.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-20T02:36:25.315Z,1755657385.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-20T02:36:25.315Z,1755657385.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-20T02:36:25.315Z,1755657385.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-20T02:36:25.315Z,1755657385.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-20T02:36:25.315Z,1755657385.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-20T02:36:25.315Z,1755657385.315 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-20T02:36:25.316Z,1755657385.316 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-20T02:36:25.316Z,1755657385.316 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-20T02:36:25.316Z,1755657385.316 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-20T02:36:25.316Z,1755657385.316 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-20T02:36:25.317Z,1755657385.317 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-20T02:36:25.317Z,1755657385.317 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-20T02:36:25.317Z,1755657385.317 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-20T02:36:25.322Z,1755657385.322 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 285.100006 m
2025-08-20T02:36:25.322Z,1755657385.322 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-20T02:36:25.322Z,1755657385.322 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-20T02:36:25.323Z,1755657385.323 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -122.859630 arcdeg )
2025-08-20T02:36:25.323Z,1755657385.323 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-20T02:36:25.323Z,1755657385.323 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-20T02:36:25.323Z,1755657385.323 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-20T02:36:25.324Z,1755657385.324 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-122.859630
2025-08-20T02:36:25.513Z,1755657385.513 [DAT](INFO): DAT read: 02:36:22.8547 LVL= 30368, 32753, 24050, 32755, AGC= 72, IDX= 60, 0.46, 0.545,-0.619, 1.938, 1.038, PHS=-0.391,-1.613, 0.856, RAW= 180.3, 10.7, CAL= 180.2, 12.8, ROT= 329.8, -12.8
2025-08-20T02:36:25.518Z,1755657385.518 [DAT](INFO): got valid direction response:
02:36:22.8547 LVL= 30368, 32753, 24050, 32755, AGC= 72, IDX= 60, 0.46, 0.545,-0.619, 1.938, 1.038, PHS=-0.391,-1.613, 0.856, RAW= 180.3, 10.7, CAL= 180.2, 12.8, ROT= 329.8, -12.8
2025-08-20T02:36:25.519Z,1755657385.519 [DAT](INFO): DAT read: Bearing 206.6, -34.9 (Local)
2025-08-20T02:36:25.519Z,1755657385.519 [DAT](INFO): Local bearing/azimuth received:
Bearing 206.6, -34.9 (Local)
2025-08-20T02:36:25.521Z,1755657385.521 [DAT](INFO): DAT read: Range 11 to 50 : 296.4 m (Round-trip 395.3 ms) speed 0.3 m/s
2025-08-20T02:36:25.522Z,1755657385.522 [DAT](INFO): DAT read: user:3160>
2025-08-20T02:36:25.522Z,1755657385.522 [DAT](INFO): DAT read: Tx time:02:36:23.9553
2025-08-20T02:36:25.523Z,1755657385.523 [DAT](INFO): Ping request sent.
2025-08-20T02:36:25.523Z,1755657385.523 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:25.523Z,1755657385.523 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:25.524Z,1755657385.524 [DAT](INFO): direction in FSK: [0.842797,-0.490520,0.221548]
2025-08-20T02:36:25.524Z,1755657385.524 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:25.525Z,1755657385.525 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:25.536Z,1755657385.536 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:25.536Z,1755657385.536 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:25.725Z,1755657385.725 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-122.859630
2025-08-20T02:36:25.726Z,1755657385.726 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-20T02:36:25.726Z,1755657385.726 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-20T02:36:25.727Z,1755657385.727 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-20T02:36:25.727Z,1755657385.727 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-20T02:36:25.759Z,1755657385.759 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-20T02:36:25.759Z,1755657385.759 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-20T02:36:26.109Z,1755657386.109 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-20T02:36:26.109Z,1755657386.109 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-20T02:36:26.110Z,1755657386.110 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-20T02:36:26.111Z,1755657386.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-20T02:36:26.111Z,1755657386.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-20T02:36:26.111Z,1755657386.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-20T02:36:26.111Z,1755657386.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-20T02:36:26.112Z,1755657386.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-20T02:36:26.113Z,1755657386.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-20T02:36:26.113Z,1755657386.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-20T02:36:26.113Z,1755657386.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-20T02:36:26.114Z,1755657386.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-20T02:36:26.114Z,1755657386.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-20T02:36:26.114Z,1755657386.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-20T02:36:26.114Z,1755657386.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-20T02:36:26.114Z,1755657386.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-20T02:36:26.114Z,1755657386.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-20T02:36:26.115Z,1755657386.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-20T02:36:26.115Z,1755657386.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-20T02:36:26.115Z,1755657386.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-20T02:36:26.115Z,1755657386.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-20T02:36:26.115Z,1755657386.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-20T02:36:26.115Z,1755657386.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-20T02:36:26.116Z,1755657386.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-20T02:36:26.117Z,1755657386.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-08-20T02:36:26.117Z,1755657386.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-20T02:36:26.117Z,1755657386.117 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-20T02:36:26.118Z,1755657386.118 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-20T02:36:26.118Z,1755657386.118 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-20T02:36:26.118Z,1755657386.118 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-20T02:36:26.118Z,1755657386.118 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-20T02:36:26.118Z,1755657386.118 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-20T02:36:26.119Z,1755657386.119 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-20T02:36:26.119Z,1755657386.119 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-20T02:36:26.119Z,1755657386.119 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-20T02:36:26.543Z,1755657386.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 296.399994 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-08-20T02:36:26.546Z,1755657386.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 296.399994 m,
bearing: 6.025432 deg,
lat: 36.779363 deg,
lon: -121.859385 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-08-20T02:36:26.546Z,1755657386.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m.
2025-08-20T02:36:26.549Z,1755657386.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 296.399994 m,
nav range: 284.181671 m,
bearing: 6.009399 deg,
approach rate: nan m/s,
LOS rate: nan deg/s,
cmd heading: 37.150225 deg,
new cmd heading: 6.009399 deg.
2025-08-20T02:36:26.561Z,1755657386.561 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-20T02:36:26.562Z,1755657386.562 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-20T02:36:26.919Z,1755657386.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m.
2025-08-20T02:36:26.926Z,1755657386.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 296.399994 m,
nav range: 284.124481 m,
bearing: 6.002034 deg,
approach rate: -0.151747 m/s,
LOS rate: nan deg/s,
cmd heading: 6.009399 deg,
new cmd heading: 6.002034 deg.
2025-08-20T02:36:27.314Z,1755657387.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m.
2025-08-20T02:36:27.317Z,1755657387.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 296.399994 m,
nav range: 284.064728 m,
bearing: 5.994294 deg,
approach rate: -0.151245 m/s,
LOS rate: nan deg/s,
cmd heading: 6.002034 deg,
new cmd heading: 5.994294 deg.
2025-08-20T02:36:27.744Z,1755657387.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:27.746Z,1755657387.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m.
2025-08-20T02:36:27.748Z,1755657387.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 296.399994 m,
nav range: 284.000885 m,
bearing: 5.985434 deg,
approach rate: -0.147844 m/s,
LOS rate: nan deg/s,
cmd heading: 5.994294 deg,
new cmd heading: 5.985434 deg.
2025-08-20T02:36:27.784Z,1755657387.784 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:27.784Z,1755657387.784 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:27.785Z,1755657387.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:28.034Z,1755657388.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511591
2025-08-20T02:36:28.160Z,1755657388.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m.
2025-08-20T02:36:28.169Z,1755657388.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 296.399994 m,
nav range: 283.942108 m,
bearing: 5.977228 deg,
approach rate: -0.142258 m/s,
LOS rate: nan deg/s,
cmd heading: 5.985434 deg,
new cmd heading: 5.977228 deg.
2025-08-20T02:36:28.287Z,1755657388.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764552
2025-08-20T02:36:28.539Z,1755657388.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015867
2025-08-20T02:36:28.573Z,1755657388.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m.
2025-08-20T02:36:28.575Z,1755657388.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 296.399994 m,
nav range: 283.877960 m,
bearing: 5.968124 deg,
approach rate: -0.155136 m/s,
LOS rate: nan deg/s,
cmd heading: 5.977228 deg,
new cmd heading: 5.968124 deg.
2025-08-20T02:36:28.790Z,1755657388.790 [DAT](INFO): DAT read: Rx Time:02:36:26.7535
2025-08-20T02:36:28.791Z,1755657388.791 [DAT](INFO): Rx dataTimestamp_ set to:1755657388.790563
2025-08-20T02:36:28.791Z,1755657388.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268565
2025-08-20T02:36:28.962Z,1755657388.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 296.40 m.
2025-08-20T02:36:28.964Z,1755657388.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 296.399994 m,
nav range: 283.820160 m,
bearing: 5.959788 deg,
approach rate: -0.148620 m/s,
LOS rate: nan deg/s,
cmd heading: 5.968125 deg,
new cmd heading: 5.959788 deg.
2025-08-20T02:36:29.044Z,1755657389.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521416
2025-08-20T02:36:29.304Z,1755657389.304 [DAT](INFO): DAT read: 02:36:26.7535 LVL= 29376, 32753, 21394, 32755, AGC= 67, IDX= 432,-0.47, 1.031, 0.041, 2.510, 1.606, PHS=-0.473,-1.520, 0.859, RAW= 184.0, 11.0, CAL= 183.9, 13.1, ROT= 326.1, -13.1
2025-08-20T02:36:29.305Z,1755657389.305 [DAT](INFO): got valid direction response:
02:36:26.7535 LVL= 29376, 32753, 21394, 32755, AGC= 67, IDX= 432,-0.47, 1.031, 0.041, 2.510, 1.606, PHS=-0.473,-1.520, 0.859, RAW= 184.0, 11.0, CAL= 183.9, 13.1, ROT= 326.1, -13.1
2025-08-20T02:36:29.310Z,1755657389.310 [DAT](INFO): DAT read: Bearing 210.7, -37.5 (Local)
2025-08-20T02:36:29.310Z,1755657389.310 [DAT](INFO): Local bearing/azimuth received:
Bearing 210.7, -37.5 (Local)
2025-08-20T02:36:29.312Z,1755657389.312 [DAT](INFO): DAT read: Range 11 to 50 : 295.5 m (Round-trip 394.0 ms) speed 0.1 m/s
2025-08-20T02:36:29.313Z,1755657389.313 [DAT](INFO): DAT read: user:3161>
2025-08-20T02:36:29.314Z,1755657389.314 [DAT](INFO): DAT read: Tx time:02:36:27.8553
2025-08-20T02:36:29.314Z,1755657389.314 [DAT](INFO): Ping request sent.
2025-08-20T02:36:29.314Z,1755657389.314 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:29.314Z,1755657389.314 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:29.315Z,1755657389.315 [DAT](INFO): direction in FSK: [0.808412,-0.543230,0.226651]
2025-08-20T02:36:29.316Z,1755657389.316 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:29.316Z,1755657389.316 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:29.328Z,1755657389.328 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:29.328Z,1755657389.328 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:29.495Z,1755657389.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 295.500000 m,
deltaT: 3.788949 s,
deltaX: -0.899994 m,
approachRate: -0.237531 m/s,
rangeRepo size: 2
2025-08-20T02:36:29.506Z,1755657389.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 295.500000 m,
bearing: 5.711497 deg,
lat: 36.779469 deg,
lon: -121.859385 deg,
deltaT: 3.788949 s,
deltaX: -0.899994 m,
approachRate: -0.237531 m/s,
posRepo size: 2
2025-08-20T02:36:29.507Z,1755657389.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:29.508Z,1755657389.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 5.711497 deg.
2025-08-20T02:36:29.776Z,1755657389.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:29.779Z,1755657389.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:29.781Z,1755657389.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.500000 m,
nav range: 295.434540 m,
bearing: 5.705438 deg,
approach rate: -0.150955 m/s,
LOS rate: -0.021336 deg/s,
cmd heading: 5.711497 deg,
new cmd heading: 5.693316 deg.
2025-08-20T02:36:29.798Z,1755657389.798 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:29.798Z,1755657389.798 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:29.798Z,1755657389.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:30.050Z,1755657390.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.736381
2025-08-20T02:36:30.154Z,1755657390.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:30.157Z,1755657390.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.500000 m,
nav range: 295.380066 m,
bearing: 5.697668 deg,
approach rate: -0.144993 m/s,
LOS rate: -0.020685 deg/s,
cmd heading: 5.693316 deg,
new cmd heading: 5.670002 deg.
2025-08-20T02:36:30.303Z,1755657390.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988936
2025-08-20T02:36:30.554Z,1755657390.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240385
2025-08-20T02:36:30.593Z,1755657390.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:30.596Z,1755657390.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.500000 m,
nav range: 295.318726 m,
bearing: 5.688860 deg,
approach rate: -0.139799 m/s,
LOS rate: -0.020077 deg/s,
cmd heading: 5.670002 deg,
new cmd heading: 5.643574 deg.
2025-08-20T02:36:30.807Z,1755657390.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492427
2025-08-20T02:36:30.989Z,1755657390.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:30.992Z,1755657390.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.500000 m,
nav range: 295.265167 m,
bearing: 5.681083 deg,
approach rate: -0.136432 m/s,
LOS rate: -0.019815 deg/s,
cmd heading: 5.643574 deg,
new cmd heading: 5.620238 deg.
2025-08-20T02:36:31.059Z,1755657391.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744741
2025-08-20T02:36:31.310Z,1755657391.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996348
2025-08-20T02:36:31.385Z,1755657391.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:31.391Z,1755657391.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.500000 m,
nav range: 295.211487 m,
bearing: 5.673238 deg,
approach rate: -0.134512 m/s,
LOS rate: -0.019661 deg/s,
cmd heading: 5.620238 deg,
new cmd heading: 5.596699 deg.
2025-08-20T02:36:31.563Z,1755657391.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249304
2025-08-20T02:36:31.787Z,1755657391.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:31.789Z,1755657391.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:31.792Z,1755657391.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.500000 m,
nav range: 295.151306 m,
bearing: 5.663952 deg,
approach rate: -0.148863 m/s,
LOS rate: -0.022976 deg/s,
cmd heading: 5.596699 deg,
new cmd heading: 5.568833 deg.
2025-08-20T02:36:31.815Z,1755657391.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500418
2025-08-20T02:36:32.066Z,1755657392.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752331
2025-08-20T02:36:32.178Z,1755657392.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:32.182Z,1755657392.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.500000 m,
nav range: 295.096985 m,
bearing: 5.655447 deg,
approach rate: -0.139761 m/s,
LOS rate: -0.021884 deg/s,
cmd heading: 5.568833 deg,
new cmd heading: 5.543317 deg.
2025-08-20T02:36:32.194Z,1755657392.194 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:36:32.319Z,1755657392.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005117
2025-08-20T02:36:32.571Z,1755657392.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256736
2025-08-20T02:36:32.614Z,1755657392.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:32.617Z,1755657392.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.500000 m,
nav range: 295.022400 m,
bearing: 5.644733 deg,
approach rate: -0.170864 m/s,
LOS rate: -0.024552 deg/s,
cmd heading: 5.543317 deg,
new cmd heading: 5.511164 deg.
2025-08-20T02:36:32.823Z,1755657392.823 [DAT](INFO): DAT read: Rx Time:02:36:30.6530
2025-08-20T02:36:32.824Z,1755657392.824 [DAT](INFO): Rx dataTimestamp_ set to:1755657392.823239
2025-08-20T02:36:32.824Z,1755657392.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510017
2025-08-20T02:36:33.074Z,1755657393.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760308
2025-08-20T02:36:33.077Z,1755657393.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.50 m.
2025-08-20T02:36:33.080Z,1755657393.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.500000 m,
nav range: 294.946259 m,
bearing: 5.633478 deg,
approach rate: -0.164404 m/s,
LOS rate: -0.024307 deg/s,
cmd heading: 5.511164 deg,
new cmd heading: 5.477392 deg.
2025-08-20T02:36:33.199Z,1755657393.199 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:36:33.332Z,1755657393.332 [DAT](INFO): DAT read: 02:36:30.6530 LVL= 32752, 32753, 27730, 32755, AGC= 71, IDX= 442, 0.47,-2.479, 2.905,-1.558,-2.433, PHS= 0.056,-0.900, 0.831, RAW= 176.5, 0.2, CAL= 176.2, -2.3, ROT= 333.8, 2.3
2025-08-20T02:36:33.333Z,1755657393.333 [DAT](INFO): got valid direction response:
02:36:30.6530 LVL= 32752, 32753, 27730, 32755, AGC= 71, IDX= 442, 0.47,-2.479, 2.905,-1.558,-2.433, PHS= 0.056,-0.900, 0.831, RAW= 176.5, 0.2, CAL= 176.2, -2.3, ROT= 333.8, 2.3
2025-08-20T02:36:33.334Z,1755657393.334 [DAT](INFO): DAT read: Bearing 193.0, -32.3 (Local)
2025-08-20T02:36:33.335Z,1755657393.335 [DAT](INFO): Local bearing/azimuth received:
Bearing 193.0, -32.3 (Local)
2025-08-20T02:36:33.336Z,1755657393.336 [DAT](INFO): DAT read: Range 11 to 50 : 295.1 m (Round-trip 393.5 ms) speed 0.0 m/s
2025-08-20T02:36:33.337Z,1755657393.337 [DAT](INFO): DAT read: user:3162>
2025-08-20T02:36:33.338Z,1755657393.338 [DAT](INFO): DAT read: Tx time:02:36:31.7553
2025-08-20T02:36:33.338Z,1755657393.338 [DAT](INFO): Ping request sent.
2025-08-20T02:36:33.338Z,1755657393.338 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:33.338Z,1755657393.338 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:33.339Z,1755657393.339 [DAT](INFO): direction in FSK: [0.896535,-0.441151,-0.040132]
2025-08-20T02:36:33.340Z,1755657393.340 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:33.340Z,1755657393.340 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:33.379Z,1755657393.379 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:33.380Z,1755657393.380 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:33.522Z,1755657393.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 295.100006 m,
deltaT: 4.030492 s,
deltaX: -0.399994 m,
approachRate: -0.099242 m/s,
rangeRepo size: 3
2025-08-20T02:36:33.535Z,1755657393.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 295.100006 m,
bearing: 5.837613 deg,
lat: 36.779469 deg,
lon: -121.859372 deg,
deltaT: 4.030492 s,
deltaX: -0.399994 m,
approachRate: -0.099242 m/s,
posRepo size: 3
2025-08-20T02:36:33.536Z,1755657393.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:33.543Z,1755657393.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.992523 m,
bearing: 5.837613 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.024307 deg/s,
cmd heading: 5.477392 deg,
new cmd heading: 5.445911 deg.
2025-08-20T02:36:33.895Z,1755657393.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:33.902Z,1755657393.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:33.904Z,1755657393.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.908051 m,
bearing: 5.825934 deg,
approach rate: -0.217569 m/s,
LOS rate: -0.030090 deg/s,
cmd heading: 5.445911 deg,
new cmd heading: 5.410863 deg.
2025-08-20T02:36:34.083Z,1755657394.083 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:34.083Z,1755657394.083 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:34.083Z,1755657394.083 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:34.223Z,1755657394.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:34.225Z,1755657394.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.843628 m,
bearing: 5.816971 deg,
approach rate: -0.197913 m/s,
LOS rate: -0.027540 deg/s,
cmd heading: 5.410863 deg,
new cmd heading: 5.383969 deg.
2025-08-20T02:36:34.335Z,1755657394.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996602
2025-08-20T02:36:34.586Z,1755657394.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248392
2025-08-20T02:36:34.650Z,1755657394.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:34.652Z,1755657394.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.754395 m,
bearing: 5.804968 deg,
approach rate: -0.209124 m/s,
LOS rate: -0.028140 deg/s,
cmd heading: 5.383969 deg,
new cmd heading: 5.347947 deg.
2025-08-20T02:36:34.841Z,1755657394.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502527
2025-08-20T02:36:35.004Z,1755657395.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:35.007Z,1755657395.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.680206 m,
bearing: 5.794953 deg,
approach rate: -0.209223 m/s,
LOS rate: -0.028249 deg/s,
cmd heading: 5.347947 deg,
new cmd heading: 5.317897 deg.
2025-08-20T02:36:35.092Z,1755657395.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753347
2025-08-20T02:36:35.344Z,1755657395.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005706
2025-08-20T02:36:35.404Z,1755657395.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:35.407Z,1755657395.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.596313 m,
bearing: 5.783668 deg,
approach rate: -0.209538 m/s,
LOS rate: -0.028197 deg/s,
cmd heading: 5.317897 deg,
new cmd heading: 5.284029 deg.
2025-08-20T02:36:35.594Z,1755657395.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256317
2025-08-20T02:36:35.848Z,1755657395.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509129
2025-08-20T02:36:35.873Z,1755657395.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:35.884Z,1755657395.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.494263 m,
bearing: 5.770293 deg,
approach rate: -0.217888 m/s,
LOS rate: -0.028565 deg/s,
cmd heading: 5.284029 deg,
new cmd heading: 5.243893 deg.
2025-08-20T02:36:36.098Z,1755657396.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760411
2025-08-20T02:36:36.217Z,1755657396.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:36.219Z,1755657396.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:36.223Z,1755657396.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.405151 m,
bearing: 5.758826 deg,
approach rate: -0.257117 m/s,
LOS rate: -0.033097 deg/s,
cmd heading: 5.243893 deg,
new cmd heading: 5.209481 deg.
2025-08-20T02:36:36.352Z,1755657396.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013694
2025-08-20T02:36:36.602Z,1755657396.602 [DAT](INFO): DAT read: Rx Time:02:36:34.5513
2025-08-20T02:36:36.603Z,1755657396.603 [DAT](INFO): Rx dataTimestamp_ set to:1755657396.602503
2025-08-20T02:36:36.603Z,1755657396.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265280
2025-08-20T02:36:36.639Z,1755657396.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:36.643Z,1755657396.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.298950 m,
bearing: 5.745874 deg,
approach rate: -0.252938 m/s,
LOS rate: -0.030858 deg/s,
cmd heading: 5.209481 deg,
new cmd heading: 5.170611 deg.
2025-08-20T02:36:36.855Z,1755657396.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516634
2025-08-20T02:36:37.095Z,1755657397.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.10 m.
2025-08-20T02:36:37.102Z,1755657397.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 295.100006 m,
nav range: 294.201904 m,
bearing: 5.734207 deg,
approach rate: -0.212924 m/s,
LOS rate: -0.025607 deg/s,
cmd heading: 5.170612 deg,
new cmd heading: 5.135598 deg.
2025-08-20T02:36:37.112Z,1755657397.112 [DAT](INFO): DAT read: 02:36:34.5513 LVL= 32752, 32753, 30866, 32755, AGC= 72, IDX= 425, 0.21,-0.475,-1.351, 1.215, 0.132, PHS=-0.506,-1.438, 1.039, RAW= 188.1, 8.4, CAL= 188.2, 8.9, ROT= 321.8, -8.9
2025-08-20T02:36:37.113Z,1755657397.113 [DAT](INFO): got valid direction response:
02:36:34.5513 LVL= 32752, 32753, 30866, 32755, AGC= 72, IDX= 425, 0.21,-0.475,-1.351, 1.215, 0.132, PHS=-0.506,-1.438, 1.039, RAW= 188.1, 8.4, CAL= 188.2, 8.9, ROT= 321.8, -8.9
2025-08-20T02:36:37.114Z,1755657397.114 [DAT](INFO): DAT read: Bearing 208.8, -41.1 (Local)
2025-08-20T02:36:37.115Z,1755657397.115 [DAT](INFO): Local bearing/azimuth received:
Bearing 208.8, -41.1 (Local)
2025-08-20T02:36:37.116Z,1755657397.116 [DAT](INFO): DAT read: Range 11 to 50 : 293.8 m (Round-trip 391.8 ms) speed 0.2 m/s
2025-08-20T02:36:37.117Z,1755657397.117 [DAT](INFO): DAT read: user:3163>
2025-08-20T02:36:37.118Z,1755657397.118 [DAT](INFO): DAT read: Tx time:02:36:35.6553
2025-08-20T02:36:37.118Z,1755657397.118 [DAT](INFO): Ping request sent.
2025-08-20T02:36:37.118Z,1755657397.118 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:37.118Z,1755657397.118 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:37.119Z,1755657397.119 [DAT](INFO): direction in FSK: [0.776395,-0.610963,0.154710]
2025-08-20T02:36:37.120Z,1755657397.120 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:37.120Z,1755657397.120 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:37.131Z,1755657397.131 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:37.131Z,1755657397.131 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:37.496Z,1755657397.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 293.799988 m,
deltaT: 3.780127 s,
deltaX: -1.300018 m,
approachRate: -0.343909 m/s,
rangeRepo size: 4
2025-08-20T02:36:37.499Z,1755657397.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 293.799988 m,
bearing: 5.720009 deg,
lat: 36.779469 deg,
lon: -121.859372 deg,
deltaT: 3.780127 s,
deltaX: -1.300018 m,
approachRate: -0.343909 m/s,
posRepo size: 4
2025-08-20T02:36:37.499Z,1755657397.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:37.502Z,1755657397.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 294.081848 m,
bearing: 5.720009 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.025607 deg/s,
cmd heading: 5.135598 deg,
new cmd heading: 5.104823 deg.
2025-08-20T02:36:37.921Z,1755657397.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:37.924Z,1755657397.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 293.959503 m,
bearing: 5.706046 deg,
approach rate: -0.287749 m/s,
LOS rate: -0.032854 deg/s,
cmd heading: 5.104823 deg,
new cmd heading: 5.062917 deg.
2025-08-20T02:36:38.288Z,1755657398.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:38.290Z,1755657398.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:38.293Z,1755657398.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 293.853821 m,
bearing: 5.694205 deg,
approach rate: -0.286073 m/s,
LOS rate: -0.032063 deg/s,
cmd heading: 5.062917 deg,
new cmd heading: 5.027382 deg.
2025-08-20T02:36:38.367Z,1755657398.367 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:38.368Z,1755657398.368 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:38.368Z,1755657398.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:38.618Z,1755657398.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500248
2025-08-20T02:36:38.735Z,1755657398.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:38.738Z,1755657398.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 293.718994 m,
bearing: 5.678969 deg,
approach rate: -0.303272 m/s,
LOS rate: -0.034286 deg/s,
cmd heading: 5.027382 deg,
new cmd heading: 4.981654 deg.
2025-08-20T02:36:38.875Z,1755657398.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756525
2025-08-20T02:36:39.119Z,1755657399.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:39.122Z,1755657399.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 293.602051 m,
bearing: 5.666017 deg,
approach rate: -0.304493 m/s,
LOS rate: -0.033739 deg/s,
cmd heading: 4.981654 deg,
new cmd heading: 4.942781 deg.
2025-08-20T02:36:39.127Z,1755657399.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008477
2025-08-20T02:36:39.379Z,1755657399.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260838
2025-08-20T02:36:39.529Z,1755657399.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:39.531Z,1755657399.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 293.477509 m,
bearing: 5.652513 deg,
approach rate: -0.303969 m/s,
LOS rate: -0.032973 deg/s,
cmd heading: 4.942780 deg,
new cmd heading: 4.902251 deg.
2025-08-20T02:36:39.631Z,1755657399.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512848
2025-08-20T02:36:39.882Z,1755657399.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764329
2025-08-20T02:36:39.958Z,1755657399.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:39.961Z,1755657399.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 293.331146 m,
bearing: 5.636911 deg,
approach rate: -0.340663 m/s,
LOS rate: -0.036333 deg/s,
cmd heading: 4.902251 deg,
new cmd heading: 4.855421 deg.
2025-08-20T02:36:40.134Z,1755657400.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016283
2025-08-20T02:36:40.321Z,1755657400.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:40.326Z,1755657400.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:40.332Z,1755657400.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 293.207153 m,
bearing: 5.623987 deg,
approach rate: -0.338110 m/s,
LOS rate: -0.035254 deg/s,
cmd heading: 4.855421 deg,
new cmd heading: 4.816635 deg.
2025-08-20T02:36:40.387Z,1755657400.387 [DAT](INFO): DAT read: Rx Time:02:36:38.4346
2025-08-20T02:36:40.387Z,1755657400.387 [DAT](INFO): Rx dataTimestamp_ set to:1755657400.386926
2025-08-20T02:36:40.388Z,1755657400.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269672
2025-08-20T02:36:40.638Z,1755657400.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520297
2025-08-20T02:36:40.763Z,1755657400.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:40.770Z,1755657400.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 293.049225 m,
bearing: 5.606573 deg,
approach rate: -0.360635 m/s,
LOS rate: -0.039788 deg/s,
cmd heading: 4.816635 deg,
new cmd heading: 4.764363 deg.
2025-08-20T02:36:40.892Z,1755657400.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773419
2025-08-20T02:36:41.123Z,1755657401.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.80 m.
2025-08-20T02:36:41.126Z,1755657401.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 293.799988 m,
nav range: 292.913971 m,
bearing: 5.592011 deg,
approach rate: -0.375844 m/s,
LOS rate: -0.040484 deg/s,
cmd heading: 4.764363 deg,
new cmd heading: 4.720656 deg.
2025-08-20T02:36:41.159Z,1755657401.159 [DAT](INFO): DAT read: 02:36:38.4346 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 270,-0.05,-0.517,-1.494, 0.934,-0.092, PHS=-0.324,-1.357, 0.982, RAW= 183.9, 6.9, CAL= 183.7, 6.6, ROT= 326.3, -6.6
2025-08-20T02:36:41.161Z,1755657401.161 [DAT](INFO): got valid direction response:
02:36:38.4346 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 270,-0.05,-0.517,-1.494, 0.934,-0.092, PHS=-0.324,-1.357, 0.982, RAW= 183.9, 6.9, CAL= 183.7, 6.6, ROT= 326.3, -6.6
2025-08-20T02:36:41.166Z,1755657401.166 [DAT](INFO): DAT read: Bearing 198.5, -36.4 (Local)
2025-08-20T02:36:41.167Z,1755657401.167 [DAT](INFO): Local bearing/azimuth received:
Bearing 198.5, -36.4 (Local)
2025-08-20T02:36:41.169Z,1755657401.169 [DAT](INFO): DAT read: Range 11 to 50 : 281.3 m (Round-trip 375.1 ms) speed 0.3 m/s
2025-08-20T02:36:41.177Z,1755657401.177 [DAT](INFO): DAT read: user:3164>
2025-08-20T02:36:41.182Z,1755657401.182 [DAT](INFO): DAT read: Tx time:02:36:39.5553
2025-08-20T02:36:41.183Z,1755657401.183 [DAT](INFO): Ping request sent.
2025-08-20T02:36:41.183Z,1755657401.183 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:41.183Z,1755657401.183 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:41.185Z,1755657401.185 [DAT](INFO): direction in FSK: [0.826441,-0.551167,0.114937]
2025-08-20T02:36:41.190Z,1755657401.190 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:41.190Z,1755657401.190 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:41.199Z,1755657401.199 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:41.200Z,1755657401.200 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:41.537Z,1755657401.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 281.299988 m,
deltaT: 4.036685 s,
deltaX: -12.500000 m,
approachRate: -3.096600 m/s,
rangeRepo size: 4
2025-08-20T02:36:41.542Z,1755657401.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 281.299988 m,
bearing: 3.518260 deg,
lat: 36.779469 deg,
lon: -121.859491 deg,
deltaT: 4.036685 s,
deltaX: -12.500000 m,
approachRate: -3.096600 m/s,
posRepo size: 4
2025-08-20T02:36:41.543Z,1755657401.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.30 m.
2025-08-20T02:36:41.546Z,1755657401.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.299988 m,
nav range: 291.927460 m,
bearing: 3.518260 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.040484 deg/s,
cmd heading: 4.720656 deg,
new cmd heading: 4.670473 deg.
2025-08-20T02:36:41.963Z,1755657401.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.30 m.
2025-08-20T02:36:41.970Z,1755657401.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.299988 m,
nav range: 291.768066 m,
bearing: 3.500209 deg,
approach rate: -0.373286 m/s,
LOS rate: -0.042298 deg/s,
cmd heading: 4.670474 deg,
new cmd heading: 4.616290 deg.
2025-08-20T02:36:42.358Z,1755657402.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:42.360Z,1755657402.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.30 m.
2025-08-20T02:36:42.363Z,1755657402.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.299988 m,
nav range: 291.616699 m,
bearing: 3.483510 deg,
approach rate: -0.380921 m/s,
LOS rate: -0.042044 deg/s,
cmd heading: 4.616290 deg,
new cmd heading: 4.566168 deg.
2025-08-20T02:36:42.402Z,1755657402.402 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:42.403Z,1755657402.403 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:42.403Z,1755657402.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:42.655Z,1755657402.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471737
2025-08-20T02:36:42.789Z,1755657402.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.30 m.
2025-08-20T02:36:42.807Z,1755657402.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.299988 m,
nav range: 291.433838 m,
bearing: 3.463014 deg,
approach rate: -0.426926 m/s,
LOS rate: -0.047883 deg/s,
cmd heading: 4.566168 deg,
new cmd heading: 4.504640 deg.
2025-08-20T02:36:42.907Z,1755657402.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724020
2025-08-20T02:36:43.159Z,1755657403.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976131
2025-08-20T02:36:43.218Z,1755657403.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.30 m.
2025-08-20T02:36:43.221Z,1755657403.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.299988 m,
nav range: 291.258423 m,
bearing: 3.443870 deg,
approach rate: -0.408818 m/s,
LOS rate: -0.044641 deg/s,
cmd heading: 4.504640 deg,
new cmd heading: 4.447176 deg.
2025-08-20T02:36:43.410Z,1755657403.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227394
2025-08-20T02:36:43.595Z,1755657403.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.30 m.
2025-08-20T02:36:43.598Z,1755657403.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.299988 m,
nav range: 291.103210 m,
bearing: 3.427388 deg,
approach rate: -0.411513 m/s,
LOS rate: -0.043722 deg/s,
cmd heading: 4.447176 deg,
new cmd heading: 4.397703 deg.
2025-08-20T02:36:43.666Z,1755657403.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482867
2025-08-20T02:36:43.914Z,1755657403.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731392
2025-08-20T02:36:44.022Z,1755657404.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.30 m.
2025-08-20T02:36:44.025Z,1755657404.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.299988 m,
nav range: 290.916534 m,
bearing: 3.408251 deg,
approach rate: -0.436721 m/s,
LOS rate: -0.044799 deg/s,
cmd heading: 4.397703 deg,
new cmd heading: 4.340256 deg.
2025-08-20T02:36:44.167Z,1755657404.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984146
2025-08-20T02:36:44.416Z,1755657404.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:44.419Z,1755657404.419 [DAT](INFO): DAT read: Rx Time:02:36:42.3327
2025-08-20T02:36:44.419Z,1755657404.419 [DAT](INFO): Rx dataTimestamp_ set to:1755657404.418794
2025-08-20T02:36:44.420Z,1755657404.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236630
2025-08-20T02:36:44.422Z,1755657404.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.30 m.
2025-08-20T02:36:44.424Z,1755657404.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.299988 m,
nav range: 290.742615 m,
bearing: 3.390950 deg,
approach rate: -0.435786 m/s,
LOS rate: -0.043377 deg/s,
cmd heading: 4.340256 deg,
new cmd heading: 4.288321 deg.
2025-08-20T02:36:44.674Z,1755657404.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490694
2025-08-20T02:36:44.892Z,1755657404.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.30 m.
2025-08-20T02:36:44.900Z,1755657404.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.299988 m,
nav range: 290.540558 m,
bearing: 3.371683 deg,
approach rate: -0.429002 m/s,
LOS rate: -0.040937 deg/s,
cmd heading: 4.288321 deg,
new cmd heading: 4.230478 deg.
2025-08-20T02:36:44.928Z,1755657404.928 [DAT](INFO): DAT read: 02:36:42.3327 LVL= 32752, 32753, 25458, 32755, AGC= 67, IDX= 426, 0.15, 2.656, 1.494,-2.546, 2.895, PHS=-0.137,-1.356, 0.798, RAW= 175.7, 7.5, CAL= 175.3, 7.5, ROT= 334.7, -7.5
2025-08-20T02:36:44.930Z,1755657404.930 [DAT](INFO): got valid direction response:
02:36:42.3327 LVL= 32752, 32753, 25458, 32755, AGC= 67, IDX= 426, 0.15, 2.656, 1.494,-2.546, 2.895, PHS=-0.137,-1.356, 0.798, RAW= 175.7, 7.5, CAL= 175.3, 7.5, ROT= 334.7, -7.5
2025-08-20T02:36:44.931Z,1755657404.931 [DAT](INFO): DAT read: Bearing 191.6, -26.9 (Local)
2025-08-20T02:36:44.931Z,1755657404.931 [DAT](INFO): Local bearing/azimuth received:
Bearing 191.6, -26.9 (Local)
2025-08-20T02:36:44.932Z,1755657404.932 [DAT](INFO): DAT read: Range 11 to 50 : 279.9 m (Round-trip 373.2 ms) speed 0.4 m/s
2025-08-20T02:36:44.933Z,1755657404.933 [DAT](INFO): DAT read: user:3165>
2025-08-20T02:36:44.935Z,1755657404.935 [DAT](INFO): DAT read: Tx time:02:36:43.4553
2025-08-20T02:36:44.935Z,1755657404.935 [DAT](INFO): Ping request sent.
2025-08-20T02:36:44.935Z,1755657404.935 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:44.935Z,1755657404.935 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:44.936Z,1755657404.936 [DAT](INFO): direction in FSK: [0.896348,-0.423702,0.130526]
2025-08-20T02:36:44.936Z,1755657404.936 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:44.937Z,1755657404.937 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:44.940Z,1755657404.940 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:44.940Z,1755657404.940 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:45.304Z,1755657405.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 279.899994 m,
deltaT: 3.779361 s,
deltaX: -1.399994 m,
approachRate: -0.370431 m/s,
rangeRepo size: 4
2025-08-20T02:36:45.307Z,1755657405.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 279.899994 m,
bearing: 3.483258 deg,
lat: 36.779371 deg,
lon: -121.859491 deg,
deltaT: 3.779361 s,
deltaX: -1.399994 m,
approachRate: -0.370431 m/s,
posRepo size: 4
2025-08-20T02:36:45.308Z,1755657405.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.90 m.
2025-08-20T02:36:45.315Z,1755657405.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.899994 m,
nav range: 279.502594 m,
bearing: 3.483258 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.040937 deg/s,
cmd heading: 4.230478 deg,
new cmd heading: 4.179967 deg.
2025-08-20T02:36:45.776Z,1755657405.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.90 m.
2025-08-20T02:36:45.783Z,1755657405.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.899994 m,
nav range: 279.287140 m,
bearing: 3.463963 deg,
approach rate: -0.455982 m/s,
LOS rate: -0.040865 deg/s,
cmd heading: 4.179967 deg,
new cmd heading: 4.122040 deg.
2025-08-20T02:36:46.132Z,1755657406.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.90 m.
2025-08-20T02:36:46.135Z,1755657406.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.899994 m,
nav range: 279.110443 m,
bearing: 3.450044 deg,
approach rate: -0.496528 m/s,
LOS rate: -0.039138 deg/s,
cmd heading: 4.122040 deg,
new cmd heading: 4.080256 deg.
2025-08-20T02:36:46.522Z,1755657406.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:46.524Z,1755657406.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.90 m.
2025-08-20T02:36:46.527Z,1755657406.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.899994 m,
nav range: 278.922699 m,
bearing: 3.435959 deg,
approach rate: -0.478512 m/s,
LOS rate: -0.035924 deg/s,
cmd heading: 4.080256 deg,
new cmd heading: 4.037971 deg.
2025-08-20T02:36:46.689Z,1755657406.689 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:46.689Z,1755657406.689 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:46.690Z,1755657406.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:46.939Z,1755657406.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003559
2025-08-20T02:36:46.951Z,1755657406.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.90 m.
2025-08-20T02:36:46.954Z,1755657406.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.899994 m,
nav range: 278.716125 m,
bearing: 3.421015 deg,
approach rate: -0.484353 m/s,
LOS rate: -0.035064 deg/s,
cmd heading: 4.037971 deg,
new cmd heading: 3.993107 deg.
2025-08-20T02:36:47.191Z,1755657407.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256228
2025-08-20T02:36:47.359Z,1755657407.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.90 m.
2025-08-20T02:36:47.362Z,1755657407.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.899994 m,
nav range: 278.517273 m,
bearing: 3.407379 deg,
approach rate: -0.486741 m/s,
LOS rate: -0.033401 deg/s,
cmd heading: 3.993107 deg,
new cmd heading: 3.952170 deg.
2025-08-20T02:36:47.443Z,1755657407.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507595
2025-08-20T02:36:47.698Z,1755657407.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762172
2025-08-20T02:36:47.919Z,1755657407.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.90 m.
2025-08-20T02:36:47.922Z,1755657407.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.899994 m,
nav range: 278.251923 m,
bearing: 3.390673 deg,
approach rate: -0.473974 m/s,
LOS rate: -0.029870 deg/s,
cmd heading: 3.952170 deg,
new cmd heading: 3.902003 deg.
2025-08-20T02:36:47.947Z,1755657407.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011647
2025-08-20T02:36:48.199Z,1755657408.199 [DAT](INFO): DAT read: Rx Time:02:36:46.2303
2025-08-20T02:36:48.200Z,1755657408.200 [DAT](INFO): Rx dataTimestamp_ set to:1755657408.199505
2025-08-20T02:36:48.201Z,1755657408.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265648
2025-08-20T02:36:48.322Z,1755657408.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.90 m.
2025-08-20T02:36:48.328Z,1755657408.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.899994 m,
nav range: 278.046112 m,
bearing: 3.379271 deg,
approach rate: -0.512662 m/s,
LOS rate: -0.028422 deg/s,
cmd heading: 3.902003 deg,
new cmd heading: 3.867772 deg.
2025-08-20T02:36:48.452Z,1755657408.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516778
2025-08-20T02:36:48.706Z,1755657408.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770057
2025-08-20T02:36:48.863Z,1755657408.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:48.865Z,1755657408.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.90 m.
2025-08-20T02:36:48.868Z,1755657408.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.899994 m,
nav range: 277.773865 m,
bearing: 3.365763 deg,
approach rate: -0.500417 m/s,
LOS rate: -0.024852 deg/s,
cmd heading: 3.867772 deg,
new cmd heading: 3.827210 deg.
2025-08-20T02:36:48.964Z,1755657408.964 [DAT](INFO): DAT read: 02:36:46.2303 LVL= 32752, 32753, 28434, 32755, AGC= 67, IDX= 418,-0.11,-2.392, 2.598,-1.691,-2.325, PHS= 0.035,-1.315, 0.590, RAW= 166.4, 8.2, CAL= 166.1, 8.4, ROT= 343.9, -8.4
2025-08-20T02:36:48.966Z,1755657408.966 [DAT](INFO): got valid direction response:
02:36:46.2303 LVL= 32752, 32753, 28434, 32755, AGC= 67, IDX= 418,-0.11,-2.392, 2.598,-1.691,-2.325, PHS= 0.035,-1.315, 0.590, RAW= 166.4, 8.2, CAL= 166.1, 8.4, ROT= 343.9, -8.4
2025-08-20T02:36:48.967Z,1755657408.967 [DAT](INFO): DAT read: Bearing 183.2, -16.8 (Local)
2025-08-20T02:36:48.967Z,1755657408.967 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.2, -16.8 (Local)
2025-08-20T02:36:48.971Z,1755657408.971 [DAT](INFO): DAT read: Range 11 to 50 : 278.1 m (Round-trip 370.8 ms) speed 0.3 m/s
2025-08-20T02:36:48.972Z,1755657408.972 [DAT](INFO): DAT read: user:3166>
2025-08-20T02:36:48.973Z,1755657408.973 [DAT](INFO): DAT read: Tx time:02:36:47.3553
2025-08-20T02:36:48.973Z,1755657408.973 [DAT](INFO): Ping request sent.
2025-08-20T02:36:48.973Z,1755657408.973 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:48.974Z,1755657408.974 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:48.975Z,1755657408.975 [DAT](INFO): direction in FSK: [0.950472,-0.274340,0.146083]
2025-08-20T02:36:48.975Z,1755657408.975 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:48.975Z,1755657408.975 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:48.979Z,1755657408.979 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:48.979Z,1755657408.979 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:49.255Z,1755657409.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 278.100006 m,
deltaT: 4.032559 s,
deltaX: -1.799988 m,
approachRate: -0.446364 m/s,
rangeRepo size: 4
2025-08-20T02:36:49.258Z,1755657409.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 278.100006 m,
bearing: 3.372401 deg,
lat: 36.779360 deg,
lon: -121.859491 deg,
deltaT: 4.032559 s,
deltaX: -1.799988 m,
approachRate: -0.446364 m/s,
posRepo size: 4
2025-08-20T02:36:49.258Z,1755657409.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.10 m.
2025-08-20T02:36:49.261Z,1755657409.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.100006 m,
nav range: 276.340973 m,
bearing: 3.372401 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.024852 deg/s,
cmd heading: 3.827210 deg,
new cmd heading: 3.798138 deg.
2025-08-20T02:36:49.687Z,1755657409.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.10 m.
2025-08-20T02:36:49.697Z,1755657409.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.100006 m,
nav range: 276.123566 m,
bearing: 3.363234 deg,
approach rate: -0.502614 m/s,
LOS rate: -0.021211 deg/s,
cmd heading: 3.798138 deg,
new cmd heading: 3.770613 deg.
2025-08-20T02:36:50.196Z,1755657410.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.10 m.
2025-08-20T02:36:50.199Z,1755657410.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.100006 m,
nav range: 275.864746 m,
bearing: 3.353720 deg,
approach rate: -0.508527 m/s,
LOS rate: -0.018711 deg/s,
cmd heading: 3.770613 deg,
new cmd heading: 3.742044 deg.
2025-08-20T02:36:50.563Z,1755657410.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.10 m.
2025-08-20T02:36:50.565Z,1755657410.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.100006 m,
nav range: 275.672760 m,
bearing: 3.348862 deg,
approach rate: -0.523785 m/s,
LOS rate: -0.013263 deg/s,
cmd heading: 3.742044 deg,
new cmd heading: 3.727460 deg.
2025-08-20T02:36:50.984Z,1755657410.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:50.990Z,1755657410.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.10 m.
2025-08-20T02:36:50.993Z,1755657410.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.100006 m,
nav range: 275.470642 m,
bearing: 3.345234 deg,
approach rate: -0.472907 m/s,
LOS rate: -0.008493 deg/s,
cmd heading: 3.727460 deg,
new cmd heading: 3.716570 deg.
2025-08-20T02:36:51.230Z,1755657411.230 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:51.230Z,1755657411.230 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:51.231Z,1755657411.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:51.350Z,1755657411.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.10 m.
2025-08-20T02:36:51.353Z,1755657411.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.100006 m,
nav range: 275.268555 m,
bearing: 3.342344 deg,
approach rate: -0.560863 m/s,
LOS rate: -0.008029 deg/s,
cmd heading: 3.716570 deg,
new cmd heading: 3.707891 deg.
2025-08-20T02:36:51.484Z,1755657411.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510811
2025-08-20T02:36:51.734Z,1755657411.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761154
2025-08-20T02:36:51.835Z,1755657411.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.10 m.
2025-08-20T02:36:51.858Z,1755657411.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.100006 m,
nav range: 275.027222 m,
bearing: 3.339800 deg,
approach rate: -0.497845 m/s,
LOS rate: -0.005251 deg/s,
cmd heading: 3.707891 deg,
new cmd heading: 3.700255 deg.
2025-08-20T02:36:51.987Z,1755657411.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013723
2025-08-20T02:36:52.239Z,1755657412.239 [DAT](INFO): DAT read: Rx Time:02:36:50.1276
2025-08-20T02:36:52.239Z,1755657412.239 [DAT](INFO): Rx dataTimestamp_ set to:1755657412.238737
2025-08-20T02:36:52.240Z,1755657412.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266402
2025-08-20T02:36:52.248Z,1755657412.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.10 m.
2025-08-20T02:36:52.251Z,1755657412.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.100006 m,
nav range: 274.810638 m,
bearing: 3.338710 deg,
approach rate: -0.524618 m/s,
LOS rate: -0.002642 deg/s,
cmd heading: 3.700255 deg,
new cmd heading: 3.696982 deg.
2025-08-20T02:36:52.490Z,1755657412.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517237
2025-08-20T02:36:52.702Z,1755657412.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 278.10 m.
2025-08-20T02:36:52.704Z,1755657412.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 278.100006 m,
nav range: 274.585602 m,
bearing: 3.338396 deg,
approach rate: -0.498451 m/s,
LOS rate: -0.000696 deg/s,
cmd heading: 3.696982 deg,
new cmd heading: 3.696040 deg.
2025-08-20T02:36:52.781Z,1755657412.781 [DAT](INFO): DAT read: 02:36:50.1276 LVL= 32752, 32753, 31730, 32755, AGC= 67, IDX= 407, 0.36, 1.843, 0.377, 2.283, 1.734, PHS= 0.210,-1.312, 0.505, RAW= 158.7, 7.1, CAL= 158.1, 7.1, ROT= 351.9, -7.1
2025-08-20T02:36:52.811Z,1755657412.811 [DAT](INFO): got valid direction response:
02:36:50.1276 LVL= 32752, 32753, 31730, 32755, AGC= 67, IDX= 407, 0.36, 1.843, 0.377, 2.283, 1.734, PHS= 0.210,-1.312, 0.505, RAW= 158.7, 7.1, CAL= 158.1, 7.1, ROT= 351.9, -7.1
2025-08-20T02:36:52.813Z,1755657412.813 [DAT](INFO): DAT read: Bearing 172.3, -8.1 (Local)
2025-08-20T02:36:52.813Z,1755657412.813 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.3, -8.1 (Local)
2025-08-20T02:36:52.820Z,1755657412.820 [DAT](INFO): DAT read: Range 11 to 50 : 276.1 m (Round-trip 368.2 ms) speed 0.4 m/s
2025-08-20T02:36:52.821Z,1755657412.821 [DAT](INFO): DAT read: user:3167>
2025-08-20T02:36:52.831Z,1755657412.831 [DAT](INFO): DAT read: Tx time:02:36:51.2552
2025-08-20T02:36:52.832Z,1755657412.832 [DAT](INFO): Ping request sent.
2025-08-20T02:36:52.832Z,1755657412.832 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:52.832Z,1755657412.832 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:52.838Z,1755657412.838 [DAT](INFO): direction in FSK: [0.982432,-0.139821,0.123601]
2025-08-20T02:36:52.839Z,1755657412.839 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:52.839Z,1755657412.839 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:52.863Z,1755657412.863 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:52.863Z,1755657412.863 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:53.136Z,1755657413.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 276.100006 m,
deltaT: 3.789406 s,
deltaX: -2.000000 m,
approachRate: -0.527787 m/s,
rangeRepo size: 4
2025-08-20T02:36:53.143Z,1755657413.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 276.100006 m,
bearing: 1.844222 deg,
lat: 36.779360 deg,
lon: -121.859571 deg,
deltaT: 3.789406 s,
deltaX: -2.000000 m,
approachRate: -0.527787 m/s,
posRepo size: 4
2025-08-20T02:36:53.143Z,1755657413.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:53.150Z,1755657413.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 274.033905 m,
bearing: 1.844222 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.000696 deg/s,
cmd heading: 3.696040 deg,
new cmd heading: 3.695130 deg.
2025-08-20T02:36:53.545Z,1755657413.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:53.547Z,1755657413.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:53.550Z,1755657413.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 273.813141 m,
bearing: 1.843125 deg,
approach rate: -0.535958 m/s,
LOS rate: -0.002664 deg/s,
cmd heading: 3.695130 deg,
new cmd heading: 3.691837 deg.
2025-08-20T02:36:53.751Z,1755657413.751 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:53.752Z,1755657413.752 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:53.753Z,1755657413.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:53.936Z,1755657413.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:53.939Z,1755657413.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 273.600677 m,
bearing: 1.841996 deg,
approach rate: -0.546846 m/s,
LOS rate: -0.002909 deg/s,
cmd heading: 3.691837 deg,
new cmd heading: 3.688447 deg.
2025-08-20T02:36:54.003Z,1755657414.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.171133
2025-08-20T02:36:54.254Z,1755657414.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.422865
2025-08-20T02:36:54.359Z,1755657414.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:54.361Z,1755657414.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 273.374023 m,
bearing: 1.841397 deg,
approach rate: -0.536318 m/s,
LOS rate: -0.001418 deg/s,
cmd heading: 3.688446 deg,
new cmd heading: 3.686649 deg.
2025-08-20T02:36:54.506Z,1755657414.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.674801
2025-08-20T02:36:54.743Z,1755657414.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:54.746Z,1755657414.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 273.168121 m,
bearing: 1.841392 deg,
approach rate: -0.535921 m/s,
LOS rate: -0.000012 deg/s,
cmd heading: 3.686649 deg,
new cmd heading: 3.686635 deg.
2025-08-20T02:36:54.758Z,1755657414.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.926725
2025-08-20T02:36:55.011Z,1755657415.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.178901
2025-08-20T02:36:55.206Z,1755657415.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:55.209Z,1755657415.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 272.931305 m,
bearing: 1.841385 deg,
approach rate: -0.511102 m/s,
LOS rate: -0.000016 deg/s,
cmd heading: 3.686635 deg,
new cmd heading: 3.686612 deg.
2025-08-20T02:36:55.263Z,1755657415.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430984
2025-08-20T02:36:55.515Z,1755657415.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683204
2025-08-20T02:36:55.576Z,1755657415.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:55.578Z,1755657415.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:55.581Z,1755657415.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 272.731293 m,
bearing: 1.842270 deg,
approach rate: -0.537741 m/s,
LOS rate: 0.002381 deg/s,
cmd heading: 3.686613 deg,
new cmd heading: 3.689269 deg.
2025-08-20T02:36:55.766Z,1755657415.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934816
2025-08-20T02:36:55.962Z,1755657415.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:55.965Z,1755657415.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 272.510162 m,
bearing: 1.842682 deg,
approach rate: -0.575417 m/s,
LOS rate: 0.001074 deg/s,
cmd heading: 3.689269 deg,
new cmd heading: 3.690507 deg.
2025-08-20T02:36:56.019Z,1755657416.019 [DAT](INFO): DAT read: Rx Time:02:36:54.0249
2025-08-20T02:36:56.019Z,1755657416.019 [DAT](INFO): Rx dataTimestamp_ set to:1755657416.018805
2025-08-20T02:36:56.020Z,1755657416.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.188064
2025-08-20T02:36:56.270Z,1755657416.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.438803
2025-08-20T02:36:56.343Z,1755657416.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:56.362Z,1755657416.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 272.302307 m,
bearing: 1.843398 deg,
approach rate: -0.546319 m/s,
LOS rate: 0.001884 deg/s,
cmd heading: 3.690507 deg,
new cmd heading: 3.692657 deg.
2025-08-20T02:36:56.526Z,1755657416.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.693384
2025-08-20T02:36:56.747Z,1755657416.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.10 m.
2025-08-20T02:36:56.749Z,1755657416.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 276.100006 m,
nav range: 272.082245 m,
bearing: 1.844488 deg,
approach rate: -0.545059 m/s,
LOS rate: 0.002702 deg/s,
cmd heading: 3.692657 deg,
new cmd heading: 3.695930 deg.
2025-08-20T02:36:56.787Z,1755657416.787 [DAT](INFO): DAT read: 02:36:54.0249 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.11,-0.347,-1.896,-0.238,-0.627, PHS= 0.382,-1.223, 0.346, RAW= 148.9, 6.3, CAL= 148.3, 6.7, ROT= 1.7, -6.7
2025-08-20T02:36:56.789Z,1755657416.789 [DAT](INFO): got valid direction response:
02:36:54.0249 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.11,-0.347,-1.896,-0.238,-0.627, PHS= 0.382,-1.223, 0.346, RAW= 148.9, 6.3, CAL= 148.3, 6.7, ROT= 1.7, -6.7
2025-08-20T02:36:56.791Z,1755657416.791 [DAT](INFO): DAT read: Bearing 165.2, 3.2 (Local)
2025-08-20T02:36:56.792Z,1755657416.792 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.2, 3.2 (Local)
2025-08-20T02:36:56.794Z,1755657416.794 [DAT](INFO): DAT read: Range 11 to 50 : 274.1 m (Round-trip 365.5 ms) speed 0.8 m/s
2025-08-20T02:36:56.795Z,1755657416.795 [DAT](INFO): DAT read: user:3168>
2025-08-20T02:36:56.802Z,1755657416.802 [DAT](INFO): DAT read: Tx time:02:36:55.1552
2025-08-20T02:36:56.803Z,1755657416.803 [DAT](INFO): Ping request sent.
2025-08-20T02:36:56.804Z,1755657416.804 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:36:56.805Z,1755657416.805 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:36:56.830Z,1755657416.830 [DAT](INFO): direction in FSK: [0.992734,0.029464,0.116671]
2025-08-20T02:36:56.831Z,1755657416.831 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:56.832Z,1755657416.832 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:56.867Z,1755657416.867 [DAT](INFO): publishing transmit ping time
2025-08-20T02:36:56.867Z,1755657416.867 [DAT](INFO): publishing direction and range info
2025-08-20T02:36:57.220Z,1755657417.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 274.100006 m,
deltaT: 4.029866 s,
deltaX: -2.000000 m,
approachRate: -0.496294 m/s,
rangeRepo size: 4
2025-08-20T02:36:57.227Z,1755657417.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 274.100006 m,
bearing: 3.355679 deg,
lat: 36.779356 deg,
lon: -121.859491 deg,
deltaT: 4.029866 s,
deltaX: -2.000000 m,
approachRate: -0.496294 m/s,
posRepo size: 4
2025-08-20T02:36:57.227Z,1755657417.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:36:57.234Z,1755657417.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 271.750427 m,
bearing: 3.355679 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002702 deg/s,
cmd heading: 3.695930 deg,
new cmd heading: 3.699763 deg.
2025-08-20T02:36:57.554Z,1755657417.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:36:57.556Z,1755657417.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 271.556854 m,
bearing: 3.357685 deg,
approach rate: -0.579487 m/s,
LOS rate: 0.006010 deg/s,
cmd heading: 3.699763 deg,
new cmd heading: 3.705785 deg.
2025-08-20T02:36:57.978Z,1755657417.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:36:57.980Z,1755657417.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:36:57.983Z,1755657417.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 271.309265 m,
bearing: 3.359569 deg,
approach rate: -0.580993 m/s,
LOS rate: 0.004425 deg/s,
cmd heading: 3.705785 deg,
new cmd heading: 3.711442 deg.
2025-08-20T02:36:58.042Z,1755657418.042 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:36:58.042Z,1755657418.042 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:36:58.042Z,1755657418.042 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:36:58.291Z,1755657418.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487904
2025-08-20T02:36:58.371Z,1755657418.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:36:58.374Z,1755657418.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 271.081665 m,
bearing: 3.361422 deg,
approach rate: -0.582054 m/s,
LOS rate: 0.004744 deg/s,
cmd heading: 3.711442 deg,
new cmd heading: 3.717008 deg.
2025-08-20T02:36:58.542Z,1755657418.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738950
2025-08-20T02:36:58.796Z,1755657418.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992184
2025-08-20T02:36:58.800Z,1755657418.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:36:58.807Z,1755657418.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 270.849121 m,
bearing: 3.363424 deg,
approach rate: -0.541982 m/s,
LOS rate: 0.004668 deg/s,
cmd heading: 3.717008 deg,
new cmd heading: 3.723017 deg.
2025-08-20T02:36:59.046Z,1755657419.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243004
2025-08-20T02:36:59.263Z,1755657419.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:36:59.265Z,1755657419.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 270.557159 m,
bearing: 3.366699 deg,
approach rate: -0.630859 m/s,
LOS rate: 0.007084 deg/s,
cmd heading: 3.723017 deg,
new cmd heading: 3.732853 deg.
2025-08-20T02:36:59.301Z,1755657419.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496964
2025-08-20T02:36:59.551Z,1755657419.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747722
2025-08-20T02:36:59.651Z,1755657419.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:36:59.654Z,1755657419.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 270.326874 m,
bearing: 3.369351 deg,
approach rate: -0.593324 m/s,
LOS rate: 0.006839 deg/s,
cmd heading: 3.732853 deg,
new cmd heading: 3.740816 deg.
2025-08-20T02:36:59.802Z,1755657419.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998952
2025-08-20T02:37:00.055Z,1755657420.055 [DAT](INFO): DAT read: Rx Time:02:36:57.9544
2025-08-20T02:37:00.055Z,1755657420.055 [DAT](INFO): Rx dataTimestamp_ set to:1755657420.054774
2025-08-20T02:37:00.056Z,1755657420.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252218
2025-08-20T02:37:00.092Z,1755657420.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:00.100Z,1755657420.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:00.108Z,1755657420.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 270.063507 m,
bearing: 3.372656 deg,
approach rate: -0.587775 m/s,
LOS rate: 0.007384 deg/s,
cmd heading: 3.740816 deg,
new cmd heading: 3.750742 deg.
2025-08-20T02:37:00.306Z,1755657420.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503080
2025-08-20T02:37:00.564Z,1755657420.564 [DAT](INFO): DAT read: 02:36:57.9544 LVL= 26592, 31169, 27634, 32755, AGC= 69, IDX= 63, 0.32, 0.976,-0.679, 1.026, 0.620, PHS= 0.458,-1.253, 0.362, RAW= 147.1, 5.3, CAL= 146.6, 5.6, ROT= 3.4, -5.6
2025-08-20T02:37:00.565Z,1755657420.565 [DAT](INFO): got valid direction response:
02:36:57.9544 LVL= 26592, 31169, 27634, 32755, AGC= 69, IDX= 63, 0.32, 0.976,-0.679, 1.026, 0.620, PHS= 0.458,-1.253, 0.362, RAW= 147.1, 5.3, CAL= 146.6, 5.6, ROT= 3.4, -5.6
2025-08-20T02:37:00.566Z,1755657420.566 [DAT](INFO): DAT read: Bearing 162.5, 6.8 (Local)
2025-08-20T02:37:00.567Z,1755657420.567 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.5, 6.8 (Local)
2025-08-20T02:37:00.568Z,1755657420.568 [DAT](INFO): DAT read: Range 11 to 50 : 296.3 m (Round-trip 395.1 ms) speed 0.4 m/s
2025-08-20T02:37:00.569Z,1755657420.569 [DAT](INFO): DAT read: user:3169>
2025-08-20T02:37:00.570Z,1755657420.570 [DAT](INFO): DAT read: Tx time:02:36:59.0552
2025-08-20T02:37:00.570Z,1755657420.570 [DAT](INFO): Ping request sent.
2025-08-20T02:37:00.570Z,1755657420.570 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:00.570Z,1755657420.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:00.571Z,1755657420.571 [DAT](INFO): direction in FSK: [0.993476,0.059023,0.097583]
2025-08-20T02:37:00.572Z,1755657420.572 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:00.572Z,1755657420.572 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:00.579Z,1755657420.579 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:00.579Z,1755657420.579 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:00.807Z,1755657420.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 296.299988 m,
deltaT: 3.784057 s,
deltaX: 22.199982 m,
approachRate: 5.866714 m/s,
rangeRepo size: 4
2025-08-20T02:37:00.807Z,1755657420.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:00.814Z,1755657420.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 269.656250 m,
bearing: 3.377714 deg,
approach rate: -0.580046 m/s,
LOS rate: 0.007214 deg/s,
cmd heading: 3.750742 deg,
new cmd heading: 3.765938 deg.
2025-08-20T02:37:01.228Z,1755657421.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:01.235Z,1755657421.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 269.389130 m,
bearing: 3.381510 deg,
approach rate: -0.625324 m/s,
LOS rate: 0.008895 deg/s,
cmd heading: 3.765938 deg,
new cmd heading: 3.777337 deg.
2025-08-20T02:37:01.607Z,1755657421.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:01.610Z,1755657421.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 269.160095 m,
bearing: 3.384740 deg,
approach rate: -0.604996 m/s,
LOS rate: 0.008540 deg/s,
cmd heading: 3.777337 deg,
new cmd heading: 3.787035 deg.
2025-08-20T02:37:02.035Z,1755657422.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:02.038Z,1755657422.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 268.900513 m,
bearing: 3.388976 deg,
approach rate: -0.606023 m/s,
LOS rate: 0.009900 deg/s,
cmd heading: 3.787035 deg,
new cmd heading: 3.799756 deg.
2025-08-20T02:37:02.474Z,1755657422.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:02.476Z,1755657422.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:02.479Z,1755657422.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 268.633270 m,
bearing: 3.393307 deg,
approach rate: -0.605813 m/s,
LOS rate: 0.009827 deg/s,
cmd heading: 3.799756 deg,
new cmd heading: 3.812761 deg.
2025-08-20T02:37:02.574Z,1755657422.574 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:02.574Z,1755657422.574 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:02.575Z,1755657422.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:02.826Z,1755657422.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256335
2025-08-20T02:37:02.956Z,1755657422.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:02.959Z,1755657422.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 268.352203 m,
bearing: 3.397822 deg,
approach rate: -0.585590 m/s,
LOS rate: 0.009417 deg/s,
cmd heading: 3.812761 deg,
new cmd heading: 3.826321 deg.
2025-08-20T02:37:03.079Z,1755657423.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508567
2025-08-20T02:37:03.318Z,1755657423.318 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:37:03.331Z,1755657423.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760486
2025-08-20T02:37:03.353Z,1755657423.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:03.360Z,1755657423.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 268.110748 m,
bearing: 3.401855 deg,
approach rate: -0.608813 m/s,
LOS rate: 0.010178 deg/s,
cmd heading: 3.826321 deg,
new cmd heading: 3.838431 deg.
2025-08-20T02:37:03.582Z,1755657423.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012332
2025-08-20T02:37:03.695Z,1755657423.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:03.698Z,1755657423.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 267.890747 m,
bearing: 3.405486 deg,
approach rate: -0.641860 m/s,
LOS rate: 0.010601 deg/s,
cmd heading: 3.838431 deg,
new cmd heading: 3.849332 deg.
2025-08-20T02:37:03.834Z,1755657423.834 [DAT](INFO): DAT read: Rx Time:02:37:01.8349
2025-08-20T02:37:03.835Z,1755657423.835 [DAT](INFO): Rx dataTimestamp_ set to:1755657423.834644
2025-08-20T02:37:03.835Z,1755657423.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265428
2025-08-20T02:37:04.086Z,1755657424.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516326
2025-08-20T02:37:04.138Z,1755657424.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:04.140Z,1755657424.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 267.622345 m,
bearing: 3.409332 deg,
approach rate: -0.607061 m/s,
LOS rate: 0.008708 deg/s,
cmd heading: 3.849332 deg,
new cmd heading: 3.860883 deg.
2025-08-20T02:37:04.324Z,1755657424.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:37:04.341Z,1755657424.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770900
2025-08-20T02:37:04.509Z,1755657424.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:04.512Z,1755657424.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.10 m.
2025-08-20T02:37:04.515Z,1755657424.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 274.100006 m,
nav range: 267.398529 m,
bearing: 3.412529 deg,
approach rate: -0.598361 m/s,
LOS rate: 0.008553 deg/s,
cmd heading: 3.860883 deg,
new cmd heading: 3.870480 deg.
2025-08-20T02:37:04.599Z,1755657424.599 [DAT](INFO): DAT read: 02:37:01.8349 LVL= 28912, 31345, 31442, 32755, AGC= 71, IDX= 76, 0.41, 1.980, 0.250, 2.075, 1.616, PHS= 0.466,-1.321, 0.415, RAW= 148.6, 5.0, CAL= 147.9, 5.3, ROT= 2.1, -5.3
2025-08-20T02:37:04.600Z,1755657424.600 [DAT](INFO): got valid direction response:
02:37:01.8349 LVL= 28912, 31345, 31442, 32755, AGC= 71, IDX= 76, 0.41, 1.980, 0.250, 2.075, 1.616, PHS= 0.466,-1.321, 0.415, RAW= 148.6, 5.0, CAL= 147.9, 5.3, ROT= 2.1, -5.3
2025-08-20T02:37:04.602Z,1755657424.602 [DAT](INFO): DAT read: Bearing 162.6, 7.5 (Local)
2025-08-20T02:37:04.602Z,1755657424.602 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.6, 7.5 (Local)
2025-08-20T02:37:04.604Z,1755657424.604 [DAT](INFO): DAT read: Range 11 to 50 : 281.6 m (Round-trip 375.5 ms) speed 0.4 m/s
2025-08-20T02:37:04.604Z,1755657424.604 [DAT](INFO): DAT read: user:3170>
2025-08-20T02:37:04.613Z,1755657424.613 [DAT](INFO): DAT read: Tx time:02:37:02.9552
2025-08-20T02:37:04.614Z,1755657424.614 [DAT](INFO): Ping request sent.
2025-08-20T02:37:04.614Z,1755657424.614 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:04.614Z,1755657424.614 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:04.615Z,1755657424.615 [DAT](INFO): direction in FSK: [0.995056,0.036487,0.092371]
2025-08-20T02:37:04.616Z,1755657424.616 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:04.616Z,1755657424.616 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:04.623Z,1755657424.623 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:04.623Z,1755657424.623 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:05.008Z,1755657425.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 281.600006 m,
deltaT: 7.816246 s,
deltaX: 7.500000 m,
approachRate: 0.959540 m/s,
rangeRepo size: 4
2025-08-20T02:37:05.010Z,1755657425.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 281.600006 m,
bearing: 4.552518 deg,
lat: 36.779356 deg,
lon: -121.859431 deg,
deltaT: 7.816246 s,
deltaX: 7.500000 m,
approachRate: 0.959540 m/s,
posRepo size: 4
2025-08-20T02:37:05.011Z,1755657425.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.60 m.
2025-08-20T02:37:05.014Z,1755657425.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.600006 m,
nav range: 267.484711 m,
bearing: 4.552518 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008553 deg/s,
cmd heading: 3.870480 deg,
new cmd heading: 3.883195 deg.
2025-08-20T02:37:05.381Z,1755657425.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.60 m.
2025-08-20T02:37:05.384Z,1755657425.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.600006 m,
nav range: 267.246216 m,
bearing: 4.557692 deg,
approach rate: -0.638826 m/s,
LOS rate: 0.013871 deg/s,
cmd heading: 3.883195 deg,
new cmd heading: 3.898731 deg.
2025-08-20T02:37:05.778Z,1755657425.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.60 m.
2025-08-20T02:37:05.783Z,1755657425.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.600006 m,
nav range: 266.998993 m,
bearing: 4.563082 deg,
approach rate: -0.623087 m/s,
LOS rate: 0.013596 deg/s,
cmd heading: 3.898731 deg,
new cmd heading: 3.914915 deg.
2025-08-20T02:37:06.199Z,1755657426.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.60 m.
2025-08-20T02:37:06.201Z,1755657426.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.600006 m,
nav range: 266.739838 m,
bearing: 4.568714 deg,
approach rate: -0.615384 m/s,
LOS rate: 0.013388 deg/s,
cmd heading: 3.914915 deg,
new cmd heading: 3.931829 deg.
2025-08-20T02:37:06.567Z,1755657426.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:06.570Z,1755657426.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.60 m.
2025-08-20T02:37:06.572Z,1755657426.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.600006 m,
nav range: 266.523590 m,
bearing: 4.573435 deg,
approach rate: -0.583055 m/s,
LOS rate: 0.012737 deg/s,
cmd heading: 3.931829 deg,
new cmd heading: 3.946001 deg.
2025-08-20T02:37:06.606Z,1755657426.606 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:06.607Z,1755657426.607 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:06.607Z,1755657426.607 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:06.863Z,1755657426.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249523
2025-08-20T02:37:07.022Z,1755657427.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.60 m.
2025-08-20T02:37:07.024Z,1755657427.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.600006 m,
nav range: 266.256104 m,
bearing: 4.579304 deg,
approach rate: -0.596614 m/s,
LOS rate: 0.013104 deg/s,
cmd heading: 3.946001 deg,
new cmd heading: 3.963627 deg.
2025-08-20T02:37:07.115Z,1755657427.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501040
2025-08-20T02:37:07.366Z,1755657427.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752505
2025-08-20T02:37:07.384Z,1755657427.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.60 m.
2025-08-20T02:37:07.387Z,1755657427.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.600006 m,
nav range: 266.010590 m,
bearing: 4.586171 deg,
approach rate: -0.671049 m/s,
LOS rate: 0.018786 deg/s,
cmd heading: 3.963627 deg,
new cmd heading: 3.984246 deg.
2025-08-20T02:37:07.619Z,1755657427.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004558
2025-08-20T02:37:07.795Z,1755657427.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.60 m.
2025-08-20T02:37:07.797Z,1755657427.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.600006 m,
nav range: 265.768646 m,
bearing: 4.593006 deg,
approach rate: -0.588661 m/s,
LOS rate: 0.016646 deg/s,
cmd heading: 3.984246 deg,
new cmd heading: 4.004771 deg.
2025-08-20T02:37:07.871Z,1755657427.871 [DAT](INFO): DAT read: Rx Time:02:37:05.7325
2025-08-20T02:37:07.872Z,1755657427.872 [DAT](INFO): Rx dataTimestamp_ set to:1755657427.871490
2025-08-20T02:37:07.873Z,1755657427.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258706
2025-08-20T02:37:08.125Z,1755657428.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510546
2025-08-20T02:37:08.307Z,1755657428.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.60 m.
2025-08-20T02:37:08.310Z,1755657428.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 281.600006 m,
nav range: 265.431946 m,
bearing: 4.602775 deg,
approach rate: -0.656725 m/s,
LOS rate: 0.019079 deg/s,
cmd heading: 4.004770 deg,
new cmd heading: 4.034116 deg.
2025-08-20T02:37:08.385Z,1755657428.385 [DAT](INFO): DAT read: 02:37:05.7325 LVL= 29680, 32753, 29138, 32755, AGC= 66, IDX= 409, 0.44, 0.444,-1.187, 0.543, 0.065, PHS= 0.482,-1.206, 0.435, RAW= 148.6, 3.5, CAL= 147.8, 3.6, ROT= 2.2, -3.6
2025-08-20T02:37:08.386Z,1755657428.386 [DAT](INFO): got valid direction response:
02:37:05.7325 LVL= 29680, 32753, 29138, 32755, AGC= 66, IDX= 409, 0.44, 0.444,-1.187, 0.543, 0.065, PHS= 0.482,-1.206, 0.435, RAW= 148.6, 3.5, CAL= 147.8, 3.6, ROT= 2.2, -3.6
2025-08-20T02:37:08.388Z,1755657428.388 [DAT](INFO): DAT read: Bearing 160.7, 9.1 (Local)
2025-08-20T02:37:08.388Z,1755657428.388 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.7, 9.1 (Local)
2025-08-20T02:37:08.391Z,1755657428.391 [DAT](INFO): DAT read: Range 11 to 50 : 279.8 m (Round-trip 373.1 ms) speed 0.7 m/s
2025-08-20T02:37:08.392Z,1755657428.392 [DAT](INFO): DAT read: user:3171>
2025-08-20T02:37:08.393Z,1755657428.393 [DAT](INFO): DAT read: Tx time:02:37:06.8552
2025-08-20T02:37:08.393Z,1755657428.393 [DAT](INFO): Ping request sent.
2025-08-20T02:37:08.393Z,1755657428.393 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:08.394Z,1755657428.394 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:08.395Z,1755657428.395 [DAT](INFO): direction in FSK: [0.997291,0.038312,0.062791]
2025-08-20T02:37:08.396Z,1755657428.396 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:08.396Z,1755657428.396 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:08.413Z,1755657428.413 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:08.414Z,1755657428.414 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:08.587Z,1755657428.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 279.799988 m,
deltaT: 3.787885 s,
deltaX: -1.800018 m,
approachRate: -0.475204 m/s,
rangeRepo size: 4
2025-08-20T02:37:08.589Z,1755657428.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 279.799988 m,
bearing: 4.455777 deg,
lat: 36.779438 deg,
lon: -121.859431 deg,
deltaT: 3.787885 s,
deltaX: -1.800018 m,
approachRate: -0.475204 m/s,
posRepo size: 4
2025-08-20T02:37:08.593Z,1755657428.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m.
2025-08-20T02:37:08.596Z,1755657428.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.799988 m,
nav range: 274.286530 m,
bearing: 4.455777 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019079 deg/s,
cmd heading: 4.034115 deg,
new cmd heading: 4.050044 deg.
2025-08-20T02:37:08.996Z,1755657428.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:09.020Z,1755657429.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m.
2025-08-20T02:37:09.033Z,1755657429.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.799988 m,
nav range: 274.029297 m,
bearing: 4.462934 deg,
approach rate: -0.594144 m/s,
LOS rate: 0.016548 deg/s,
cmd heading: 4.050044 deg,
new cmd heading: 4.071537 deg.
2025-08-20T02:37:09.134Z,1755657429.134 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:09.135Z,1755657429.135 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:09.135Z,1755657429.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:09.387Z,1755657429.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993259
2025-08-20T02:37:09.400Z,1755657429.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m.
2025-08-20T02:37:09.403Z,1755657429.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.799988 m,
nav range: 273.764435 m,
bearing: 4.470290 deg,
approach rate: -0.694667 m/s,
LOS rate: 0.019312 deg/s,
cmd heading: 4.071537 deg,
new cmd heading: 4.093627 deg.
2025-08-20T02:37:09.638Z,1755657429.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245123
2025-08-20T02:37:09.794Z,1755657429.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m.
2025-08-20T02:37:09.797Z,1755657429.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.799988 m,
nav range: 273.514679 m,
bearing: 4.477267 deg,
approach rate: -0.633461 m/s,
LOS rate: 0.017711 deg/s,
cmd heading: 4.093627 deg,
new cmd heading: 4.114576 deg.
2025-08-20T02:37:09.891Z,1755657429.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497214
2025-08-20T02:37:10.143Z,1755657430.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749204
2025-08-20T02:37:10.230Z,1755657430.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m.
2025-08-20T02:37:10.233Z,1755657430.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.799988 m,
nav range: 273.238617 m,
bearing: 4.484401 deg,
approach rate: -0.633087 m/s,
LOS rate: 0.016376 deg/s,
cmd heading: 4.114576 deg,
new cmd heading: 4.135998 deg.
2025-08-20T02:37:10.394Z,1755657430.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001093
2025-08-20T02:37:10.603Z,1755657430.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m.
2025-08-20T02:37:10.606Z,1755657430.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.799988 m,
nav range: 273.002686 m,
bearing: 4.490518 deg,
approach rate: -0.633162 m/s,
LOS rate: 0.016433 deg/s,
cmd heading: 4.135998 deg,
new cmd heading: 4.154368 deg.
2025-08-20T02:37:10.647Z,1755657430.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253516
2025-08-20T02:37:10.899Z,1755657430.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505649
2025-08-20T02:37:11.010Z,1755657431.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:11.020Z,1755657431.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m.
2025-08-20T02:37:11.033Z,1755657431.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.799988 m,
nav range: 272.746185 m,
bearing: 4.497170 deg,
approach rate: -0.616050 m/s,
LOS rate: 0.015991 deg/s,
cmd heading: 4.154368 deg,
new cmd heading: 4.174342 deg.
2025-08-20T02:37:11.150Z,1755657431.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757028
2025-08-20T02:37:11.403Z,1755657431.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009309
2025-08-20T02:37:11.588Z,1755657431.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m.
2025-08-20T02:37:11.591Z,1755657431.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.799988 m,
nav range: 272.381805 m,
bearing: 4.507088 deg,
approach rate: -0.640597 m/s,
LOS rate: 0.017459 deg/s,
cmd heading: 4.174342 deg,
new cmd heading: 4.204135 deg.
2025-08-20T02:37:11.655Z,1755657431.655 [DAT](INFO): DAT read: Rx Time:02:37:09.6289
2025-08-20T02:37:11.656Z,1755657431.656 [DAT](INFO): Rx dataTimestamp_ set to:1755657431.655809
2025-08-20T02:37:11.657Z,1755657431.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263654
2025-08-20T02:37:11.906Z,1755657431.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513049
2025-08-20T02:37:11.969Z,1755657431.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.80 m.
2025-08-20T02:37:11.972Z,1755657431.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 279.799988 m,
nav range: 272.152405 m,
bearing: 4.513323 deg,
approach rate: -0.605491 m/s,
LOS rate: 0.016471 deg/s,
cmd heading: 4.204135 deg,
new cmd heading: 4.222856 deg.
2025-08-20T02:37:12.175Z,1755657432.175 [DAT](INFO): DAT read: 02:37:09.6289 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 232, 0.32,-1.846, 2.821,-1.769,-2.214, PHS= 0.471,-1.203, 0.401, RAW= 147.9, 4.1, CAL= 147.2, 4.3, ROT= 2.8, -4.3
2025-08-20T02:37:12.182Z,1755657432.182 [DAT](INFO): got valid direction response:
02:37:09.6289 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 232, 0.32,-1.846, 2.821,-1.769,-2.214, PHS= 0.471,-1.203, 0.401, RAW= 147.9, 4.1, CAL= 147.2, 4.3, ROT= 2.8, -4.3
2025-08-20T02:37:12.184Z,1755657432.184 [DAT](INFO): DAT read: Bearing 161.1, 11.0 (Local)
2025-08-20T02:37:12.184Z,1755657432.184 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.1, 11.0 (Local)
2025-08-20T02:37:12.188Z,1755657432.188 [DAT](INFO): DAT read: Range 11 to 50 : 277.1 m (Round-trip 369.5 ms) speed 0.6 m/s
2025-08-20T02:37:12.190Z,1755657432.190 [DAT](INFO): DAT read: user:3172>
2025-08-20T02:37:12.191Z,1755657432.191 [DAT](INFO): DAT read: Tx time:02:37:10.7552
2025-08-20T02:37:12.191Z,1755657432.191 [DAT](INFO): Ping request sent.
2025-08-20T02:37:12.191Z,1755657432.191 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:12.192Z,1755657432.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:12.193Z,1755657432.193 [DAT](INFO): direction in FSK: [0.995995,0.048712,0.074979]
2025-08-20T02:37:12.194Z,1755657432.194 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:12.194Z,1755657432.194 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:12.197Z,1755657432.197 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:12.198Z,1755657432.198 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:12.461Z,1755657432.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 277.100006 m,
deltaT: 3.785385 s,
deltaX: -2.699982 m,
approachRate: -0.713265 m/s,
rangeRepo size: 4
2025-08-20T02:37:12.464Z,1755657432.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 277.100006 m,
bearing: 4.970517 deg,
lat: 36.779438 deg,
lon: -121.859407 deg,
deltaT: 3.785385 s,
deltaX: -2.699982 m,
approachRate: -0.713265 m/s,
posRepo size: 4
2025-08-20T02:37:12.464Z,1755657432.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.10 m.
2025-08-20T02:37:12.467Z,1755657432.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.100006 m,
nav range: 272.008667 m,
bearing: 4.970517 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016471 deg/s,
cmd heading: 4.222856 deg,
new cmd heading: 4.247259 deg.
2025-08-20T02:37:12.867Z,1755657432.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.10 m.
2025-08-20T02:37:12.870Z,1755657432.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.100006 m,
nav range: 271.748566 m,
bearing: 4.976732 deg,
approach rate: -0.639933 m/s,
LOS rate: 0.015304 deg/s,
cmd heading: 4.247259 deg,
new cmd heading: 4.265920 deg.
2025-08-20T02:37:13.234Z,1755657433.234 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 212.46, 220.64, 233.92,
2025-08-20T02:37:13.263Z,1755657433.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:13.266Z,1755657433.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.10 m.
2025-08-20T02:37:13.268Z,1755657433.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.100006 m,
nav range: 271.503601 m,
bearing: 4.982541 deg,
approach rate: -0.614780 m/s,
LOS rate: 0.014593 deg/s,
cmd heading: 4.265920 deg,
new cmd heading: 4.283365 deg.
2025-08-20T02:37:13.423Z,1755657433.423 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:13.423Z,1755657433.423 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:13.423Z,1755657433.423 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:13.674Z,1755657433.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483166
2025-08-20T02:37:13.700Z,1755657433.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.10 m.
2025-08-20T02:37:13.703Z,1755657433.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.100006 m,
nav range: 271.223206 m,
bearing: 4.989144 deg,
approach rate: -0.645527 m/s,
LOS rate: 0.015217 deg/s,
cmd heading: 4.283364 deg,
new cmd heading: 4.303194 deg.
2025-08-20T02:37:13.926Z,1755657433.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735149
2025-08-20T02:37:14.121Z,1755657434.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.10 m.
2025-08-20T02:37:14.135Z,1755657434.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.100006 m,
nav range: 270.991364 m,
bearing: 4.994607 deg,
approach rate: -0.553056 m/s,
LOS rate: 0.013043 deg/s,
cmd heading: 4.303194 deg,
new cmd heading: 4.319597 deg.
2025-08-20T02:37:14.179Z,1755657434.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987906
2025-08-20T02:37:14.430Z,1755657434.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239195
2025-08-20T02:37:14.502Z,1755657434.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.10 m.
2025-08-20T02:37:14.505Z,1755657434.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.100006 m,
nav range: 270.710724 m,
bearing: 4.999923 deg,
approach rate: -0.732490 m/s,
LOS rate: 0.013890 deg/s,
cmd heading: 4.319597 deg,
new cmd heading: 4.335562 deg.
2025-08-20T02:37:14.682Z,1755657434.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491197
2025-08-20T02:37:14.880Z,1755657434.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.10 m.
2025-08-20T02:37:14.888Z,1755657434.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.100006 m,
nav range: 270.467194 m,
bearing: 5.004496 deg,
approach rate: -0.643970 m/s,
LOS rate: 0.012104 deg/s,
cmd heading: 4.335562 deg,
new cmd heading: 4.349294 deg.
2025-08-20T02:37:14.936Z,1755657434.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744484
2025-08-20T02:37:15.187Z,1755657435.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995874
2025-08-20T02:37:15.333Z,1755657435.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:15.339Z,1755657435.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.10 m.
2025-08-20T02:37:15.348Z,1755657435.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.100006 m,
nav range: 270.193848 m,
bearing: 5.009890 deg,
approach rate: -0.595733 m/s,
LOS rate: 0.011767 deg/s,
cmd heading: 4.349294 deg,
new cmd heading: 4.365491 deg.
2025-08-20T02:37:15.440Z,1755657435.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248268
2025-08-20T02:37:15.690Z,1755657435.690 [DAT](INFO): DAT read: Rx Time:02:37:13.5427
2025-08-20T02:37:15.691Z,1755657435.691 [DAT](INFO): Rx dataTimestamp_ set to:1755657435.690584
2025-08-20T02:37:15.691Z,1755657435.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500148
2025-08-20T02:37:15.771Z,1755657435.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.10 m.
2025-08-20T02:37:15.778Z,1755657435.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 277.100006 m,
nav range: 269.891876 m,
bearing: 5.015823 deg,
approach rate: -0.698610 m/s,
LOS rate: 0.013742 deg/s,
cmd heading: 4.365492 deg,
new cmd heading: 4.383311 deg.
2025-08-20T02:37:15.943Z,1755657435.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751907
2025-08-20T02:37:16.200Z,1755657436.200 [DAT](INFO): DAT read: 02:37:13.5427 LVL= 32752, 32753, 27858, 28739, AGC= 69, IDX= 66, 0.09, 0.828,-0.568, 1.066,-0.060, PHS= 0.990,-0.463, 1.081, RAW= 153.0, -20.7, CAL= 155.1, -22.5, ROT= 354.9, 22.5
2025-08-20T02:37:16.208Z,1755657436.208 [DAT](INFO): got valid direction response:
02:37:13.5427 LVL= 32752, 32753, 27858, 28739, AGC= 69, IDX= 66, 0.09, 0.828,-0.568, 1.066,-0.060, PHS= 0.990,-0.463, 1.081, RAW= 153.0, -20.7, CAL= 155.1, -22.5, ROT= 354.9, 22.5
2025-08-20T02:37:16.209Z,1755657436.209 [DAT](INFO): DAT read: Bearing 135.0, 2.4 (Local)
2025-08-20T02:37:16.209Z,1755657436.209 [DAT](INFO): Local bearing/azimuth received:
Bearing 135.0, 2.4 (Local)
2025-08-20T02:37:16.211Z,1755657436.211 [DAT](INFO): DAT read: Range 11 to 50 : 287.4 m (Round-trip 383.3 ms) speed 0.2 m/s
2025-08-20T02:37:16.211Z,1755657436.211 [DAT](INFO): DAT read: user:3173>
2025-08-20T02:37:16.212Z,1755657436.212 [DAT](INFO): DAT read: Tx time:02:37:14.6568
2025-08-20T02:37:16.212Z,1755657436.212 [DAT](INFO): Ping request sent.
2025-08-20T02:37:16.212Z,1755657436.212 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:16.213Z,1755657436.213 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:16.218Z,1755657436.218 [DAT](INFO): direction in FSK: [0.920222,-0.082128,-0.382683]
2025-08-20T02:37:16.218Z,1755657436.218 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:16.220Z,1755657436.220 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:16.232Z,1755657436.232 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:16.232Z,1755657436.232 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:16.319Z,1755657436.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 287.399994 m,
deltaT: 4.030859 s,
deltaX: 10.299988 m,
approachRate: 2.555284 m/s,
rangeRepo size: 4
2025-08-20T02:37:16.321Z,1755657436.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 287.399994 m,
bearing: 4.555195 deg,
lat: 36.779444 deg,
lon: -121.859431 deg,
deltaT: 4.030859 s,
deltaX: 10.299988 m,
approachRate: 2.555284 m/s,
posRepo size: 4
2025-08-20T02:37:16.334Z,1755657436.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m.
2025-08-20T02:37:16.336Z,1755657436.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 287.399994 m,
nav range: 270.125549 m,
bearing: 4.555195 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.013742 deg/s,
cmd heading: 4.383311 deg,
new cmd heading: 4.405666 deg.
2025-08-20T02:37:16.687Z,1755657436.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m.
2025-08-20T02:37:16.689Z,1755657436.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 287.399994 m,
nav range: 269.846436 m,
bearing: 4.559712 deg,
approach rate: -0.748262 m/s,
LOS rate: 0.012123 deg/s,
cmd heading: 4.405665 deg,
new cmd heading: 4.419231 deg.
2025-08-20T02:37:17.257Z,1755657437.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m.
2025-08-20T02:37:17.263Z,1755657437.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 287.399994 m,
nav range: 269.491516 m,
bearing: 4.566247 deg,
approach rate: -0.622720 m/s,
LOS rate: 0.011482 deg/s,
cmd heading: 4.419231 deg,
new cmd heading: 4.438863 deg.
2025-08-20T02:37:17.755Z,1755657437.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:17.757Z,1755657437.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m.
2025-08-20T02:37:17.759Z,1755657437.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 287.399994 m,
nav range: 269.151215 m,
bearing: 4.572436 deg,
approach rate: -0.680638 m/s,
LOS rate: 0.012394 deg/s,
cmd heading: 4.438863 deg,
new cmd heading: 4.457454 deg.
2025-08-20T02:37:17.959Z,1755657437.959 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:17.959Z,1755657437.959 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:17.959Z,1755657437.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:18.210Z,1755657438.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997906
2025-08-20T02:37:18.282Z,1755657438.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m.
2025-08-20T02:37:18.285Z,1755657438.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 287.399994 m,
nav range: 268.805969 m,
bearing: 4.578964 deg,
approach rate: -0.656788 m/s,
LOS rate: 0.012435 deg/s,
cmd heading: 4.457454 deg,
new cmd heading: 4.477063 deg.
2025-08-20T02:37:18.462Z,1755657438.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249881
2025-08-20T02:37:18.638Z,1755657438.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m.
2025-08-20T02:37:18.641Z,1755657438.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 287.399994 m,
nav range: 268.574677 m,
bearing: 4.583186 deg,
approach rate: -0.651555 m/s,
LOS rate: 0.011902 deg/s,
cmd heading: 4.477063 deg,
new cmd heading: 4.489738 deg.
2025-08-20T02:37:18.715Z,1755657438.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502003
2025-08-20T02:37:18.966Z,1755657438.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753901
2025-08-20T02:37:19.055Z,1755657439.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m.
2025-08-20T02:37:19.057Z,1755657439.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 287.399994 m,
nav range: 268.303192 m,
bearing: 4.588151 deg,
approach rate: -0.651928 m/s,
LOS rate: 0.011935 deg/s,
cmd heading: 4.489738 deg,
new cmd heading: 4.504648 deg.
2025-08-20T02:37:19.220Z,1755657439.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007486
2025-08-20T02:37:19.471Z,1755657439.471 [DAT](INFO): DAT read: Rx Time:02:37:17.4247
2025-08-20T02:37:19.471Z,1755657439.471 [DAT](INFO): Rx dataTimestamp_ set to:1755657439.470768
2025-08-20T02:37:19.472Z,1755657439.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259102
2025-08-20T02:37:19.474Z,1755657439.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m.
2025-08-20T02:37:19.476Z,1755657439.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 287.399994 m,
nav range: 268.040100 m,
bearing: 4.593088 deg,
approach rate: -0.632959 m/s,
LOS rate: 0.011891 deg/s,
cmd heading: 4.504648 deg,
new cmd heading: 4.519475 deg.
2025-08-20T02:37:19.726Z,1755657439.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513463
2025-08-20T02:37:19.838Z,1755657439.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:19.840Z,1755657439.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 287.40 m.
2025-08-20T02:37:19.846Z,1755657439.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 287.399994 m,
nav range: 267.785217 m,
bearing: 4.597841 deg,
approach rate: -0.686984 m/s,
LOS rate: 0.012823 deg/s,
cmd heading: 4.519475 deg,
new cmd heading: 4.533748 deg.
2025-08-20T02:37:19.983Z,1755657439.983 [DAT](INFO): DAT read: 02:37:17.4247 LVL= 32752, 32753, 30306, 32755, AGC= 68, IDX= 51, 0.11, 0.840,-0.856, 0.912, 0.468, PHS= 0.475,-1.278, 0.401, RAW= 147.9, 4.7, CAL= 147.2, 5.0, ROT= 2.8, -5.0
2025-08-20T02:37:19.984Z,1755657439.984 [DAT](INFO): got valid direction response:
02:37:17.4247 LVL= 32752, 32753, 30306, 32755, AGC= 68, IDX= 51, 0.11, 0.840,-0.856, 0.912, 0.468, PHS= 0.475,-1.278, 0.401, RAW= 147.9, 4.7, CAL= 147.2, 5.0, ROT= 2.8, -5.0
2025-08-20T02:37:19.986Z,1755657439.986 [DAT](INFO): DAT read: Bearing 163.0, 12.0 (Local)
2025-08-20T02:37:19.986Z,1755657439.986 [DAT](INFO): Local bearing/azimuth received:
Bearing 163.0, 12.0 (Local)
2025-08-20T02:37:19.988Z,1755657439.988 [DAT](INFO): DAT read: Range 11 to 50 : 272.7 m (Round-trip 363.7 ms) speed 0.5 m/s
2025-08-20T02:37:19.989Z,1755657439.989 [DAT](INFO): DAT read: user:3174>
2025-08-20T02:37:19.990Z,1755657439.990 [DAT](INFO): DAT read: Tx time:02:37:18.5552
2025-08-20T02:37:19.991Z,1755657439.991 [DAT](INFO): Ping request sent.
2025-08-20T02:37:19.991Z,1755657439.991 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:19.991Z,1755657439.991 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:19.992Z,1755657439.992 [DAT](INFO): direction in FSK: [0.995005,0.048664,0.087156]
2025-08-20T02:37:19.992Z,1755657439.992 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:19.992Z,1755657439.992 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:19.996Z,1755657439.996 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:19.996Z,1755657439.996 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:20.338Z,1755657440.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 272.700012 m,
deltaT: 3.779827 s,
deltaX: -14.699982 m,
approachRate: -3.889062 m/s,
rangeRepo size: 4
2025-08-20T02:37:20.340Z,1755657440.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 272.700012 m,
bearing: 4.616954 deg,
lat: 36.779438 deg,
lon: -121.859431 deg,
deltaT: 3.779827 s,
deltaX: -14.699982 m,
approachRate: -3.889062 m/s,
posRepo size: 4
2025-08-20T02:37:20.341Z,1755657440.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.70 m.
2025-08-20T02:37:20.344Z,1755657440.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.700012 m,
nav range: 266.751709 m,
bearing: 4.616954 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012823 deg/s,
cmd heading: 4.533748 deg,
new cmd heading: 4.552693 deg.
2025-08-20T02:37:20.729Z,1755657440.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.70 m.
2025-08-20T02:37:20.736Z,1755657440.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.700012 m,
nav range: 266.489441 m,
bearing: 4.622555 deg,
approach rate: -0.662452 m/s,
LOS rate: 0.014161 deg/s,
cmd heading: 4.552693 deg,
new cmd heading: 4.569512 deg.
2025-08-20T02:37:21.131Z,1755657441.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.70 m.
2025-08-20T02:37:21.142Z,1755657441.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.700012 m,
nav range: 266.232025 m,
bearing: 4.628044 deg,
approach rate: -0.640327 m/s,
LOS rate: 0.013668 deg/s,
cmd heading: 4.569512 deg,
new cmd heading: 4.585995 deg.
2025-08-20T02:37:21.600Z,1755657441.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.70 m.
2025-08-20T02:37:21.607Z,1755657441.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.700012 m,
nav range: 265.923767 m,
bearing: 4.635710 deg,
approach rate: -0.656968 m/s,
LOS rate: 0.016356 deg/s,
cmd heading: 4.585995 deg,
new cmd heading: 4.609018 deg.
2025-08-20T02:37:22.095Z,1755657442.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:22.097Z,1755657442.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.70 m.
2025-08-20T02:37:22.100Z,1755657442.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.700012 m,
nav range: 265.586761 m,
bearing: 4.644114 deg,
approach rate: -0.677673 m/s,
LOS rate: 0.016921 deg/s,
cmd heading: 4.609018 deg,
new cmd heading: 4.634262 deg.
2025-08-20T02:37:22.246Z,1755657442.246 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:22.246Z,1755657442.246 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:22.247Z,1755657442.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:22.494Z,1755657442.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503772
2025-08-20T02:37:22.516Z,1755657442.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.70 m.
2025-08-20T02:37:22.519Z,1755657442.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.700012 m,
nav range: 265.313538 m,
bearing: 4.650315 deg,
approach rate: -0.652710 m/s,
LOS rate: 0.014830 deg/s,
cmd heading: 4.634262 deg,
new cmd heading: 4.652886 deg.
2025-08-20T02:37:22.747Z,1755657442.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756064
2025-08-20T02:37:22.999Z,1755657442.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007881
2025-08-20T02:37:23.012Z,1755657443.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.70 m.
2025-08-20T02:37:23.019Z,1755657443.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.700012 m,
nav range: 265.000153 m,
bearing: 4.657445 deg,
approach rate: -0.631346 m/s,
LOS rate: 0.014381 deg/s,
cmd heading: 4.652886 deg,
new cmd heading: 4.674301 deg.
2025-08-20T02:37:23.252Z,1755657443.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261032
2025-08-20T02:37:23.454Z,1755657443.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.70 m.
2025-08-20T02:37:23.456Z,1755657443.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.700012 m,
nav range: 264.715149 m,
bearing: 4.664747 deg,
approach rate: -0.652130 m/s,
LOS rate: 0.016725 deg/s,
cmd heading: 4.674301 deg,
new cmd heading: 4.696229 deg.
2025-08-20T02:37:23.503Z,1755657443.503 [DAT](INFO): DAT read: Rx Time:02:37:21.3371
2025-08-20T02:37:23.504Z,1755657443.504 [DAT](INFO): Rx dataTimestamp_ set to:1755657443.503366
2025-08-20T02:37:23.505Z,1755657443.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513869
2025-08-20T02:37:23.754Z,1755657443.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763803
2025-08-20T02:37:23.813Z,1755657443.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.70 m.
2025-08-20T02:37:23.824Z,1755657443.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 272.700012 m,
nav range: 264.468475 m,
bearing: 4.671069 deg,
approach rate: -0.681140 m/s,
LOS rate: 0.017473 deg/s,
cmd heading: 4.696229 deg,
new cmd heading: 4.715212 deg.
2025-08-20T02:37:24.012Z,1755657444.012 [DAT](INFO): DAT read: 02:37:21.3371 LVL= 21024, 21361, 19906, 19107, AGC= 68, IDX= 72,-0.46, 1.464, 0.240, 1.728, 0.691, PHS= 0.875,-0.406, 0.993, RAW= 154.3, -21.0, CAL= 156.5, -22.7, ROT= 353.5, 22.7
2025-08-20T02:37:24.013Z,1755657444.013 [DAT](INFO): got valid direction response:
02:37:21.3371 LVL= 21024, 21361, 19906, 19107, AGC= 68, IDX= 72,-0.46, 1.464, 0.240, 1.728, 0.691, PHS= 0.875,-0.406, 0.993, RAW= 154.3, -21.0, CAL= 156.5, -22.7, ROT= 353.5, 22.7
2025-08-20T02:37:24.014Z,1755657444.014 [DAT](INFO): DAT read: Bearing 136.1, 1.0 (Local)
2025-08-20T02:37:24.014Z,1755657444.014 [DAT](INFO): Local bearing/azimuth received:
Bearing 136.1, 1.0 (Local)
2025-08-20T02:37:24.016Z,1755657444.016 [DAT](INFO): DAT read: Range 11 to 50 : 283.2 m (Round-trip 377.7 ms) speed 0.5 m/s
2025-08-20T02:37:24.017Z,1755657444.017 [DAT](INFO): DAT read: user:3175>
2025-08-20T02:37:24.017Z,1755657444.017 [DAT](INFO): DAT read: Tx time:02:37:22.4552
2025-08-20T02:37:24.018Z,1755657444.018 [DAT](INFO): Ping request sent.
2025-08-20T02:37:24.018Z,1755657444.018 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:24.018Z,1755657444.018 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:24.019Z,1755657444.019 [DAT](INFO): direction in FSK: [0.916608,-0.104434,-0.385906]
2025-08-20T02:37:24.019Z,1755657444.019 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:24.020Z,1755657444.020 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:24.023Z,1755657444.023 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:24.023Z,1755657444.023 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:24.287Z,1755657444.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 283.200012 m,
deltaT: 4.031744 s,
deltaX: 10.500000 m,
approachRate: 2.604332 m/s,
rangeRepo size: 4
2025-08-20T02:37:24.294Z,1755657444.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 283.200012 m,
bearing: 4.637488 deg,
lat: 36.779444 deg,
lon: -121.859432 deg,
deltaT: 4.031744 s,
deltaX: 10.500000 m,
approachRate: 2.604332 m/s,
posRepo size: 4
2025-08-20T02:37:24.294Z,1755657444.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.20 m.
2025-08-20T02:37:24.297Z,1755657444.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.200012 m,
nav range: 264.915894 m,
bearing: 4.637488 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017473 deg/s,
cmd heading: 4.715212 deg,
new cmd heading: 4.740127 deg.
2025-08-20T02:37:24.639Z,1755657444.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:24.641Z,1755657444.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.20 m.
2025-08-20T02:37:24.651Z,1755657444.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.200012 m,
nav range: 264.648071 m,
bearing: 4.644031 deg,
approach rate: -0.756334 m/s,
LOS rate: 0.018496 deg/s,
cmd heading: 4.740127 deg,
new cmd heading: 4.759776 deg.
2025-08-20T02:37:24.765Z,1755657444.765 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:24.765Z,1755657444.765 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:24.765Z,1755657444.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:25.009Z,1755657445.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.20 m.
2025-08-20T02:37:25.011Z,1755657445.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.200012 m,
nav range: 264.394623 m,
bearing: 4.650246 deg,
approach rate: -0.689286 m/s,
LOS rate: 0.016918 deg/s,
cmd heading: 4.759776 deg,
new cmd heading: 4.778438 deg.
2025-08-20T02:37:25.019Z,1755657445.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000656
2025-08-20T02:37:25.273Z,1755657445.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254808
2025-08-20T02:37:25.446Z,1755657445.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.20 m.
2025-08-20T02:37:25.448Z,1755657445.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.200012 m,
nav range: 264.109924 m,
bearing: 4.657150 deg,
approach rate: -0.651544 m/s,
LOS rate: 0.015818 deg/s,
cmd heading: 4.778438 deg,
new cmd heading: 4.799173 deg.
2025-08-20T02:37:25.523Z,1755657445.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505159
2025-08-20T02:37:25.775Z,1755657445.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756793
2025-08-20T02:37:25.852Z,1755657445.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.20 m.
2025-08-20T02:37:25.855Z,1755657445.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.200012 m,
nav range: 263.851776 m,
bearing: 4.663382 deg,
approach rate: -0.634508 m/s,
LOS rate: 0.015334 deg/s,
cmd heading: 4.799173 deg,
new cmd heading: 4.817888 deg.
2025-08-20T02:37:26.027Z,1755657446.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008625
2025-08-20T02:37:26.281Z,1755657446.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262763
2025-08-20T02:37:26.319Z,1755657446.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.20 m.
2025-08-20T02:37:26.326Z,1755657446.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.200012 m,
nav range: 263.578125 m,
bearing: 4.670005 deg,
approach rate: -0.586170 m/s,
LOS rate: 0.014201 deg/s,
cmd heading: 4.817888 deg,
new cmd heading: 4.837777 deg.
2025-08-20T02:37:26.534Z,1755657446.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515653
2025-08-20T02:37:26.753Z,1755657446.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:26.755Z,1755657446.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.20 m.
2025-08-20T02:37:26.758Z,1755657446.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.200012 m,
nav range: 263.255463 m,
bearing: 4.676945 deg,
approach rate: -0.740381 m/s,
LOS rate: 0.015943 deg/s,
cmd heading: 4.837777 deg,
new cmd heading: 4.858621 deg.
2025-08-20T02:37:26.782Z,1755657446.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764595
2025-08-20T02:37:27.034Z,1755657447.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016497
2025-08-20T02:37:27.110Z,1755657447.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.20 m.
2025-08-20T02:37:27.112Z,1755657447.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.200012 m,
nav range: 263.023071 m,
bearing: 4.681934 deg,
approach rate: -0.655205 m/s,
LOS rate: 0.014080 deg/s,
cmd heading: 4.858621 deg,
new cmd heading: 4.873603 deg.
2025-08-20T02:37:27.290Z,1755657447.290 [DAT](INFO): DAT read: Rx Time:02:37:25.2170
2025-08-20T02:37:27.291Z,1755657447.291 [DAT](INFO): Rx dataTimestamp_ set to:1755657447.290250
2025-08-20T02:37:27.293Z,1755657447.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274527
2025-08-20T02:37:27.521Z,1755657447.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 283.20 m.
2025-08-20T02:37:27.524Z,1755657447.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 283.200012 m,
nav range: 262.764679 m,
bearing: 4.687673 deg,
approach rate: -0.628543 m/s,
LOS rate: 0.013975 deg/s,
cmd heading: 4.873603 deg,
new cmd heading: 4.890838 deg.
2025-08-20T02:37:27.539Z,1755657447.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520738
2025-08-20T02:37:27.796Z,1755657447.796 [DAT](INFO): DAT read: 02:37:25.2170 LVL= 29680, 32753, 26002, 29523, AGC= 66, IDX= 44, 0.36, 2.396, 0.557, 2.487, 2.013, PHS= 0.485,-1.410, 0.430, RAW= 148.5, 5.4, CAL= 147.9, 5.7, ROT= 2.1, -5.7
2025-08-20T02:37:27.797Z,1755657447.797 [DAT](INFO): got valid direction response:
02:37:25.2170 LVL= 29680, 32753, 26002, 29523, AGC= 66, IDX= 44, 0.36, 2.396, 0.557, 2.487, 2.013, PHS= 0.485,-1.410, 0.430, RAW= 148.5, 5.4, CAL= 147.9, 5.7, ROT= 2.1, -5.7
2025-08-20T02:37:27.798Z,1755657447.798 [DAT](INFO): DAT read: Bearing 164.7, 10.3 (Local)
2025-08-20T02:37:27.799Z,1755657447.799 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.7, 10.3 (Local)
2025-08-20T02:37:27.800Z,1755657447.800 [DAT](INFO): DAT read: Range 11 to 50 : 268.2 m (Round-trip 357.7 ms) speed 0.7 m/s
2025-08-20T02:37:27.801Z,1755657447.801 [DAT](INFO): DAT read: user:3176>
2025-08-20T02:37:27.802Z,1755657447.802 [DAT](INFO): DAT read: Tx time:02:37:26.3052
2025-08-20T02:37:27.803Z,1755657447.803 [DAT](INFO): Ping request sent.
2025-08-20T02:37:27.803Z,1755657447.803 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:27.803Z,1755657447.803 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:27.804Z,1755657447.804 [DAT](INFO): direction in FSK: [0.994387,0.036463,0.099320]
2025-08-20T02:37:27.804Z,1755657447.804 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:27.804Z,1755657447.804 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:27.810Z,1755657447.810 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:27.810Z,1755657447.810 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:27.967Z,1755657447.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 268.200012 m,
deltaT: 3.784041 s,
deltaX: -15.000000 m,
approachRate: -3.964016 m/s,
rangeRepo size: 4
2025-08-20T02:37:27.969Z,1755657447.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 268.200012 m,
bearing: 5.177728 deg,
lat: 36.779428 deg,
lon: -121.859409 deg,
deltaT: 3.784041 s,
deltaX: -15.000000 m,
approachRate: -3.964016 m/s,
posRepo size: 4
2025-08-20T02:37:27.974Z,1755657447.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.20 m.
2025-08-20T02:37:27.976Z,1755657447.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.200012 m,
nav range: 260.869476 m,
bearing: 5.177728 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.013975 deg/s,
cmd heading: 4.890838 deg,
new cmd heading: 4.909505 deg.
2025-08-20T02:37:28.398Z,1755657448.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.20 m.
2025-08-20T02:37:28.400Z,1755657448.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.200012 m,
nav range: 260.566437 m,
bearing: 5.183811 deg,
approach rate: -0.701706 m/s,
LOS rate: 0.014102 deg/s,
cmd heading: 4.909505 deg,
new cmd heading: 4.927776 deg.
2025-08-20T02:37:28.759Z,1755657448.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:28.761Z,1755657448.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.20 m.
2025-08-20T02:37:28.764Z,1755657448.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.200012 m,
nav range: 260.341766 m,
bearing: 5.188285 deg,
approach rate: -0.618559 m/s,
LOS rate: 0.012330 deg/s,
cmd heading: 4.927776 deg,
new cmd heading: 4.941211 deg.
2025-08-20T02:37:28.798Z,1755657448.798 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:28.798Z,1755657448.798 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:28.799Z,1755657448.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:29.050Z,1755657449.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247754
2025-08-20T02:37:29.143Z,1755657449.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.20 m.
2025-08-20T02:37:29.147Z,1755657449.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.200012 m,
nav range: 260.083893 m,
bearing: 5.193400 deg,
approach rate: -0.675514 m/s,
LOS rate: 0.013412 deg/s,
cmd heading: 4.941211 deg,
new cmd heading: 4.956571 deg.
2025-08-20T02:37:29.302Z,1755657449.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499722
2025-08-20T02:37:29.555Z,1755657449.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751760
2025-08-20T02:37:29.572Z,1755657449.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.20 m.
2025-08-20T02:37:29.575Z,1755657449.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.200012 m,
nav range: 259.801483 m,
bearing: 5.198713 deg,
approach rate: -0.657884 m/s,
LOS rate: 0.012389 deg/s,
cmd heading: 4.956571 deg,
new cmd heading: 4.972526 deg.
2025-08-20T02:37:29.807Z,1755657449.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004055
2025-08-20T02:37:29.964Z,1755657449.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.20 m.
2025-08-20T02:37:29.966Z,1755657449.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.200012 m,
nav range: 259.543762 m,
bearing: 5.203505 deg,
approach rate: -0.658444 m/s,
LOS rate: 0.012256 deg/s,
cmd heading: 4.972526 deg,
new cmd heading: 4.986918 deg.
2025-08-20T02:37:30.059Z,1755657450.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256099
2025-08-20T02:37:30.313Z,1755657450.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509752
2025-08-20T02:37:30.416Z,1755657450.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.20 m.
2025-08-20T02:37:30.443Z,1755657450.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.200012 m,
nav range: 259.255554 m,
bearing: 5.207359 deg,
approach rate: -0.636703 m/s,
LOS rate: 0.008523 deg/s,
cmd heading: 4.986918 deg,
new cmd heading: 4.998492 deg.
2025-08-20T02:37:30.563Z,1755657450.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759829
2025-08-20T02:37:30.768Z,1755657450.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:30.771Z,1755657450.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.20 m.
2025-08-20T02:37:30.773Z,1755657450.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.200012 m,
nav range: 259.029938 m,
bearing: 5.210360 deg,
approach rate: -0.636621 m/s,
LOS rate: 0.008476 deg/s,
cmd heading: 4.998492 deg,
new cmd heading: 5.007503 deg.
2025-08-20T02:37:30.815Z,1755657450.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011810
2025-08-20T02:37:31.066Z,1755657451.066 [DAT](INFO): DAT read: Rx Time:02:37:29.0451
2025-08-20T02:37:31.067Z,1755657451.067 [DAT](INFO): Rx dataTimestamp_ set to:1755657451.066653
2025-08-20T02:37:31.067Z,1755657451.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264777
2025-08-20T02:37:31.212Z,1755657451.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.20 m.
2025-08-20T02:37:31.216Z,1755657451.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 268.200012 m,
nav range: 258.752594 m,
bearing: 5.214029 deg,
approach rate: -0.628912 m/s,
LOS rate: 0.008329 deg/s,
cmd heading: 5.007503 deg,
new cmd heading: 5.018522 deg.
2025-08-20T02:37:31.319Z,1755657451.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515777
2025-08-20T02:37:31.588Z,1755657451.588 [DAT](INFO): DAT read: 02:37:29.0451 LVL= 32048, 32753, 32754, 32755, AGC= 69, IDX= 218,-0.09, 3.131, 1.366,-3.043, 2.790, PHS= 0.442,-1.380, 0.406, RAW= 149.0, 6.0, CAL= 148.4, 6.3, ROT= 1.6, -6.3
2025-08-20T02:37:31.589Z,1755657451.589 [DAT](INFO): got valid direction response:
02:37:29.0451 LVL= 32048, 32753, 32754, 32755, AGC= 69, IDX= 218,-0.09, 3.131, 1.366,-3.043, 2.790, PHS= 0.442,-1.380, 0.406, RAW= 149.0, 6.0, CAL= 148.4, 6.3, ROT= 1.6, -6.3
2025-08-20T02:37:31.602Z,1755657451.602 [DAT](INFO): DAT read: Bearing 166.1, 9.1 (Local)
2025-08-20T02:37:31.602Z,1755657451.602 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.1, 9.1 (Local)
2025-08-20T02:37:31.604Z,1755657451.604 [DAT](INFO): DAT read: Range 11 to 50 : 251.7 m (Round-trip 335.7 ms) speed 0.4 m/s
2025-08-20T02:37:31.605Z,1755657451.605 [DAT](INFO): DAT read: user:3177>
2025-08-20T02:37:31.606Z,1755657451.606 [DAT](INFO): DAT read: Tx time:02:37:30.1552
2025-08-20T02:37:31.606Z,1755657451.606 [DAT](INFO): Ping request sent.
2025-08-20T02:37:31.606Z,1755657451.606 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:31.606Z,1755657451.606 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:31.607Z,1755657451.607 [DAT](INFO): direction in FSK: [0.993573,0.027753,0.109734]
2025-08-20T02:37:31.607Z,1755657451.607 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:31.608Z,1755657451.608 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:31.627Z,1755657451.627 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:31.628Z,1755657451.628 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:31.769Z,1755657451.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 251.699997 m,
deltaT: 3.781552 s,
deltaX: -16.500015 m,
approachRate: -4.363292 m/s,
rangeRepo size: 4
2025-08-20T02:37:31.775Z,1755657451.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 251.699997 m,
bearing: 4.710652 deg,
lat: 36.779428 deg,
lon: -121.859435 deg,
deltaT: 3.781552 s,
deltaX: -16.500015 m,
approachRate: -4.363292 m/s,
posRepo size: 4
2025-08-20T02:37:31.776Z,1755657451.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:31.783Z,1755657451.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 258.193481 m,
bearing: 4.710652 deg,
approach rate: -0.000000 m/s,
LOS rate: 0.008329 deg/s,
cmd heading: 5.018522 deg,
new cmd heading: 5.032432 deg.
2025-08-20T02:37:32.155Z,1755657452.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:32.159Z,1755657452.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 257.928345 m,
bearing: 4.714817 deg,
approach rate: -0.686090 m/s,
LOS rate: 0.010790 deg/s,
cmd heading: 5.032433 deg,
new cmd heading: 5.044942 deg.
2025-08-20T02:37:32.563Z,1755657452.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:32.566Z,1755657452.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 257.660889 m,
bearing: 4.718198 deg,
approach rate: -0.655547 m/s,
LOS rate: 0.008294 deg/s,
cmd heading: 5.044942 deg,
new cmd heading: 5.055093 deg.
2025-08-20T02:37:32.921Z,1755657452.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:32.923Z,1755657452.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:32.926Z,1755657452.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 257.424530 m,
bearing: 4.721168 deg,
approach rate: -0.655696 m/s,
LOS rate: 0.008247 deg/s,
cmd heading: 5.055093 deg,
new cmd heading: 5.064012 deg.
2025-08-20T02:37:33.082Z,1755657453.082 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:33.082Z,1755657453.082 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:33.082Z,1755657453.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:33.323Z,1755657453.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:33.326Z,1755657453.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 257.162170 m,
bearing: 4.724438 deg,
approach rate: -0.656395 m/s,
LOS rate: 0.008189 deg/s,
cmd heading: 5.064012 deg,
new cmd heading: 5.073831 deg.
2025-08-20T02:37:33.335Z,1755657453.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728543
2025-08-20T02:37:33.586Z,1755657453.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980497
2025-08-20T02:37:33.762Z,1755657453.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:33.764Z,1755657453.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 256.875519 m,
bearing: 4.728628 deg,
approach rate: -0.653756 m/s,
LOS rate: 0.009566 deg/s,
cmd heading: 5.073831 deg,
new cmd heading: 5.086415 deg.
2025-08-20T02:37:33.839Z,1755657453.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232943
2025-08-20T02:37:34.090Z,1755657454.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484442
2025-08-20T02:37:34.180Z,1755657454.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:34.187Z,1755657454.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 256.616760 m,
bearing: 4.732418 deg,
approach rate: -0.619118 m/s,
LOS rate: 0.009077 deg/s,
cmd heading: 5.086415 deg,
new cmd heading: 5.097796 deg.
2025-08-20T02:37:34.342Z,1755657454.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736423
2025-08-20T02:37:34.442Z,1755657454.442 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:37:34.589Z,1755657454.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:34.592Z,1755657454.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 256.343048 m,
bearing: 4.738015 deg,
approach rate: -0.701716 m/s,
LOS rate: 0.014366 deg/s,
cmd heading: 5.097796 deg,
new cmd heading: 5.114607 deg.
2025-08-20T02:37:34.595Z,1755657454.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988548
2025-08-20T02:37:34.846Z,1755657454.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240438
2025-08-20T02:37:34.960Z,1755657454.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:34.969Z,1755657454.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:34.972Z,1755657454.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 256.082520 m,
bearing: 4.743354 deg,
approach rate: -0.652156 m/s,
LOS rate: 0.013378 deg/s,
cmd heading: 5.114607 deg,
new cmd heading: 5.130640 deg.
2025-08-20T02:37:35.099Z,1755657455.099 [DAT](INFO): DAT read: Rx Time:02:37:32.9100
2025-08-20T02:37:35.099Z,1755657455.099 [DAT](INFO): Rx dataTimestamp_ set to:1755657455.098772
2025-08-20T02:37:35.100Z,1755657455.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493652
2025-08-20T02:37:35.351Z,1755657455.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744527
2025-08-20T02:37:35.354Z,1755657455.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.70 m.
2025-08-20T02:37:35.357Z,1755657455.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.699997 m,
nav range: 255.822433 m,
bearing: 4.748709 deg,
approach rate: -0.674599 m/s,
LOS rate: 0.013903 deg/s,
cmd heading: 5.130640 deg,
new cmd heading: 5.146722 deg.
2025-08-20T02:37:35.448Z,1755657455.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:37:35.608Z,1755657455.608 [DAT](INFO): DAT read: 02:37:32.9100 LVL= 31104, 32753, 29522, 32755, AGC= 72, IDX= 83, 0.38,-2.076, 2.575,-1.963,-2.379, PHS= 0.405,-1.285, 0.372, RAW= 149.0, 6.1, CAL= 148.4, 6.5, ROT= 1.6, -6.5
2025-08-20T02:37:35.609Z,1755657455.609 [DAT](INFO): got valid direction response:
02:37:32.9100 LVL= 31104, 32753, 29522, 32755, AGC= 72, IDX= 83, 0.38,-2.076, 2.575,-1.963,-2.379, PHS= 0.405,-1.285, 0.372, RAW= 149.0, 6.1, CAL= 148.4, 6.5, ROT= 1.6, -6.5
2025-08-20T02:37:35.610Z,1755657455.610 [DAT](INFO): DAT read: Bearing 166.7, 8.4 (Local)
2025-08-20T02:37:35.611Z,1755657455.611 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 8.4 (Local)
2025-08-20T02:37:35.612Z,1755657455.612 [DAT](INFO): DAT read: Range 11 to 50 : 262.9 m (Round-trip 350.6 ms) speed 0.8 m/s
2025-08-20T02:37:35.613Z,1755657455.613 [DAT](INFO): DAT read: user:3178>
2025-08-20T02:37:35.614Z,1755657455.614 [DAT](INFO): DAT read: Tx time:02:37:34.0052
2025-08-20T02:37:35.614Z,1755657455.614 [DAT](INFO): Ping request sent.
2025-08-20T02:37:35.614Z,1755657455.614 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:35.614Z,1755657455.614 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:35.615Z,1755657455.615 [DAT](INFO): direction in FSK: [0.993184,0.027742,0.113203]
2025-08-20T02:37:35.616Z,1755657455.616 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:35.616Z,1755657455.616 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:35.619Z,1755657455.619 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:35.619Z,1755657455.619 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:35.848Z,1755657455.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 262.899994 m,
deltaT: 4.030518 s,
deltaX: 11.199997 m,
approachRate: 2.778798 m/s,
rangeRepo size: 4
2025-08-20T02:37:35.855Z,1755657455.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 262.899994 m,
bearing: 5.270496 deg,
lat: 36.779428 deg,
lon: -121.859409 deg,
deltaT: 4.030518 s,
deltaX: 11.199997 m,
approachRate: 2.778798 m/s,
posRepo size: 4
2025-08-20T02:37:35.856Z,1755657455.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.90 m.
2025-08-20T02:37:35.862Z,1755657455.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 262.899994 m,
nav range: 255.707657 m,
bearing: 5.270496 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.013903 deg/s,
cmd heading: 5.146722 deg,
new cmd heading: 5.167261 deg.
2025-08-20T02:37:36.247Z,1755657456.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.90 m.
2025-08-20T02:37:36.250Z,1755657456.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 262.899994 m,
nav range: 255.432846 m,
bearing: 5.276928 deg,
approach rate: -0.687496 m/s,
LOS rate: 0.016109 deg/s,
cmd heading: 5.167261 deg,
new cmd heading: 5.186578 deg.
2025-08-20T02:37:36.603Z,1755657456.603 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-08-20T02:37:36.651Z,1755657456.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.90 m.
2025-08-20T02:37:36.654Z,1755657456.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 262.899994 m,
nav range: 255.159409 m,
bearing: 5.283491 deg,
approach rate: -0.676650 m/s,
LOS rate: 0.016258 deg/s,
cmd heading: 5.186578 deg,
new cmd heading: 5.206289 deg.
2025-08-20T02:37:37.037Z,1755657457.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:37.039Z,1755657457.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.90 m.
2025-08-20T02:37:37.050Z,1755657457.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 262.899994 m,
nav range: 254.896790 m,
bearing: 5.289797 deg,
approach rate: -0.676376 m/s,
LOS rate: 0.016257 deg/s,
cmd heading: 5.206289 deg,
new cmd heading: 5.225225 deg.
2025-08-20T02:37:37.115Z,1755657457.115 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:37.115Z,1755657457.115 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:37.115Z,1755657457.115 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:37.366Z,1755657457.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752417
2025-08-20T02:37:37.495Z,1755657457.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.90 m.
2025-08-20T02:37:37.513Z,1755657457.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 262.899994 m,
nav range: 254.629028 m,
bearing: 5.296226 deg,
approach rate: -0.587126 m/s,
LOS rate: 0.014113 deg/s,
cmd heading: 5.225225 deg,
new cmd heading: 5.244534 deg.
2025-08-20T02:37:37.620Z,1755657457.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005462
2025-08-20T02:37:37.870Z,1755657457.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256464
2025-08-20T02:37:37.905Z,1755657457.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.90 m.
2025-08-20T02:37:37.918Z,1755657457.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 262.899994 m,
nav range: 254.318665 m,
bearing: 5.304035 deg,
approach rate: -0.757371 m/s,
LOS rate: 0.019078 deg/s,
cmd heading: 5.244534 deg,
new cmd heading: 5.267989 deg.
2025-08-20T02:37:38.122Z,1755657458.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508399
2025-08-20T02:37:38.282Z,1755657458.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.90 m.
2025-08-20T02:37:38.285Z,1755657458.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 262.899994 m,
nav range: 254.069153 m,
bearing: 5.310301 deg,
approach rate: -0.661459 m/s,
LOS rate: 0.016626 deg/s,
cmd heading: 5.267989 deg,
new cmd heading: 5.286804 deg.
2025-08-20T02:37:38.375Z,1755657458.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761120
2025-08-20T02:37:38.626Z,1755657458.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012393
2025-08-20T02:37:38.725Z,1755657458.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.90 m.
2025-08-20T02:37:38.728Z,1755657458.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 262.899994 m,
nav range: 253.770950 m,
bearing: 5.318674 deg,
approach rate: -0.673080 m/s,
LOS rate: 0.018923 deg/s,
cmd heading: 5.286804 deg,
new cmd heading: 5.311955 deg.
2025-08-20T02:37:38.879Z,1755657458.879 [DAT](INFO): DAT read: Rx Time:02:37:36.7380
2025-08-20T02:37:38.879Z,1755657458.879 [DAT](INFO): Rx dataTimestamp_ set to:1755657458.878691
2025-08-20T02:37:38.880Z,1755657458.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265569
2025-08-20T02:37:39.100Z,1755657459.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:39.103Z,1755657459.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 262.90 m.
2025-08-20T02:37:39.105Z,1755657459.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 262.899994 m,
nav range: 253.517029 m,
bearing: 5.325820 deg,
approach rate: -0.672797 m/s,
LOS rate: 0.018953 deg/s,
cmd heading: 5.311955 deg,
new cmd heading: 5.333414 deg.
2025-08-20T02:37:39.131Z,1755657459.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516482
2025-08-20T02:37:39.391Z,1755657459.391 [DAT](INFO): DAT read: 02:37:36.7380 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 211, 0.39,-1.350,-3.053,-1.267,-1.734, PHS= 0.486,-1.274, 0.423, RAW= 148.2, 4.3, CAL= 147.5, 4.5, ROT= 2.5, -4.5
2025-08-20T02:37:39.392Z,1755657459.392 [DAT](INFO): got valid direction response:
02:37:36.7380 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 211, 0.39,-1.350,-3.053,-1.267,-1.734, PHS= 0.486,-1.274, 0.423, RAW= 148.2, 4.3, CAL= 147.5, 4.5, ROT= 2.5, -4.5
2025-08-20T02:37:39.393Z,1755657459.393 [DAT](INFO): DAT read: Bearing 164.9, 8.7 (Local)
2025-08-20T02:37:39.393Z,1755657459.393 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.9, 8.7 (Local)
2025-08-20T02:37:39.396Z,1755657459.396 [DAT](INFO): DAT read: Range 11 to 50 : 246.6 m (Round-trip 328.8 ms) speed 0.7 m/s
2025-08-20T02:37:39.397Z,1755657459.397 [DAT](INFO): DAT read: user:3179>
2025-08-20T02:37:39.398Z,1755657459.398 [DAT](INFO): DAT read: Tx time:02:37:37.8551
2025-08-20T02:37:39.398Z,1755657459.398 [DAT](INFO): Ping request sent.
2025-08-20T02:37:39.398Z,1755657459.398 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:39.398Z,1755657459.398 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:39.399Z,1755657459.399 [DAT](INFO): direction in FSK: [0.995968,0.043485,0.078459]
2025-08-20T02:37:39.399Z,1755657459.399 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:39.400Z,1755657459.400 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:39.403Z,1755657459.403 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:39.403Z,1755657459.403 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:39.724Z,1755657459.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 246.600006 m,
deltaT: 3.780330 s,
deltaX: -16.299988 m,
approachRate: -4.311790 m/s,
rangeRepo size: 4
2025-08-20T02:37:39.726Z,1755657459.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 246.600006 m,
bearing: 5.335612 deg,
lat: 36.779428 deg,
lon: -121.859409 deg,
deltaT: 3.780330 s,
deltaX: -16.299988 m,
approachRate: -4.311790 m/s,
posRepo size: 4
2025-08-20T02:37:39.727Z,1755657459.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-08-20T02:37:39.734Z,1755657459.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 246.600006 m,
nav range: 253.122833 m,
bearing: 5.335612 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018953 deg/s,
cmd heading: 5.333414 deg,
new cmd heading: 5.368712 deg.
2025-08-20T02:37:40.098Z,1755657460.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-08-20T02:37:40.100Z,1755657460.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 246.600006 m,
nav range: 252.858047 m,
bearing: 5.342192 deg,
approach rate: -0.707501 m/s,
LOS rate: 0.017600 deg/s,
cmd heading: 5.368712 deg,
new cmd heading: 5.388472 deg.
2025-08-20T02:37:40.598Z,1755657460.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-08-20T02:37:40.600Z,1755657460.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 246.600006 m,
nav range: 252.541397 m,
bearing: 5.348719 deg,
approach rate: -0.654211 m/s,
LOS rate: 0.013503 deg/s,
cmd heading: 5.388472 deg,
new cmd heading: 5.408079 deg.
2025-08-20T02:37:40.965Z,1755657460.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-08-20T02:37:40.992Z,1755657460.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 246.600006 m,
nav range: 252.290619 m,
bearing: 5.353900 deg,
approach rate: -0.654375 m/s,
LOS rate: 0.013532 deg/s,
cmd heading: 5.408079 deg,
new cmd heading: 5.423636 deg.
2025-08-20T02:37:41.340Z,1755657461.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:41.343Z,1755657461.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-08-20T02:37:41.350Z,1755657461.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 246.600006 m,
nav range: 252.043716 m,
bearing: 5.358982 deg,
approach rate: -0.653598 m/s,
LOS rate: 0.013467 deg/s,
cmd heading: 5.423636 deg,
new cmd heading: 5.438898 deg.
2025-08-20T02:37:41.399Z,1755657461.399 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:41.399Z,1755657461.399 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:41.399Z,1755657461.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:41.650Z,1755657461.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252431
2025-08-20T02:37:41.781Z,1755657461.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-08-20T02:37:41.784Z,1755657461.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 246.600006 m,
nav range: 251.755112 m,
bearing: 5.364390 deg,
approach rate: -0.658131 m/s,
LOS rate: 0.012347 deg/s,
cmd heading: 5.438898 deg,
new cmd heading: 5.455142 deg.
2025-08-20T02:37:41.903Z,1755657461.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505127
2025-08-20T02:37:42.156Z,1755657462.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757847
2025-08-20T02:37:42.168Z,1755657462.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-08-20T02:37:42.188Z,1755657462.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 246.600006 m,
nav range: 251.510849 m,
bearing: 5.368957 deg,
approach rate: -0.632821 m/s,
LOS rate: 0.011841 deg/s,
cmd heading: 5.455142 deg,
new cmd heading: 5.468854 deg.
2025-08-20T02:37:42.406Z,1755657462.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008400
2025-08-20T02:37:42.613Z,1755657462.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-08-20T02:37:42.616Z,1755657462.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 246.600006 m,
nav range: 251.208893 m,
bearing: 5.373134 deg,
approach rate: -0.676950 m/s,
LOS rate: 0.009376 deg/s,
cmd heading: 5.468853 deg,
new cmd heading: 5.481400 deg.
2025-08-20T02:37:42.660Z,1755657462.660 [DAT](INFO): DAT read: Rx Time:02:37:40.5846
2025-08-20T02:37:42.661Z,1755657462.661 [DAT](INFO): Rx dataTimestamp_ set to:1755657462.660223
2025-08-20T02:37:42.662Z,1755657462.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263856
2025-08-20T02:37:42.911Z,1755657462.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512598
2025-08-20T02:37:42.987Z,1755657462.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.60 m.
2025-08-20T02:37:42.990Z,1755657462.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 246.600006 m,
nav range: 250.973511 m,
bearing: 5.376365 deg,
approach rate: -0.629352 m/s,
LOS rate: 0.008649 deg/s,
cmd heading: 5.481400 deg,
new cmd heading: 5.491104 deg.
2025-08-20T02:37:43.174Z,1755657463.174 [DAT](INFO): DAT read: 02:37:40.5846 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.19, 0.739,-1.009, 0.854, 0.370, PHS= 0.471,-1.334, 0.440, RAW= 149.2, 4.8, CAL= 148.4, 5.0, ROT= 1.6, -5.0
2025-08-20T02:37:43.176Z,1755657463.176 [DAT](INFO): got valid direction response:
02:37:40.5846 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.19, 0.739,-1.009, 0.854, 0.370, PHS= 0.471,-1.334, 0.440, RAW= 149.2, 4.8, CAL= 148.4, 5.0, ROT= 1.6, -5.0
2025-08-20T02:37:43.178Z,1755657463.178 [DAT](INFO): DAT read: Bearing 165.8, 7.3 (Local)
2025-08-20T02:37:43.179Z,1755657463.179 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.8, 7.3 (Local)
2025-08-20T02:37:43.182Z,1755657463.182 [DAT](INFO): DAT read: Range 11 to 50 : 243.9 m (Round-trip 325.3 ms) speed 0.6 m/s
2025-08-20T02:37:43.183Z,1755657463.183 [DAT](INFO): DAT read: user:3180>
2025-08-20T02:37:43.184Z,1755657463.184 [DAT](INFO): DAT read: Tx time:02:37:41.7051
2025-08-20T02:37:43.184Z,1755657463.184 [DAT](INFO): Ping request sent.
2025-08-20T02:37:43.185Z,1755657463.185 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:43.185Z,1755657463.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:43.187Z,1755657463.187 [DAT](INFO): direction in FSK: [0.995806,0.027815,0.087156]
2025-08-20T02:37:43.187Z,1755657463.187 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:43.188Z,1755657463.188 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:43.192Z,1755657463.192 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:43.193Z,1755657463.193 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:43.408Z,1755657463.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 243.899994 m,
deltaT: 3.780555 s,
deltaX: -2.700012 m,
approachRate: -0.714184 m/s,
rangeRepo size: 4
2025-08-20T02:37:43.416Z,1755657463.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 243.899994 m,
bearing: 5.630799 deg,
lat: 36.779330 deg,
lon: -121.859409 deg,
deltaT: 3.780555 s,
deltaX: -2.700012 m,
approachRate: -0.714184 m/s,
posRepo size: 4
2025-08-20T02:37:43.417Z,1755657463.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-08-20T02:37:43.423Z,1755657463.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.899994 m,
nav range: 239.876938 m,
bearing: 5.630799 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.008649 deg/s,
cmd heading: 5.491105 deg,
new cmd heading: 5.502018 deg.
2025-08-20T02:37:43.817Z,1755657463.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:43.819Z,1755657463.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-08-20T02:37:43.823Z,1755657463.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.899994 m,
nav range: 239.598587 m,
bearing: 5.635156 deg,
approach rate: -0.676279 m/s,
LOS rate: 0.010597 deg/s,
cmd heading: 5.502018 deg,
new cmd heading: 5.515103 deg.
2025-08-20T02:37:43.918Z,1755657463.918 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:43.918Z,1755657463.918 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:43.919Z,1755657463.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:44.171Z,1755657464.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986595
2025-08-20T02:37:44.215Z,1755657464.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-08-20T02:37:44.218Z,1755657464.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.899994 m,
nav range: 239.337906 m,
bearing: 5.639182 deg,
approach rate: -0.659281 m/s,
LOS rate: 0.010192 deg/s,
cmd heading: 5.515103 deg,
new cmd heading: 5.527193 deg.
2025-08-20T02:37:44.425Z,1755657464.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240770
2025-08-20T02:37:44.638Z,1755657464.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-08-20T02:37:44.641Z,1755657464.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.899994 m,
nav range: 239.059586 m,
bearing: 5.643730 deg,
approach rate: -0.658298 m/s,
LOS rate: 0.010771 deg/s,
cmd heading: 5.527193 deg,
new cmd heading: 5.540854 deg.
2025-08-20T02:37:44.676Z,1755657464.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491252
2025-08-20T02:37:44.927Z,1755657464.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742432
2025-08-20T02:37:45.023Z,1755657465.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-08-20T02:37:45.025Z,1755657465.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.899994 m,
nav range: 238.808670 m,
bearing: 5.647829 deg,
approach rate: -0.651548 m/s,
LOS rate: 0.010655 deg/s,
cmd heading: 5.540854 deg,
new cmd heading: 5.553164 deg.
2025-08-20T02:37:45.179Z,1755657465.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994342
2025-08-20T02:37:45.406Z,1755657465.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-08-20T02:37:45.409Z,1755657465.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.899994 m,
nav range: 238.553711 m,
bearing: 5.652044 deg,
approach rate: -0.664938 m/s,
LOS rate: 0.011006 deg/s,
cmd heading: 5.553164 deg,
new cmd heading: 5.565824 deg.
2025-08-20T02:37:45.431Z,1755657465.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245957
2025-08-20T02:37:45.685Z,1755657465.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500275
2025-08-20T02:37:45.828Z,1755657465.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:45.831Z,1755657465.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-08-20T02:37:45.834Z,1755657465.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.899994 m,
nav range: 238.274261 m,
bearing: 5.656848 deg,
approach rate: -0.658000 m/s,
LOS rate: 0.011324 deg/s,
cmd heading: 5.565824 deg,
new cmd heading: 5.580251 deg.
2025-08-20T02:37:45.939Z,1755657465.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753913
2025-08-20T02:37:46.191Z,1755657466.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006290
2025-08-20T02:37:46.219Z,1755657466.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-08-20T02:37:46.222Z,1755657466.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.899994 m,
nav range: 238.018280 m,
bearing: 5.661274 deg,
approach rate: -0.659209 m/s,
LOS rate: 0.011411 deg/s,
cmd heading: 5.580251 deg,
new cmd heading: 5.593544 deg.
2025-08-20T02:37:46.443Z,1755657466.443 [DAT](INFO): DAT read: Rx Time:02:37:44.4313
2025-08-20T02:37:46.443Z,1755657466.443 [DAT](INFO): Rx dataTimestamp_ set to:1755657466.442731
2025-08-20T02:37:46.444Z,1755657466.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259003
2025-08-20T02:37:46.690Z,1755657466.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.90 m.
2025-08-20T02:37:46.692Z,1755657466.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 243.899994 m,
nav range: 237.719620 m,
bearing: 5.667357 deg,
approach rate: -0.640554 m/s,
LOS rate: 0.013062 deg/s,
cmd heading: 5.593544 deg,
new cmd heading: 5.611814 deg.
2025-08-20T02:37:46.695Z,1755657466.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509947
2025-08-20T02:37:46.967Z,1755657466.967 [DAT](INFO): DAT read: 02:37:44.4313 LVL= 27632, 31121, 28290, 32755, AGC= 65, IDX= 414, 0.08,-2.183, 2.395,-2.102,-2.598, PHS= 0.516,-1.245, 0.452, RAW= 148.2, 3.2, CAL= 147.4, 3.3, ROT= 2.6, -3.3
2025-08-20T02:37:46.968Z,1755657466.968 [DAT](INFO): got valid direction response:
02:37:44.4313 LVL= 27632, 31121, 28290, 32755, AGC= 65, IDX= 414, 0.08,-2.183, 2.395,-2.102,-2.598, PHS= 0.516,-1.245, 0.452, RAW= 148.2, 3.2, CAL= 147.4, 3.3, ROT= 2.6, -3.3
2025-08-20T02:37:46.970Z,1755657466.970 [DAT](INFO): DAT read: Bearing 164.2, 7.7 (Local)
2025-08-20T02:37:46.970Z,1755657466.970 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.2, 7.7 (Local)
2025-08-20T02:37:46.971Z,1755657466.971 [DAT](INFO): DAT read: Range 11 to 50 : 241.5 m (Round-trip 322.0 ms) speed 0.4 m/s
2025-08-20T02:37:46.972Z,1755657466.972 [DAT](INFO): DAT read: user:3181>
2025-08-20T02:37:46.973Z,1755657466.973 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:46.974Z,1755657466.974 [DAT](INFO): direction in FSK: [0.997314,0.045288,0.057564]
2025-08-20T02:37:46.975Z,1755657466.975 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:46.981Z,1755657466.981 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:46.981Z,1755657466.981 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:46.981Z,1755657466.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:47.119Z,1755657467.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 241.500000 m,
deltaT: 3.785786 s,
deltaX: -2.399994 m,
approachRate: -0.633949 m/s,
rangeRepo size: 4
2025-08-20T02:37:47.125Z,1755657467.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 241.500000 m,
bearing: 5.765017 deg,
lat: 36.779330 deg,
lon: -121.859405 deg,
deltaT: 3.785786 s,
deltaX: -2.399994 m,
approachRate: -0.633949 m/s,
posRepo size: 4
2025-08-20T02:37:47.126Z,1755657467.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:47.129Z,1755657467.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 237.466873 m,
bearing: 5.765017 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.013062 deg/s,
cmd heading: 5.611814 deg,
new cmd heading: 5.628787 deg.
2025-08-20T02:37:47.199Z,1755657467.199 [DAT](INFO): DAT read: Tx time:02:37:45.5551
2025-08-20T02:37:47.200Z,1755657467.200 [DAT](INFO): Ping request sent.
2025-08-20T02:37:47.200Z,1755657467.200 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:47.200Z,1755657467.200 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:47.201Z,1755657467.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001286
2025-08-20T02:37:47.445Z,1755657467.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:47.447Z,1755657467.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 237.247757 m,
bearing: 5.769641 deg,
approach rate: -0.671701 m/s,
LOS rate: 0.014188 deg/s,
cmd heading: 5.628787 deg,
new cmd heading: 5.642672 deg.
2025-08-20T02:37:47.451Z,1755657467.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250694
2025-08-20T02:37:47.702Z,1755657467.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502566
2025-08-20T02:37:47.861Z,1755657467.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:47.863Z,1755657467.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:47.866Z,1755657467.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 236.954880 m,
bearing: 5.775873 deg,
approach rate: -0.699891 m/s,
LOS rate: 0.014912 deg/s,
cmd heading: 5.642672 deg,
new cmd heading: 5.661392 deg.
2025-08-20T02:37:47.955Z,1755657467.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754953
2025-08-20T02:37:48.206Z,1755657468.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006631
2025-08-20T02:37:48.256Z,1755657468.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:48.263Z,1755657468.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 236.696686 m,
bearing: 5.781349 deg,
approach rate: -0.657683 m/s,
LOS rate: 0.013963 deg/s,
cmd heading: 5.661392 deg,
new cmd heading: 5.677837 deg.
2025-08-20T02:37:48.459Z,1755657468.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258700
2025-08-20T02:37:48.709Z,1755657468.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:48.711Z,1755657468.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510759
2025-08-20T02:37:48.714Z,1755657468.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 236.390305 m,
bearing: 5.788697 deg,
approach rate: -0.675953 m/s,
LOS rate: 0.016233 deg/s,
cmd heading: 5.677837 deg,
new cmd heading: 5.699910 deg.
2025-08-20T02:37:48.963Z,1755657468.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763018
2025-08-20T02:37:49.072Z,1755657469.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:49.079Z,1755657469.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 236.149170 m,
bearing: 5.794381 deg,
approach rate: -0.664356 m/s,
LOS rate: 0.015677 deg/s,
cmd heading: 5.699910 deg,
new cmd heading: 5.716980 deg.
2025-08-20T02:37:49.215Z,1755657469.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014691
2025-08-20T02:37:49.456Z,1755657469.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:49.459Z,1755657469.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 235.893707 m,
bearing: 5.800400 deg,
approach rate: -0.664532 m/s,
LOS rate: 0.015675 deg/s,
cmd heading: 5.716981 deg,
new cmd heading: 5.735058 deg.
2025-08-20T02:37:49.467Z,1755657469.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266763
2025-08-20T02:37:49.718Z,1755657469.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518630
2025-08-20T02:37:49.884Z,1755657469.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:49.887Z,1755657469.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:49.890Z,1755657469.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 235.601807 m,
bearing: 5.806930 deg,
approach rate: -0.678323 m/s,
LOS rate: 0.015193 deg/s,
cmd heading: 5.735058 deg,
new cmd heading: 5.754671 deg.
2025-08-20T02:37:49.972Z,1755657469.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771601
2025-08-20T02:37:50.222Z,1755657470.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022572
2025-08-20T02:37:50.270Z,1755657470.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:50.272Z,1755657470.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 235.341446 m,
bearing: 5.812729 deg,
approach rate: -0.680237 m/s,
LOS rate: 0.015168 deg/s,
cmd heading: 5.754671 deg,
new cmd heading: 5.772088 deg.
2025-08-20T02:37:50.477Z,1755657470.477 [DAT](INFO): DAT read: Rx Time:02:37:48.2779
2025-08-20T02:37:50.478Z,1755657470.478 [DAT](INFO): Rx dataTimestamp_ set to:1755657470.477630
2025-08-20T02:37:50.479Z,1755657470.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278706
2025-08-20T02:37:50.727Z,1755657470.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526688
2025-08-20T02:37:50.731Z,1755657470.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.50 m.
2025-08-20T02:37:50.734Z,1755657470.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 241.500000 m,
nav range: 235.036682 m,
bearing: 5.820250 deg,
approach rate: -0.659759 m/s,
LOS rate: 0.016302 deg/s,
cmd heading: 5.772088 deg,
new cmd heading: 5.794680 deg.
2025-08-20T02:37:50.984Z,1755657470.984 [DAT](INFO): DAT read: 02:37:48.2779 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.23,-3.070, 1.497,-2.945, 2.867, PHS= 0.448,-1.325, 0.428, RAW= 149.4, 5.1, CAL= 148.7, 5.4, ROT= 1.3, -5.4
2025-08-20T02:37:50.985Z,1755657470.985 [DAT](INFO): got valid direction response:
02:37:48.2779 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.23,-3.070, 1.497,-2.945, 2.867, PHS= 0.448,-1.325, 0.428, RAW= 149.4, 5.1, CAL= 148.7, 5.4, ROT= 1.3, -5.4
2025-08-20T02:37:50.986Z,1755657470.986 [DAT](INFO): DAT read: Bearing 166.7, 6.0 (Local)
2025-08-20T02:37:50.987Z,1755657470.987 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 6.0 (Local)
2025-08-20T02:37:50.988Z,1755657470.988 [DAT](INFO): DAT read: Range 11 to 50 : 238.9 m (Round-trip 318.6 ms) speed 0.4 m/s
2025-08-20T02:37:50.989Z,1755657470.989 [DAT](INFO): DAT read: user:3182>
2025-08-20T02:37:50.989Z,1755657470.989 [DAT](INFO): DAT read: Tx time:02:37:49.4051
2025-08-20T02:37:50.990Z,1755657470.990 [DAT](INFO): Ping request sent.
2025-08-20T02:37:50.990Z,1755657470.990 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:50.990Z,1755657470.990 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:50.991Z,1755657470.991 [DAT](INFO): direction in FSK: [0.995306,0.022587,0.094108]
2025-08-20T02:37:50.991Z,1755657470.991 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:50.992Z,1755657470.992 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:50.995Z,1755657470.995 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:50.995Z,1755657470.995 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:51.172Z,1755657471.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 238.899994 m,
deltaT: 4.029291 s,
deltaX: -2.600006 m,
approachRate: -0.645276 m/s,
rangeRepo size: 4
2025-08-20T02:37:51.179Z,1755657471.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 238.899994 m,
bearing: 5.807661 deg,
lat: 36.779337 deg,
lon: -121.859405 deg,
deltaT: 4.029291 s,
deltaX: -2.600006 m,
approachRate: -0.645276 m/s,
posRepo size: 4
2025-08-20T02:37:51.180Z,1755657471.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.90 m.
2025-08-20T02:37:51.188Z,1755657471.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 238.899994 m,
nav range: 235.541855 m,
bearing: 5.807661 deg,
approach rate: -0.000000 m/s,
LOS rate: 0.016302 deg/s,
cmd heading: 5.794680 deg,
new cmd heading: 5.815682 deg.
2025-08-20T02:37:51.599Z,1755657471.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.90 m.
2025-08-20T02:37:51.602Z,1755657471.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 238.899994 m,
nav range: 235.227203 m,
bearing: 5.815361 deg,
approach rate: -0.718107 m/s,
LOS rate: 0.017597 deg/s,
cmd heading: 5.815682 deg,
new cmd heading: 5.838814 deg.
2025-08-20T02:37:51.963Z,1755657471.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:51.970Z,1755657471.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.90 m.
2025-08-20T02:37:51.972Z,1755657471.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 238.899994 m,
nav range: 234.993729 m,
bearing: 5.820646 deg,
approach rate: -0.637378 m/s,
LOS rate: 0.014441 deg/s,
cmd heading: 5.838815 deg,
new cmd heading: 5.854684 deg.
2025-08-20T02:37:51.986Z,1755657471.986 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:51.986Z,1755657471.986 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:51.987Z,1755657471.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:52.239Z,1755657472.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248983
2025-08-20T02:37:52.333Z,1755657472.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.90 m.
2025-08-20T02:37:52.336Z,1755657472.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 238.899994 m,
nav range: 234.739471 m,
bearing: 5.826406 deg,
approach rate: -0.691792 m/s,
LOS rate: 0.015690 deg/s,
cmd heading: 5.854684 deg,
new cmd heading: 5.871984 deg.
2025-08-20T02:37:52.490Z,1755657472.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500488
2025-08-20T02:37:52.742Z,1755657472.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752521
2025-08-20T02:37:52.820Z,1755657472.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.90 m.
2025-08-20T02:37:52.823Z,1755657472.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 238.899994 m,
nav range: 234.418182 m,
bearing: 5.833940 deg,
approach rate: -0.659110 m/s,
LOS rate: 0.015476 deg/s,
cmd heading: 5.871984 deg,
new cmd heading: 5.894616 deg.
2025-08-20T02:37:52.994Z,1755657472.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004501
2025-08-20T02:37:53.215Z,1755657473.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.90 m.
2025-08-20T02:37:53.222Z,1755657473.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 238.899994 m,
nav range: 234.163055 m,
bearing: 5.839956 deg,
approach rate: -0.645808 m/s,
LOS rate: 0.015245 deg/s,
cmd heading: 5.894616 deg,
new cmd heading: 5.912683 deg.
2025-08-20T02:37:53.247Z,1755657473.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256626
2025-08-20T02:37:53.498Z,1755657473.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508480
2025-08-20T02:37:53.575Z,1755657473.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.90 m.
2025-08-20T02:37:53.578Z,1755657473.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 238.899994 m,
nav range: 233.920410 m,
bearing: 5.845699 deg,
approach rate: -0.674140 m/s,
LOS rate: 0.015973 deg/s,
cmd heading: 5.912683 deg,
new cmd heading: 5.929931 deg.
2025-08-20T02:37:53.750Z,1755657473.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760516
2025-08-20T02:37:53.987Z,1755657473.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:53.989Z,1755657473.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.90 m.
2025-08-20T02:37:53.992Z,1755657473.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 238.899994 m,
nav range: 233.647110 m,
bearing: 5.852448 deg,
approach rate: -0.661263 m/s,
LOS rate: 0.016348 deg/s,
cmd heading: 5.929931 deg,
new cmd heading: 5.950201 deg.
2025-08-20T02:37:54.003Z,1755657474.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012645
2025-08-20T02:37:54.254Z,1755657474.254 [DAT](INFO): DAT read: Rx Time:02:37:52.1441
2025-08-20T02:37:54.255Z,1755657474.255 [DAT](INFO): Rx dataTimestamp_ set to:1755657474.254609
2025-08-20T02:37:54.255Z,1755657474.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265557
2025-08-20T02:37:54.366Z,1755657474.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.90 m.
2025-08-20T02:37:54.368Z,1755657474.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 238.899994 m,
nav range: 233.397095 m,
bearing: 5.858622 deg,
approach rate: -0.663028 m/s,
LOS rate: 0.016390 deg/s,
cmd heading: 5.950201 deg,
new cmd heading: 5.968742 deg.
2025-08-20T02:37:54.507Z,1755657474.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516800
2025-08-20T02:37:54.764Z,1755657474.764 [DAT](INFO): DAT read: 02:37:52.1441 LVL= 22736, 23201, 18018, 20755, AGC= 71, IDX= 99,-0.02, 1.355, 0.145, 1.511, 0.726, PHS= 0.731,-0.536, 0.740, RAW= 150.4, -14.6, CAL= 151.9, -16.8, ROT= 358.1, 16.8
2025-08-20T02:37:54.770Z,1755657474.770 [DAT](INFO): got valid direction response:
02:37:52.1441 LVL= 22736, 23201, 18018, 20755, AGC= 71, IDX= 99,-0.02, 1.355, 0.145, 1.511, 0.726, PHS= 0.731,-0.536, 0.740, RAW= 150.4, -14.6, CAL= 151.9, -16.8, ROT= 358.1, 16.8
2025-08-20T02:37:54.771Z,1755657474.771 [DAT](INFO): DAT read: Bearing 144.9, 1.6 (Local)
2025-08-20T02:37:54.772Z,1755657474.772 [DAT](INFO): Local bearing/azimuth received:
Bearing 144.9, 1.6 (Local)
2025-08-20T02:37:54.773Z,1755657474.773 [DAT](INFO): DAT read: Range 11 to 50 : 251.1 m (Round-trip 334.8 ms) speed 0.4 m/s
2025-08-20T02:37:54.774Z,1755657474.774 [DAT](INFO): DAT read: user:3183>
2025-08-20T02:37:54.775Z,1755657474.775 [DAT](INFO): DAT read: Tx time:02:37:53.2567
2025-08-20T02:37:54.775Z,1755657474.775 [DAT](INFO): Ping request sent.
2025-08-20T02:37:54.775Z,1755657474.775 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:54.775Z,1755657474.775 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:54.776Z,1755657474.776 [DAT](INFO): direction in FSK: [0.956793,-0.031740,-0.289032]
2025-08-20T02:37:54.777Z,1755657474.777 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:54.777Z,1755657474.777 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:54.808Z,1755657474.808 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:54.808Z,1755657474.808 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:54.906Z,1755657474.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 251.100006 m,
deltaT: 3.780226 s,
deltaX: 12.200012 m,
approachRate: 3.227324 m/s,
rangeRepo size: 4
2025-08-20T02:37:54.909Z,1755657474.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 251.100006 m,
bearing: 5.866805 deg,
lat: 36.779337 deg,
lon: -121.859405 deg,
deltaT: 3.780226 s,
deltaX: 12.200012 m,
approachRate: 3.227324 m/s,
posRepo size: 4
2025-08-20T02:37:54.913Z,1755657474.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.10 m.
2025-08-20T02:37:54.916Z,1755657474.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.100006 m,
nav range: 233.056870 m,
bearing: 5.866805 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016390 deg/s,
cmd heading: 5.968742 deg,
new cmd heading: 5.994888 deg.
2025-08-20T02:37:55.236Z,1755657475.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.10 m.
2025-08-20T02:37:55.239Z,1755657475.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.100006 m,
nav range: 232.820480 m,
bearing: 5.872469 deg,
approach rate: -0.698345 m/s,
LOS rate: 0.016748 deg/s,
cmd heading: 5.994888 deg,
new cmd heading: 6.011895 deg.
2025-08-20T02:37:55.662Z,1755657475.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.10 m.
2025-08-20T02:37:55.664Z,1755657475.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.100006 m,
nav range: 232.541382 m,
bearing: 5.879134 deg,
approach rate: -0.655920 m/s,
LOS rate: 0.015682 deg/s,
cmd heading: 6.011895 deg,
new cmd heading: 6.031914 deg.
2025-08-20T02:37:56.211Z,1755657476.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:56.213Z,1755657476.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.10 m.
2025-08-20T02:37:56.220Z,1755657476.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.100006 m,
nav range: 232.173965 m,
bearing: 5.888053 deg,
approach rate: -0.666235 m/s,
LOS rate: 0.016199 deg/s,
cmd heading: 6.031914 deg,
new cmd heading: 6.058715 deg.
2025-08-20T02:37:56.270Z,1755657476.270 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:37:56.270Z,1755657476.270 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:37:56.271Z,1755657476.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:37:56.522Z,1755657476.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747354
2025-08-20T02:37:56.684Z,1755657476.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.10 m.
2025-08-20T02:37:56.687Z,1755657476.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.100006 m,
nav range: 231.854828 m,
bearing: 5.895801 deg,
approach rate: -0.678436 m/s,
LOS rate: 0.016495 deg/s,
cmd heading: 6.058715 deg,
new cmd heading: 6.081992 deg.
2025-08-20T02:37:56.776Z,1755657476.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001204
2025-08-20T02:37:57.026Z,1755657477.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251390
2025-08-20T02:37:57.103Z,1755657477.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.10 m.
2025-08-20T02:37:57.106Z,1755657477.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.100006 m,
nav range: 231.574707 m,
bearing: 5.903773 deg,
approach rate: -0.667921 m/s,
LOS rate: 0.019031 deg/s,
cmd heading: 6.081992 deg,
new cmd heading: 6.105937 deg.
2025-08-20T02:37:57.278Z,1755657477.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503359
2025-08-20T02:37:57.472Z,1755657477.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.10 m.
2025-08-20T02:37:57.475Z,1755657477.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.100006 m,
nav range: 231.330200 m,
bearing: 5.910745 deg,
approach rate: -0.661912 m/s,
LOS rate: 0.018894 deg/s,
cmd heading: 6.105936 deg,
new cmd heading: 6.126875 deg.
2025-08-20T02:37:57.531Z,1755657477.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756138
2025-08-20T02:37:57.784Z,1755657477.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009082
2025-08-20T02:37:57.908Z,1755657477.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.10 m.
2025-08-20T02:37:57.911Z,1755657477.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.100006 m,
nav range: 231.039932 m,
bearing: 5.918470 deg,
approach rate: -0.665227 m/s,
LOS rate: 0.017725 deg/s,
cmd heading: 6.126875 deg,
new cmd heading: 6.150077 deg.
2025-08-20T02:37:58.034Z,1755657478.034 [DAT](INFO): DAT read: Rx Time:02:37:55.9725
2025-08-20T02:37:58.035Z,1755657478.035 [DAT](INFO): Rx dataTimestamp_ set to:1755657478.034542
2025-08-20T02:37:58.035Z,1755657478.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260365
2025-08-20T02:37:58.287Z,1755657478.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511502
2025-08-20T02:37:58.292Z,1755657478.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:37:58.294Z,1755657478.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.10 m.
2025-08-20T02:37:58.297Z,1755657478.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 251.100006 m,
nav range: 230.784653 m,
bearing: 5.925302 deg,
approach rate: -0.661606 m/s,
LOS rate: 0.017726 deg/s,
cmd heading: 6.150077 deg,
new cmd heading: 6.170596 deg.
2025-08-20T02:37:58.545Z,1755657478.545 [DAT](INFO): DAT read: 02:37:55.9725 LVL= 30320, 32753, 30578, 32755, AGC= 68, IDX= 212, 0.18, 1.889, 0.172, 2.007, 1.522, PHS= 0.469,-1.305, 0.441, RAW= 149.2, 4.5, CAL= 148.5, 4.7, ROT= 1.5, -4.7
2025-08-20T02:37:58.546Z,1755657478.546 [DAT](INFO): got valid direction response:
02:37:55.9725 LVL= 30320, 32753, 30578, 32755, AGC= 68, IDX= 212, 0.18, 1.889, 0.172, 2.007, 1.522, PHS= 0.469,-1.305, 0.441, RAW= 149.2, 4.5, CAL= 148.5, 4.7, ROT= 1.5, -4.7
2025-08-20T02:37:58.547Z,1755657478.547 [DAT](INFO): DAT read: Bearing 166.7, 6.0 (Local)
2025-08-20T02:37:58.548Z,1755657478.548 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.7, 6.0 (Local)
2025-08-20T02:37:58.549Z,1755657478.549 [DAT](INFO): DAT read: Range 11 to 50 : 233.7 m (Round-trip 311.7 ms) speed 0.8 m/s
2025-08-20T02:37:58.550Z,1755657478.550 [DAT](INFO): DAT read: user:3184>
2025-08-20T02:37:58.551Z,1755657478.551 [DAT](INFO): DAT read: Tx time:02:37:57.0551
2025-08-20T02:37:58.551Z,1755657478.551 [DAT](INFO): Ping request sent.
2025-08-20T02:37:58.551Z,1755657478.551 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:37:58.551Z,1755657478.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:37:58.552Z,1755657478.552 [DAT](INFO): direction in FSK: [0.996296,0.026089,0.081939]
2025-08-20T02:37:58.552Z,1755657478.552 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:58.553Z,1755657478.553 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:58.588Z,1755657478.588 [DAT](INFO): publishing transmit ping time
2025-08-20T02:37:58.588Z,1755657478.588 [DAT](INFO): publishing direction and range info
2025-08-20T02:37:58.731Z,1755657478.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 233.699997 m,
deltaT: 3.780085 s,
deltaX: -17.400009 m,
approachRate: -4.603074 m/s,
rangeRepo size: 4
2025-08-20T02:37:58.747Z,1755657478.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 233.699997 m,
bearing: 5.925258 deg,
lat: 36.779340 deg,
lon: -121.859405 deg,
deltaT: 3.780085 s,
deltaX: -17.400009 m,
approachRate: -4.603074 m/s,
posRepo size: 4
2025-08-20T02:37:58.754Z,1755657478.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.70 m.
2025-08-20T02:37:58.793Z,1755657478.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.699997 m,
nav range: 230.795944 m,
bearing: 5.925258 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017726 deg/s,
cmd heading: 6.170596 deg,
new cmd heading: 6.193427 deg.
2025-08-20T02:37:59.160Z,1755657479.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.70 m.
2025-08-20T02:37:59.168Z,1755657479.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.699997 m,
nav range: 230.508713 m,
bearing: 5.932353 deg,
approach rate: -0.658910 m/s,
LOS rate: 0.016296 deg/s,
cmd heading: 6.193427 deg,
new cmd heading: 6.214738 deg.
2025-08-20T02:37:59.500Z,1755657479.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.70 m.
2025-08-20T02:37:59.504Z,1755657479.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.699997 m,
nav range: 230.275177 m,
bearing: 5.938096 deg,
approach rate: -0.685648 m/s,
LOS rate: 0.016879 deg/s,
cmd heading: 6.214738 deg,
new cmd heading: 6.231985 deg.
2025-08-20T02:37:59.931Z,1755657479.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.70 m.
2025-08-20T02:37:59.934Z,1755657479.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.699997 m,
nav range: 229.982529 m,
bearing: 5.944538 deg,
approach rate: -0.679855 m/s,
LOS rate: 0.014985 deg/s,
cmd heading: 6.231985 deg,
new cmd heading: 6.251337 deg.
2025-08-20T02:38:00.306Z,1755657480.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:00.308Z,1755657480.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.70 m.
2025-08-20T02:38:00.311Z,1755657480.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.699997 m,
nav range: 229.732819 m,
bearing: 5.950023 deg,
approach rate: -0.661812 m/s,
LOS rate: 0.014553 deg/s,
cmd heading: 6.251337 deg,
new cmd heading: 6.267810 deg.
2025-08-20T02:38:00.555Z,1755657480.555 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:00.555Z,1755657480.555 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:00.555Z,1755657480.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:00.703Z,1755657480.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.70 m.
2025-08-20T02:38:00.706Z,1755657480.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.699997 m,
nav range: 229.469788 m,
bearing: 5.955756 deg,
approach rate: -0.666060 m/s,
LOS rate: 0.014533 deg/s,
cmd heading: 6.267810 deg,
new cmd heading: 6.285028 deg.
2025-08-20T02:38:00.810Z,1755657480.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258169
2025-08-20T02:38:01.058Z,1755657481.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507419
2025-08-20T02:38:01.177Z,1755657481.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.70 m.
2025-08-20T02:38:01.182Z,1755657481.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.699997 m,
nav range: 229.160217 m,
bearing: 5.961051 deg,
approach rate: -0.653194 m/s,
LOS rate: 0.011188 deg/s,
cmd heading: 6.285028 deg,
new cmd heading: 6.300935 deg.
2025-08-20T02:38:01.310Z,1755657481.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759455
2025-08-20T02:38:01.512Z,1755657481.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.70 m.
2025-08-20T02:38:01.531Z,1755657481.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.699997 m,
nav range: 228.930405 m,
bearing: 5.964966 deg,
approach rate: -0.684512 m/s,
LOS rate: 0.011672 deg/s,
cmd heading: 6.300935 deg,
new cmd heading: 6.312691 deg.
2025-08-20T02:38:01.563Z,1755657481.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011801
2025-08-20T02:38:01.817Z,1755657481.817 [DAT](INFO): DAT read: Rx Time:02:37:59.7676
2025-08-20T02:38:01.819Z,1755657481.819 [DAT](INFO): Rx dataTimestamp_ set to:1755657481.817862
2025-08-20T02:38:01.821Z,1755657481.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269550
2025-08-20T02:38:01.949Z,1755657481.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.70 m.
2025-08-20T02:38:01.968Z,1755657481.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 233.699997 m,
nav range: 228.637909 m,
bearing: 5.968926 deg,
approach rate: -0.670451 m/s,
LOS rate: 0.009089 deg/s,
cmd heading: 6.312691 deg,
new cmd heading: 6.324587 deg.
2025-08-20T02:38:02.066Z,1755657482.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515392
2025-08-20T02:38:02.328Z,1755657482.328 [DAT](INFO): DAT read: 02:37:59.7676 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402,-0.10,-2.811, 1.879,-2.668,-3.120, PHS= 0.412,-1.239, 0.408, RAW= 149.9, 5.1, CAL= 149.2, 5.3, ROT= 0.8, -5.3
2025-08-20T02:38:02.329Z,1755657482.329 [DAT](INFO): got valid direction response:
02:37:59.7676 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402,-0.10,-2.811, 1.879,-2.668,-3.120, PHS= 0.412,-1.239, 0.408, RAW= 149.9, 5.1, CAL= 149.2, 5.3, ROT= 0.8, -5.3
2025-08-20T02:38:02.330Z,1755657482.330 [DAT](INFO): DAT read: Bearing 167.9, 5.6 (Local)
2025-08-20T02:38:02.330Z,1755657482.330 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.9, 5.6 (Local)
2025-08-20T02:38:02.332Z,1755657482.332 [DAT](INFO): DAT read: Range 11 to 50 : 231.2 m (Round-trip 308.3 ms) speed 0.6 m/s
2025-08-20T02:38:02.332Z,1755657482.332 [DAT](INFO): DAT read: user:3185>
2025-08-20T02:38:02.333Z,1755657482.333 [DAT](INFO): DAT read: Tx time:02:38:00.8551
2025-08-20T02:38:02.338Z,1755657482.338 [DAT](INFO): Ping request sent.
2025-08-20T02:38:02.338Z,1755657482.338 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:02.338Z,1755657482.338 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:02.339Z,1755657482.339 [DAT](INFO): direction in FSK: [0.995628,0.013902,0.092371]
2025-08-20T02:38:02.339Z,1755657482.339 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:02.340Z,1755657482.340 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:02.347Z,1755657482.347 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:02.347Z,1755657482.347 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:02.367Z,1755657482.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 231.199997 m,
deltaT: 3.783188 s,
deltaX: -2.500000 m,
approachRate: -0.660818 m/s,
rangeRepo size: 4
2025-08-20T02:38:02.369Z,1755657482.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 231.199997 m,
bearing: 5.863122 deg,
lat: 36.779340 deg,
lon: -121.859410 deg,
deltaT: 3.783188 s,
deltaX: -2.500000 m,
approachRate: -0.660818 m/s,
posRepo size: 4
2025-08-20T02:38:02.450Z,1755657482.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.20 m.
2025-08-20T02:38:02.452Z,1755657482.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.199997 m,
nav range: 228.315704 m,
bearing: 5.863122 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009089 deg/s,
cmd heading: 6.324587 deg,
new cmd heading: 6.335970 deg.
2025-08-20T02:38:02.926Z,1755657482.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:02.928Z,1755657482.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.20 m.
2025-08-20T02:38:02.935Z,1755657482.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.199997 m,
nav range: 227.953140 m,
bearing: 5.868091 deg,
approach rate: -0.645512 m/s,
LOS rate: 0.008862 deg/s,
cmd heading: 6.335970 deg,
new cmd heading: 6.350903 deg.
2025-08-20T02:38:03.078Z,1755657483.078 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:03.078Z,1755657483.078 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:03.079Z,1755657483.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:03.331Z,1755657483.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992961
2025-08-20T02:38:03.429Z,1755657483.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.20 m.
2025-08-20T02:38:03.431Z,1755657483.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.199997 m,
nav range: 227.611969 m,
bearing: 5.872672 deg,
approach rate: -0.681401 m/s,
LOS rate: 0.009162 deg/s,
cmd heading: 6.350902 deg,
new cmd heading: 6.364664 deg.
2025-08-20T02:38:03.582Z,1755657483.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244617
2025-08-20T02:38:03.839Z,1755657483.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500162
2025-08-20T02:38:03.934Z,1755657483.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.20 m.
2025-08-20T02:38:03.936Z,1755657483.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.199997 m,
nav range: 227.272400 m,
bearing: 5.877461 deg,
approach rate: -0.672812 m/s,
LOS rate: 0.009504 deg/s,
cmd heading: 6.364664 deg,
new cmd heading: 6.379053 deg.
2025-08-20T02:38:04.087Z,1755657484.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749271
2025-08-20T02:38:04.338Z,1755657484.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000693
2025-08-20T02:38:04.394Z,1755657484.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.20 m.
2025-08-20T02:38:04.396Z,1755657484.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.199997 m,
nav range: 226.962585 m,
bearing: 5.881805 deg,
approach rate: -0.673125 m/s,
LOS rate: 0.009451 deg/s,
cmd heading: 6.379053 deg,
new cmd heading: 6.392102 deg.
2025-08-20T02:38:04.591Z,1755657484.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253234
2025-08-20T02:38:04.815Z,1755657484.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.20 m.
2025-08-20T02:38:04.825Z,1755657484.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.199997 m,
nav range: 226.687897 m,
bearing: 5.885666 deg,
approach rate: -0.653262 m/s,
LOS rate: 0.009194 deg/s,
cmd heading: 6.392102 deg,
new cmd heading: 6.403699 deg.
2025-08-20T02:38:04.845Z,1755657484.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506714
2025-08-20T02:38:05.094Z,1755657485.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756571
2025-08-20T02:38:05.233Z,1755657485.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:05.235Z,1755657485.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.20 m.
2025-08-20T02:38:05.238Z,1755657485.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.199997 m,
nav range: 226.402451 m,
bearing: 5.890392 deg,
approach rate: -0.677813 m/s,
LOS rate: 0.011237 deg/s,
cmd heading: 6.403699 deg,
new cmd heading: 6.417896 deg.
2025-08-20T02:38:05.347Z,1755657485.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009118
2025-08-20T02:38:05.586Z,1755657485.586 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:38:05.600Z,1755657485.600 [DAT](INFO): DAT read: Rx Time:02:38:03.5641
2025-08-20T02:38:05.600Z,1755657485.600 [DAT](INFO): Rx dataTimestamp_ set to:1755657485.599887
2025-08-20T02:38:05.602Z,1755657485.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264277
2025-08-20T02:38:05.636Z,1755657485.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.20 m.
2025-08-20T02:38:05.642Z,1755657485.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 231.199997 m,
nav range: 226.153351 m,
bearing: 5.894390 deg,
approach rate: -0.622126 m/s,
LOS rate: 0.009997 deg/s,
cmd heading: 6.417896 deg,
new cmd heading: 6.429904 deg.
2025-08-20T02:38:05.854Z,1755657485.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515275
2025-08-20T02:38:06.111Z,1755657486.111 [DAT](INFO): DAT read: 02:38:03.5641 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 399,-0.42, 0.505,-1.095, 0.658, 0.183, PHS= 0.425,-1.233, 0.432, RAW= 150.2, 4.6, CAL= 149.4, 4.7, ROT= 0.6, -4.7
2025-08-20T02:38:06.113Z,1755657486.113 [DAT](INFO): got valid direction response:
02:38:03.5641 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 399,-0.42, 0.505,-1.095, 0.658, 0.183, PHS= 0.425,-1.233, 0.432, RAW= 150.2, 4.6, CAL= 149.4, 4.7, ROT= 0.6, -4.7
2025-08-20T02:38:06.116Z,1755657486.116 [DAT](INFO): DAT read: Bearing 167.8, 5.6 (Local)
2025-08-20T02:38:06.116Z,1755657486.116 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.8, 5.6 (Local)
2025-08-20T02:38:06.119Z,1755657486.119 [DAT](INFO): DAT read: Range 11 to 50 : 228.6 m (Round-trip 304.8 ms) speed 0.8 m/s
2025-08-20T02:38:06.121Z,1755657486.121 [DAT](INFO): DAT read: user:3186>
2025-08-20T02:38:06.122Z,1755657486.122 [DAT](INFO): DAT read: Tx time:02:38:04.6551
2025-08-20T02:38:06.123Z,1755657486.123 [DAT](INFO): Ping request sent.
2025-08-20T02:38:06.123Z,1755657486.123 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:06.123Z,1755657486.123 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:06.126Z,1755657486.126 [DAT](INFO): direction in FSK: [0.996583,0.010437,0.081939]
2025-08-20T02:38:06.126Z,1755657486.126 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:06.126Z,1755657486.126 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:06.129Z,1755657486.129 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:06.130Z,1755657486.130 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:06.235Z,1755657486.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 228.600006 m,
deltaT: 3.780729 s,
deltaX: -2.599991 m,
approachRate: -0.687696 m/s,
rangeRepo size: 4
2025-08-20T02:38:06.237Z,1755657486.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 228.600006 m,
bearing: 5.784379 deg,
lat: 36.779338 deg,
lon: -121.859415 deg,
deltaT: 3.780729 s,
deltaX: -2.599991 m,
approachRate: -0.687696 m/s,
posRepo size: 4
2025-08-20T02:38:06.243Z,1755657486.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.60 m.
2025-08-20T02:38:06.245Z,1755657486.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.600006 m,
nav range: 225.515305 m,
bearing: 5.784379 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009997 deg/s,
cmd heading: 6.429904 deg,
new cmd heading: 6.447863 deg.
2025-08-20T02:38:06.590Z,1755657486.590 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:38:06.664Z,1755657486.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.60 m.
2025-08-20T02:38:06.667Z,1755657486.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.600006 m,
nav range: 225.207336 m,
bearing: 5.790917 deg,
approach rate: -0.717446 m/s,
LOS rate: 0.015253 deg/s,
cmd heading: 6.447863 deg,
new cmd heading: 6.467505 deg.
2025-08-20T02:38:07.043Z,1755657487.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.60 m.
2025-08-20T02:38:07.045Z,1755657487.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.600006 m,
nav range: 224.946274 m,
bearing: 5.797902 deg,
approach rate: -0.689043 m/s,
LOS rate: 0.018457 deg/s,
cmd heading: 6.467505 deg,
new cmd heading: 6.488483 deg.
2025-08-20T02:38:07.405Z,1755657487.405 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-20T02:38:07.425Z,1755657487.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:07.427Z,1755657487.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.60 m.
2025-08-20T02:38:07.430Z,1755657487.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.600006 m,
nav range: 224.689789 m,
bearing: 5.804762 deg,
approach rate: -0.667030 m/s,
LOS rate: 0.017860 deg/s,
cmd heading: 6.488483 deg,
new cmd heading: 6.509086 deg.
2025-08-20T02:38:07.618Z,1755657487.618 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:07.618Z,1755657487.618 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:07.619Z,1755657487.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:07.866Z,1755657487.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743500
2025-08-20T02:38:07.977Z,1755657487.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.60 m.
2025-08-20T02:38:07.996Z,1755657487.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.600006 m,
nav range: 224.324478 m,
bearing: 5.816773 deg,
approach rate: -0.664240 m/s,
LOS rate: 0.021876 deg/s,
cmd heading: 6.509086 deg,
new cmd heading: 6.545179 deg.
2025-08-20T02:38:08.120Z,1755657488.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996939
2025-08-20T02:38:08.370Z,1755657488.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247449
2025-08-20T02:38:08.392Z,1755657488.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.60 m.
2025-08-20T02:38:08.395Z,1755657488.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.600006 m,
nav range: 224.048676 m,
bearing: 5.825838 deg,
approach rate: -0.664017 m/s,
LOS rate: 0.021852 deg/s,
cmd heading: 6.545179 deg,
new cmd heading: 6.572408 deg.
2025-08-20T02:38:08.622Z,1755657488.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499472
2025-08-20T02:38:08.821Z,1755657488.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.60 m.
2025-08-20T02:38:08.824Z,1755657488.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.600006 m,
nav range: 223.764572 m,
bearing: 5.835203 deg,
approach rate: -0.662921 m/s,
LOS rate: 0.021878 deg/s,
cmd heading: 6.572408 deg,
new cmd heading: 6.600536 deg.
2025-08-20T02:38:08.878Z,1755657488.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754031
2025-08-20T02:38:09.126Z,1755657489.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003563
2025-08-20T02:38:09.253Z,1755657489.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.60 m.
2025-08-20T02:38:09.256Z,1755657489.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.600006 m,
nav range: 223.477524 m,
bearing: 5.844507 deg,
approach rate: -0.664376 m/s,
LOS rate: 0.021563 deg/s,
cmd heading: 6.600536 deg,
new cmd heading: 6.628485 deg.
2025-08-20T02:38:09.380Z,1755657489.380 [DAT](INFO): DAT read: Rx Time:02:38:07.3608
2025-08-20T02:38:09.381Z,1755657489.381 [DAT](INFO): Rx dataTimestamp_ set to:1755657489.380334
2025-08-20T02:38:09.382Z,1755657489.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258280
2025-08-20T02:38:09.631Z,1755657489.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507620
2025-08-20T02:38:09.639Z,1755657489.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:09.641Z,1755657489.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.60 m.
2025-08-20T02:38:09.644Z,1755657489.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 228.600006 m,
nav range: 223.220474 m,
bearing: 5.852846 deg,
approach rate: -0.662774 m/s,
LOS rate: 0.021527 deg/s,
cmd heading: 6.628485 deg,
new cmd heading: 6.653532 deg.
2025-08-20T02:38:09.908Z,1755657489.908 [DAT](INFO): DAT read: 02:38:07.3608 LVL= 32368, 32753, 32050, 32755, AGC= 68, IDX= 412,-0.03,-1.195,-2.810,-1.043,-1.515, PHS= 0.422,-1.250, 0.428, RAW= 150.2, 4.8, CAL= 149.4, 5.0, ROT= 0.6, -5.0
2025-08-20T02:38:09.912Z,1755657489.912 [DAT](INFO): got valid direction response:
02:38:07.3608 LVL= 32368, 32753, 32050, 32755, AGC= 68, IDX= 412,-0.03,-1.195,-2.810,-1.043,-1.515, PHS= 0.422,-1.250, 0.428, RAW= 150.2, 4.8, CAL= 149.4, 5.0, ROT= 0.6, -5.0
2025-08-20T02:38:09.915Z,1755657489.915 [DAT](INFO): DAT read: Bearing 168.5, 6.2 (Local)
2025-08-20T02:38:09.917Z,1755657489.917 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.5, 6.2 (Local)
2025-08-20T02:38:09.924Z,1755657489.924 [DAT](INFO): DAT read: Range 11 to 50 : 226.1 m (Round-trip 301.5 ms) speed 0.6 m/s
2025-08-20T02:38:09.927Z,1755657489.927 [DAT](INFO): DAT read: user:3187>
2025-08-20T02:38:09.931Z,1755657489.931 [DAT](INFO): DAT read: Tx time:02:38:08.4551
2025-08-20T02:38:09.933Z,1755657489.933 [DAT](INFO): Ping request sent.
2025-08-20T02:38:09.933Z,1755657489.933 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:09.937Z,1755657489.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:09.940Z,1755657489.940 [DAT](INFO): direction in FSK: [0.996140,0.010432,0.087156]
2025-08-20T02:38:09.941Z,1755657489.941 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:09.943Z,1755657489.943 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:10.010Z,1755657490.010 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:10.010Z,1755657490.010 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:10.142Z,1755657490.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 226.100006 m,
deltaT: 3.781402 s,
deltaX: -2.500000 m,
approachRate: -0.661130 m/s,
rangeRepo size: 4
2025-08-20T02:38:10.144Z,1755657490.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 226.100006 m,
bearing: 5.841661 deg,
lat: 36.779338 deg,
lon: -121.859416 deg,
deltaT: 3.781402 s,
deltaX: -2.500000 m,
approachRate: -0.661130 m/s,
posRepo size: 4
2025-08-20T02:38:10.145Z,1755657490.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.10 m.
2025-08-20T02:38:10.152Z,1755657490.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.100006 m,
nav range: 222.897568 m,
bearing: 5.841661 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021527 deg/s,
cmd heading: 6.653532 deg,
new cmd heading: 6.685583 deg.
2025-08-20T02:38:10.507Z,1755657490.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.10 m.
2025-08-20T02:38:10.510Z,1755657490.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.100006 m,
nav range: 222.641296 m,
bearing: 5.849209 deg,
approach rate: -0.693051 m/s,
LOS rate: 0.020435 deg/s,
cmd heading: 6.685583 deg,
new cmd heading: 6.708252 deg.
2025-08-20T02:38:10.955Z,1755657490.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.10 m.
2025-08-20T02:38:10.971Z,1755657490.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.100006 m,
nav range: 222.376511 m,
bearing: 5.856983 deg,
approach rate: -0.598256 m/s,
LOS rate: 0.017585 deg/s,
cmd heading: 6.708252 deg,
new cmd heading: 6.731602 deg.
2025-08-20T02:38:11.345Z,1755657491.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.10 m.
2025-08-20T02:38:11.348Z,1755657491.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.100006 m,
nav range: 222.084763 m,
bearing: 5.865590 deg,
approach rate: -0.737233 m/s,
LOS rate: 0.021777 deg/s,
cmd heading: 6.731602 deg,
new cmd heading: 6.757456 deg.
2025-08-20T02:38:11.712Z,1755657491.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:11.714Z,1755657491.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.10 m.
2025-08-20T02:38:11.717Z,1755657491.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.100006 m,
nav range: 221.839111 m,
bearing: 5.872855 deg,
approach rate: -0.666637 m/s,
LOS rate: 0.019738 deg/s,
cmd heading: 6.757456 deg,
new cmd heading: 6.779275 deg.
2025-08-20T02:38:11.903Z,1755657491.903 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:11.903Z,1755657491.903 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:11.903Z,1755657491.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:12.155Z,1755657492.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222070
2025-08-20T02:38:12.165Z,1755657492.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.10 m.
2025-08-20T02:38:12.189Z,1755657492.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.100006 m,
nav range: 221.537262 m,
bearing: 5.879695 deg,
approach rate: -0.669952 m/s,
LOS rate: 0.015202 deg/s,
cmd heading: 6.779275 deg,
new cmd heading: 6.799823 deg.
2025-08-20T02:38:12.408Z,1755657492.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475182
2025-08-20T02:38:12.520Z,1755657492.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.10 m.
2025-08-20T02:38:12.524Z,1755657492.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.100006 m,
nav range: 221.292557 m,
bearing: 5.885249 deg,
approach rate: -0.687424 m/s,
LOS rate: 0.015619 deg/s,
cmd heading: 6.799823 deg,
new cmd heading: 6.816503 deg.
2025-08-20T02:38:12.658Z,1755657492.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725767
2025-08-20T02:38:12.910Z,1755657492.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977804
2025-08-20T02:38:12.992Z,1755657492.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.10 m.
2025-08-20T02:38:13.006Z,1755657493.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.100006 m,
nav range: 221.010956 m,
bearing: 5.891594 deg,
approach rate: -0.598312 m/s,
LOS rate: 0.013500 deg/s,
cmd heading: 6.816503 deg,
new cmd heading: 6.835564 deg.
2025-08-20T02:38:13.163Z,1755657493.163 [DAT](INFO): DAT read: Rx Time:02:38:11.1573
2025-08-20T02:38:13.164Z,1755657493.164 [DAT](INFO): Rx dataTimestamp_ set to:1755657493.163169
2025-08-20T02:38:13.164Z,1755657493.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231708
2025-08-20T02:38:13.366Z,1755657493.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.10 m.
2025-08-20T02:38:13.369Z,1755657493.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 226.100006 m,
nav range: 220.724197 m,
bearing: 5.898033 deg,
approach rate: -0.764296 m/s,
LOS rate: 0.017184 deg/s,
cmd heading: 6.835564 deg,
new cmd heading: 6.854906 deg.
2025-08-20T02:38:13.415Z,1755657493.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482469
2025-08-20T02:38:13.683Z,1755657493.683 [DAT](INFO): DAT read: 02:38:11.1573 LVL= 32752, 32753, 32114, 32755, AGC= 67, IDX= 409,-0.43, 0.737,-0.931, 0.894, 0.392, PHS= 0.447,-1.278, 0.458, RAW= 150.3, 4.4, CAL= 149.5, 4.4, ROT= 0.5, -4.4
2025-08-20T02:38:13.689Z,1755657493.689 [DAT](INFO): got valid direction response:
02:38:11.1573 LVL= 32752, 32753, 32114, 32755, AGC= 67, IDX= 409,-0.43, 0.737,-0.931, 0.894, 0.392, PHS= 0.447,-1.278, 0.458, RAW= 150.3, 4.4, CAL= 149.5, 4.4, ROT= 0.5, -4.4
2025-08-20T02:38:13.692Z,1755657493.692 [DAT](INFO): DAT read: Bearing 168.3, 6.1 (Local)
2025-08-20T02:38:13.693Z,1755657493.693 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.3, 6.1 (Local)
2025-08-20T02:38:13.696Z,1755657493.696 [DAT](INFO): DAT read: Range 11 to 50 : 223.5 m (Round-trip 298.0 ms) speed 0.5 m/s
2025-08-20T02:38:13.696Z,1755657493.696 [DAT](INFO): DAT read: user:3188>
2025-08-20T02:38:13.709Z,1755657493.709 [DAT](INFO): DAT read: Tx time:02:38:12.2551
2025-08-20T02:38:13.710Z,1755657493.710 [DAT](INFO): Ping request sent.
2025-08-20T02:38:13.710Z,1755657493.710 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:13.710Z,1755657493.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:13.711Z,1755657493.711 [DAT](INFO): direction in FSK: [0.997015,0.008701,0.076719]
2025-08-20T02:38:13.711Z,1755657493.711 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:13.712Z,1755657493.712 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:13.719Z,1755657493.719 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:13.719Z,1755657493.719 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:13.805Z,1755657493.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 223.500000 m,
deltaT: 3.784044 s,
deltaX: -2.600006 m,
approachRate: -0.687097 m/s,
rangeRepo size: 4
2025-08-20T02:38:13.808Z,1755657493.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 223.500000 m,
bearing: 5.925653 deg,
lat: 36.779337 deg,
lon: -121.859415 deg,
deltaT: 3.784044 s,
deltaX: -2.600006 m,
approachRate: -0.687097 m/s,
posRepo size: 4
2025-08-20T02:38:13.808Z,1755657493.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-20T02:38:13.815Z,1755657493.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.500000 m,
nav range: 220.432495 m,
bearing: 5.925653 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017184 deg/s,
cmd heading: 6.854906 deg,
new cmd heading: 6.877302 deg.
2025-08-20T02:38:14.164Z,1755657494.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:14.170Z,1755657494.170 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:14.170Z,1755657494.170 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:14.171Z,1755657494.171 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:14.187Z,1755657494.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-20T02:38:14.195Z,1755657494.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.500000 m,
nav range: 220.143219 m,
bearing: 5.930294 deg,
approach rate: -0.749321 m/s,
LOS rate: 0.012037 deg/s,
cmd heading: 6.877303 deg,
new cmd heading: 6.891243 deg.
2025-08-20T02:38:14.424Z,1755657494.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.714277
2025-08-20T02:38:14.538Z,1755657494.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-20T02:38:14.541Z,1755657494.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.500000 m,
nav range: 219.889313 m,
bearing: 5.934380 deg,
approach rate: -0.721577 m/s,
LOS rate: 0.011625 deg/s,
cmd heading: 6.891243 deg,
new cmd heading: 6.903515 deg.
2025-08-20T02:38:14.674Z,1755657494.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.964542
2025-08-20T02:38:14.927Z,1755657494.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216676
2025-08-20T02:38:14.998Z,1755657494.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-20T02:38:15.016Z,1755657495.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.500000 m,
nav range: 219.612762 m,
bearing: 5.938808 deg,
approach rate: -0.609501 m/s,
LOS rate: 0.009772 deg/s,
cmd heading: 6.903515 deg,
new cmd heading: 6.916817 deg.
2025-08-20T02:38:15.179Z,1755657495.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469148
2025-08-20T02:38:15.430Z,1755657495.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720584
2025-08-20T02:38:15.448Z,1755657495.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-20T02:38:15.452Z,1755657495.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.500000 m,
nav range: 219.284317 m,
bearing: 5.943877 deg,
approach rate: -0.719843 m/s,
LOS rate: 0.011126 deg/s,
cmd heading: 6.916817 deg,
new cmd heading: 6.932046 deg.
2025-08-20T02:38:15.683Z,1755657495.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972728
2025-08-20T02:38:15.817Z,1755657495.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-20T02:38:15.819Z,1755657495.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.500000 m,
nav range: 219.020660 m,
bearing: 5.947914 deg,
approach rate: -0.716273 m/s,
LOS rate: 0.010981 deg/s,
cmd heading: 6.932046 deg,
new cmd heading: 6.944172 deg.
2025-08-20T02:38:15.934Z,1755657495.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224611
2025-08-20T02:38:16.189Z,1755657496.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478688
2025-08-20T02:38:16.348Z,1755657496.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:16.351Z,1755657496.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-20T02:38:16.354Z,1755657496.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.500000 m,
nav range: 218.666229 m,
bearing: 5.952702 deg,
approach rate: -0.662662 m/s,
LOS rate: 0.008966 deg/s,
cmd heading: 6.944172 deg,
new cmd heading: 6.958558 deg.
2025-08-20T02:38:16.438Z,1755657496.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728622
2025-08-20T02:38:16.690Z,1755657496.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980664
2025-08-20T02:38:16.823Z,1755657496.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-20T02:38:16.826Z,1755657496.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.500000 m,
nav range: 218.340485 m,
bearing: 5.957127 deg,
approach rate: -0.690049 m/s,
LOS rate: 0.009388 deg/s,
cmd heading: 6.958558 deg,
new cmd heading: 6.971854 deg.
2025-08-20T02:38:16.942Z,1755657496.942 [DAT](INFO): DAT read: Rx Time:02:38:14.9539
2025-08-20T02:38:16.943Z,1755657496.943 [DAT](INFO): Rx dataTimestamp_ set to:1755657496.942581
2025-08-20T02:38:16.943Z,1755657496.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233633
2025-08-20T02:38:17.195Z,1755657497.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485434
2025-08-20T02:38:17.311Z,1755657497.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.50 m.
2025-08-20T02:38:17.314Z,1755657497.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.500000 m,
nav range: 218.011810 m,
bearing: 5.962311 deg,
approach rate: -0.674041 m/s,
LOS rate: 0.010647 deg/s,
cmd heading: 6.971854 deg,
new cmd heading: 6.987430 deg.
2025-08-20T02:38:17.449Z,1755657497.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.738867
2025-08-20T02:38:17.704Z,1755657497.704 [DAT](INFO): DAT read: 02:38:14.9539 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.01,-0.659,-2.313,-0.530,-1.027, PHS= 0.470,-1.241, 0.453, RAW= 149.5, 3.8, CAL= 148.7, 3.8, ROT= 1.3, -3.8
2025-08-20T02:38:17.705Z,1755657497.705 [DAT](INFO): got valid direction response:
02:38:14.9539 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.01,-0.659,-2.313,-0.530,-1.027, PHS= 0.470,-1.241, 0.453, RAW= 149.5, 3.8, CAL= 148.7, 3.8, ROT= 1.3, -3.8
2025-08-20T02:38:17.706Z,1755657497.706 [DAT](INFO): DAT read: Bearing 167.8, 6.8 (Local)
2025-08-20T02:38:17.707Z,1755657497.707 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.8, 6.8 (Local)
2025-08-20T02:38:17.708Z,1755657497.708 [DAT](INFO): DAT read: Range 11 to 50 : 220.9 m (Round-trip 294.6 ms) speed 0.2 m/s
2025-08-20T02:38:17.709Z,1755657497.709 [DAT](INFO): DAT read: user:3189>
2025-08-20T02:38:17.710Z,1755657497.710 [DAT](INFO): DAT read: Tx time:02:38:16.0551
2025-08-20T02:38:17.710Z,1755657497.710 [DAT](INFO): Ping request sent.
2025-08-20T02:38:17.710Z,1755657497.710 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:17.710Z,1755657497.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:17.711Z,1755657497.711 [DAT](INFO): direction in FSK: [0.997545,0.022637,0.066274]
2025-08-20T02:38:17.712Z,1755657497.712 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:17.712Z,1755657497.712 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:17.715Z,1755657497.715 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:17.715Z,1755657497.715 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:17.776Z,1755657497.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 220.899994 m,
deltaT: 4.030413 s,
deltaX: -2.600006 m,
approachRate: -0.645097 m/s,
rangeRepo size: 4
2025-08-20T02:38:17.784Z,1755657497.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 220.899994 m,
bearing: 5.967086 deg,
lat: 36.779337 deg,
lon: -121.859415 deg,
deltaT: 4.030413 s,
deltaX: -2.600006 m,
approachRate: -0.645097 m/s,
posRepo size: 4
2025-08-20T02:38:17.790Z,1755657497.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.90 m.
2025-08-20T02:38:17.793Z,1755657497.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 220.899994 m,
nav range: 217.709930 m,
bearing: 5.967086 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.010647 deg/s,
cmd heading: 6.987430 deg,
new cmd heading: 7.002263 deg.
2025-08-20T02:38:18.247Z,1755657498.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.90 m.
2025-08-20T02:38:18.249Z,1755657498.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 220.899994 m,
nav range: 217.386108 m,
bearing: 5.972647 deg,
approach rate: -0.687415 m/s,
LOS rate: 0.011821 deg/s,
cmd heading: 7.002263 deg,
new cmd heading: 7.018969 deg.
2025-08-20T02:38:18.612Z,1755657498.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:18.614Z,1755657498.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.90 m.
2025-08-20T02:38:18.617Z,1755657498.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 220.899994 m,
nav range: 217.142471 m,
bearing: 5.976815 deg,
approach rate: -0.663558 m/s,
LOS rate: 0.011366 deg/s,
cmd heading: 7.018969 deg,
new cmd heading: 7.031488 deg.
2025-08-20T02:38:18.707Z,1755657498.707 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:18.707Z,1755657498.707 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:18.707Z,1755657498.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:18.959Z,1755657498.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248429
2025-08-20T02:38:18.993Z,1755657498.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.90 m.
2025-08-20T02:38:18.996Z,1755657498.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 220.899994 m,
nav range: 216.893692 m,
bearing: 5.981082 deg,
approach rate: -0.656159 m/s,
LOS rate: 0.011266 deg/s,
cmd heading: 7.031488 deg,
new cmd heading: 7.044303 deg.
2025-08-20T02:38:19.210Z,1755657499.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500254
2025-08-20T02:38:19.462Z,1755657499.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752376
2025-08-20T02:38:19.497Z,1755657499.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.90 m.
2025-08-20T02:38:19.500Z,1755657499.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 220.899994 m,
nav range: 216.554337 m,
bearing: 5.986327 deg,
approach rate: -0.673470 m/s,
LOS rate: 0.010425 deg/s,
cmd heading: 7.044303 deg,
new cmd heading: 7.060062 deg.
2025-08-20T02:38:19.715Z,1755657499.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004760
2025-08-20T02:38:19.834Z,1755657499.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.90 m.
2025-08-20T02:38:19.837Z,1755657499.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 220.899994 m,
nav range: 216.329758 m,
bearing: 5.989775 deg,
approach rate: -0.666630 m/s,
LOS rate: 0.010247 deg/s,
cmd heading: 7.060062 deg,
new cmd heading: 7.070418 deg.
2025-08-20T02:38:19.966Z,1755657499.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256301
2025-08-20T02:38:20.218Z,1755657500.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508324
2025-08-20T02:38:20.283Z,1755657500.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.90 m.
2025-08-20T02:38:20.286Z,1755657500.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 220.899994 m,
nav range: 216.044357 m,
bearing: 5.995992 deg,
approach rate: -0.635367 m/s,
LOS rate: 0.013860 deg/s,
cmd heading: 7.070418 deg,
new cmd heading: 7.089095 deg.
2025-08-20T02:38:20.470Z,1755657500.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760320
2025-08-20T02:38:20.653Z,1755657500.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:20.656Z,1755657500.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.90 m.
2025-08-20T02:38:20.659Z,1755657500.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 220.899994 m,
nav range: 215.786194 m,
bearing: 6.001607 deg,
approach rate: -0.692014 m/s,
LOS rate: 0.015067 deg/s,
cmd heading: 7.089096 deg,
new cmd heading: 7.105958 deg.
2025-08-20T02:38:20.724Z,1755657500.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013129
2025-08-20T02:38:20.974Z,1755657500.974 [DAT](INFO): DAT read: Rx Time:02:38:18.7505
2025-08-20T02:38:20.975Z,1755657500.975 [DAT](INFO): Rx dataTimestamp_ set to:1755657500.974662
2025-08-20T02:38:20.975Z,1755657500.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265417
2025-08-20T02:38:21.093Z,1755657501.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.90 m.
2025-08-20T02:38:21.115Z,1755657501.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 220.899994 m,
nav range: 215.526703 m,
bearing: 6.007225 deg,
approach rate: -0.595950 m/s,
LOS rate: 0.012919 deg/s,
cmd heading: 7.105958 deg,
new cmd heading: 7.122835 deg.
2025-08-20T02:38:21.230Z,1755657501.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518631
2025-08-20T02:38:21.484Z,1755657501.484 [DAT](INFO): DAT read: 02:38:18.7505 LVL= 32752, 32753, 32610, 32755, AGC= 67, IDX= 403,-0.15, 2.072, 0.427, 2.223, 1.698, PHS= 0.476,-1.226, 0.481, RAW= 150.1, 3.2, CAL= 149.2, 3.1, ROT= 0.8, -3.1
2025-08-20T02:38:21.485Z,1755657501.485 [DAT](INFO): got valid direction response:
02:38:18.7505 LVL= 32752, 32753, 32610, 32755, AGC= 67, IDX= 403,-0.15, 2.072, 0.427, 2.223, 1.698, PHS= 0.476,-1.226, 0.481, RAW= 150.1, 3.2, CAL= 149.2, 3.1, ROT= 0.8, -3.1
2025-08-20T02:38:21.486Z,1755657501.486 [DAT](INFO): DAT read: Bearing 167.4, 6.2 (Local)
2025-08-20T02:38:21.487Z,1755657501.487 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.4, 6.2 (Local)
2025-08-20T02:38:21.488Z,1755657501.488 [DAT](INFO): DAT read: Range 11 to 50 : 218.4 m (Round-trip 291.3 ms) speed 0.4 m/s
2025-08-20T02:38:21.489Z,1755657501.489 [DAT](INFO): DAT read: user:3190>
2025-08-20T02:38:21.490Z,1755657501.490 [DAT](INFO): DAT read: Tx time:02:38:19.8551
2025-08-20T02:38:21.490Z,1755657501.490 [DAT](INFO): Ping request sent.
2025-08-20T02:38:21.490Z,1755657501.490 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:21.490Z,1755657501.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:21.491Z,1755657501.491 [DAT](INFO): direction in FSK: [0.998439,0.013942,0.054079]
2025-08-20T02:38:21.492Z,1755657501.492 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:21.492Z,1755657501.492 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:21.495Z,1755657501.495 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:21.495Z,1755657501.495 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:21.655Z,1755657501.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 218.399994 m,
deltaT: 3.779888 s,
deltaX: -2.500000 m,
approachRate: -0.661395 m/s,
rangeRepo size: 4
2025-08-20T02:38:21.662Z,1755657501.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 218.399994 m,
bearing: 6.058086 deg,
lat: 36.779338 deg,
lon: -121.859413 deg,
deltaT: 3.779888 s,
deltaX: -2.500000 m,
approachRate: -0.661395 m/s,
posRepo size: 4
2025-08-20T02:38:21.662Z,1755657501.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m.
2025-08-20T02:38:21.665Z,1755657501.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 218.399994 m,
nav range: 215.216522 m,
bearing: 6.058086 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012919 deg/s,
cmd heading: 7.122835 deg,
new cmd heading: 7.144665 deg.
2025-08-20T02:38:22.006Z,1755657502.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m.
2025-08-20T02:38:22.008Z,1755657502.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 218.399994 m,
nav range: 214.973206 m,
bearing: 6.063388 deg,
approach rate: -0.693488 m/s,
LOS rate: 0.015129 deg/s,
cmd heading: 7.144665 deg,
new cmd heading: 7.160590 deg.
2025-08-20T02:38:22.430Z,1755657502.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m.
2025-08-20T02:38:22.432Z,1755657502.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 218.399994 m,
nav range: 214.696472 m,
bearing: 6.069270 deg,
approach rate: -0.652785 m/s,
LOS rate: 0.013893 deg/s,
cmd heading: 7.160590 deg,
new cmd heading: 7.178259 deg.
2025-08-20T02:38:22.799Z,1755657502.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:22.801Z,1755657502.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m.
2025-08-20T02:38:22.803Z,1755657502.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 218.399994 m,
nav range: 214.441742 m,
bearing: 6.074687 deg,
approach rate: -0.686042 m/s,
LOS rate: 0.014606 deg/s,
cmd heading: 7.178258 deg,
new cmd heading: 7.194528 deg.
2025-08-20T02:38:22.994Z,1755657502.994 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:22.994Z,1755657502.994 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:22.994Z,1755657502.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:23.227Z,1755657503.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m.
2025-08-20T02:38:23.230Z,1755657503.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 218.399994 m,
nav range: 214.160721 m,
bearing: 6.080626 deg,
approach rate: -0.658478 m/s,
LOS rate: 0.013934 deg/s,
cmd heading: 7.194528 deg,
new cmd heading: 7.212368 deg.
2025-08-20T02:38:23.242Z,1755657503.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752228
2025-08-20T02:38:23.494Z,1755657503.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004339
2025-08-20T02:38:23.703Z,1755657503.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m.
2025-08-20T02:38:23.706Z,1755657503.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 218.399994 m,
nav range: 213.847870 m,
bearing: 6.087233 deg,
approach rate: -0.658103 m/s,
LOS rate: 0.013921 deg/s,
cmd heading: 7.212368 deg,
new cmd heading: 7.232221 deg.
2025-08-20T02:38:23.747Z,1755657503.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256425
2025-08-20T02:38:23.998Z,1755657503.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508359
2025-08-20T02:38:24.162Z,1755657504.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m.
2025-08-20T02:38:24.180Z,1755657504.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 218.399994 m,
nav range: 213.578049 m,
bearing: 6.092942 deg,
approach rate: -0.601175 m/s,
LOS rate: 0.012735 deg/s,
cmd heading: 7.232221 deg,
new cmd heading: 7.249368 deg.
2025-08-20T02:38:24.251Z,1755657504.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760556
2025-08-20T02:38:24.505Z,1755657504.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015145
2025-08-20T02:38:24.663Z,1755657504.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m.
2025-08-20T02:38:24.666Z,1755657504.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 218.399994 m,
nav range: 213.219055 m,
bearing: 6.102014 deg,
approach rate: -0.702056 m/s,
LOS rate: 0.017771 deg/s,
cmd heading: 7.249368 deg,
new cmd heading: 7.276629 deg.
2025-08-20T02:38:24.755Z,1755657504.755 [DAT](INFO): DAT read: Rx Time:02:38:22.5695
2025-08-20T02:38:24.755Z,1755657504.755 [DAT](INFO): Rx dataTimestamp_ set to:1755657504.755091
2025-08-20T02:38:24.756Z,1755657504.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265851
2025-08-20T02:38:25.007Z,1755657505.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516998
2025-08-20T02:38:25.216Z,1755657505.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:25.223Z,1755657505.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.40 m.
2025-08-20T02:38:25.225Z,1755657505.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 218.399994 m,
nav range: 212.860413 m,
bearing: 6.110956 deg,
approach rate: -0.640961 m/s,
LOS rate: 0.016009 deg/s,
cmd heading: 7.276629 deg,
new cmd heading: 7.303502 deg.
2025-08-20T02:38:25.264Z,1755657505.264 [DAT](INFO): DAT read: 02:38:22.5695 LVL= 31216, 26705, 24994, 23219, AGC= 71, IDX= 113, 0.18,-1.261,-2.348,-0.945,-1.995, PHS= 0.835,-0.308, 1.006, RAW= 156.8, -23.7, CAL= 158.9, -24.9, ROT= 351.1, 24.9
2025-08-20T02:38:25.266Z,1755657505.266 [DAT](INFO): got valid direction response:
02:38:22.5695 LVL= 31216, 26705, 24994, 23219, AGC= 71, IDX= 113, 0.18,-1.261,-2.348,-0.945,-1.995, PHS= 0.835,-0.308, 1.006, RAW= 156.8, -23.7, CAL= 158.9, -24.9, ROT= 351.1, 24.9
2025-08-20T02:38:25.267Z,1755657505.267 [DAT](INFO): DAT read: Bearing 140.1, -3.9 (Local)
2025-08-20T02:38:25.267Z,1755657505.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 140.1, -3.9 (Local)
2025-08-20T02:38:25.268Z,1755657505.268 [DAT](INFO): DAT read: Range 11 to 50 : 232.6 m (Round-trip 310.2 ms) speed 0.4 m/s
2025-08-20T02:38:25.269Z,1755657505.269 [DAT](INFO): DAT read: user:3191>
2025-08-20T02:38:25.270Z,1755657505.270 [DAT](INFO): DAT read: Tx time:02:38:23.6551
2025-08-20T02:38:25.270Z,1755657505.270 [DAT](INFO): Ping request sent.
2025-08-20T02:38:25.270Z,1755657505.270 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:25.271Z,1755657505.271 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:25.272Z,1755657505.272 [DAT](INFO): direction in FSK: [0.896123,-0.140329,-0.421036]
2025-08-20T02:38:25.272Z,1755657505.272 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:25.272Z,1755657505.272 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:25.287Z,1755657505.287 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:25.288Z,1755657505.288 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:25.605Z,1755657505.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 232.600006 m,
deltaT: 3.780143 s,
deltaX: 14.200012 m,
approachRate: 3.756475 m/s,
rangeRepo size: 4
2025-08-20T02:38:25.611Z,1755657505.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 232.600006 m,
bearing: 6.113521 deg,
lat: 36.779339 deg,
lon: -121.859413 deg,
deltaT: 3.780143 s,
deltaX: 14.200012 m,
approachRate: 3.756475 m/s,
posRepo size: 4
2025-08-20T02:38:25.612Z,1755657505.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:25.618Z,1755657505.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 212.735321 m,
bearing: 6.113521 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016009 deg/s,
cmd heading: 7.303502 deg,
new cmd heading: 7.321824 deg.
2025-08-20T02:38:25.952Z,1755657505.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:25.955Z,1755657505.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 212.481857 m,
bearing: 6.119691 deg,
approach rate: -0.728499 m/s,
LOS rate: 0.017755 deg/s,
cmd heading: 7.321824 deg,
new cmd heading: 7.340356 deg.
2025-08-20T02:38:26.387Z,1755657506.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:26.394Z,1755657506.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 212.208740 m,
bearing: 6.126171 deg,
approach rate: -0.627388 m/s,
LOS rate: 0.014905 deg/s,
cmd heading: 7.340356 deg,
new cmd heading: 7.359821 deg.
2025-08-20T02:38:26.752Z,1755657506.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:26.755Z,1755657506.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 211.955048 m,
bearing: 6.132207 deg,
approach rate: -0.695368 m/s,
LOS rate: 0.016562 deg/s,
cmd heading: 7.359821 deg,
new cmd heading: 7.377948 deg.
2025-08-20T02:38:27.226Z,1755657507.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:27.228Z,1755657507.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:27.235Z,1755657507.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 211.647141 m,
bearing: 6.139556 deg,
approach rate: -0.646879 m/s,
LOS rate: 0.015463 deg/s,
cmd heading: 7.377948 deg,
new cmd heading: 7.400029 deg.
2025-08-20T02:38:27.275Z,1755657507.275 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:27.275Z,1755657507.275 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:27.275Z,1755657507.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:27.526Z,1755657507.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256074
2025-08-20T02:38:27.606Z,1755657507.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:27.608Z,1755657507.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 211.390137 m,
bearing: 6.145126 deg,
approach rate: -0.680794 m/s,
LOS rate: 0.014772 deg/s,
cmd heading: 7.400029 deg,
new cmd heading: 7.416759 deg.
2025-08-20T02:38:27.778Z,1755657507.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507966
2025-08-20T02:38:27.978Z,1755657507.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:27.980Z,1755657507.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 211.140274 m,
bearing: 6.150554 deg,
approach rate: -0.672059 m/s,
LOS rate: 0.014617 deg/s,
cmd heading: 7.416759 deg,
new cmd heading: 7.433062 deg.
2025-08-20T02:38:28.031Z,1755657508.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760152
2025-08-20T02:38:28.282Z,1755657508.282 [DAT](INFO): DAT read: Rx Time:02:38:26.3437
2025-08-20T02:38:28.283Z,1755657508.283 [DAT](INFO): Rx dataTimestamp_ set to:1755657508.282675
2025-08-20T02:38:28.284Z,1755657508.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013128
2025-08-20T02:38:28.442Z,1755657508.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:28.444Z,1755657508.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 210.854462 m,
bearing: 6.156598 deg,
approach rate: -0.661021 m/s,
LOS rate: 0.013996 deg/s,
cmd heading: 7.433063 deg,
new cmd heading: 7.451217 deg.
2025-08-20T02:38:28.535Z,1755657508.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264196
2025-08-20T02:38:28.783Z,1755657508.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:28.787Z,1755657508.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516204
2025-08-20T02:38:28.787Z,1755657508.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 210.606277 m,
bearing: 6.161835 deg,
approach rate: -0.664977 m/s,
LOS rate: 0.014049 deg/s,
cmd heading: 7.451217 deg,
new cmd heading: 7.466948 deg.
2025-08-20T02:38:29.052Z,1755657509.052 [DAT](INFO): DAT read: 02:38:26.3437 LVL= 31840, 32753, 31266, 32755, AGC= 67, IDX= 173,-0.03, 2.016, 0.405, 2.192, 1.669, PHS= 0.448,-1.219, 0.479, RAW= 150.9, 3.5, CAL= 149.9, 3.4, ROT= 0.1, -3.4
2025-08-20T02:38:29.055Z,1755657509.055 [DAT](INFO): got valid direction response:
02:38:26.3437 LVL= 31840, 32753, 31266, 32755, AGC= 67, IDX= 173,-0.03, 2.016, 0.405, 2.192, 1.669, PHS= 0.448,-1.219, 0.479, RAW= 150.9, 3.5, CAL= 149.9, 3.4, ROT= 0.1, -3.4
2025-08-20T02:38:29.056Z,1755657509.056 [DAT](INFO): DAT read: Bearing 168.4, 6.5 (Local)
2025-08-20T02:38:29.056Z,1755657509.056 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.4, 6.5 (Local)
2025-08-20T02:38:29.059Z,1755657509.059 [DAT](INFO): DAT read: Range 11 to 50 : 213.3 m (Round-trip 284.4 ms) speed 0.7 m/s
2025-08-20T02:38:29.061Z,1755657509.061 [DAT](INFO): DAT read: user:3192>
2025-08-20T02:38:29.070Z,1755657509.070 [DAT](INFO): DAT read: Tx time:02:38:27.4566
2025-08-20T02:38:29.071Z,1755657509.071 [DAT](INFO): Ping request sent.
2025-08-20T02:38:29.071Z,1755657509.071 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:29.071Z,1755657509.071 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:29.072Z,1755657509.072 [DAT](INFO): direction in FSK: [0.998238,0.001742,0.059306]
2025-08-20T02:38:29.073Z,1755657509.073 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:29.073Z,1755657509.073 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:29.076Z,1755657509.076 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:29.076Z,1755657509.076 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:29.321Z,1755657509.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 213.300003 m,
deltaT: 3.780836 s,
deltaX: -19.300003 m,
approachRate: -5.104692 m/s,
rangeRepo size: 4
2025-08-20T02:38:29.322Z,1755657509.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:29.325Z,1755657509.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 210.255707 m,
bearing: 6.169504 deg,
approach rate: -0.652524 m/s,
LOS rate: 0.014299 deg/s,
cmd heading: 7.466948 deg,
new cmd heading: 7.489994 deg.
2025-08-20T02:38:29.658Z,1755657509.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:29.660Z,1755657509.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:29.663Z,1755657509.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 210.017014 m,
bearing: 6.174678 deg,
approach rate: -0.702398 m/s,
LOS rate: 0.015243 deg/s,
cmd heading: 7.489994 deg,
new cmd heading: 7.505534 deg.
2025-08-20T02:38:29.794Z,1755657509.794 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:29.794Z,1755657509.794 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:29.794Z,1755657509.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:30.047Z,1755657510.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975610
2025-08-20T02:38:30.089Z,1755657510.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:30.092Z,1755657510.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 209.727890 m,
bearing: 6.180962 deg,
approach rate: -0.674262 m/s,
LOS rate: 0.014674 deg/s,
cmd heading: 7.505534 deg,
new cmd heading: 7.524410 deg.
2025-08-20T02:38:30.299Z,1755657510.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228653
2025-08-20T02:38:30.511Z,1755657510.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:30.514Z,1755657510.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 209.444260 m,
bearing: 6.187474 deg,
approach rate: -0.672022 m/s,
LOS rate: 0.015450 deg/s,
cmd heading: 7.524410 deg,
new cmd heading: 7.543973 deg.
2025-08-20T02:38:30.551Z,1755657510.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480381
2025-08-20T02:38:30.802Z,1755657510.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731676
2025-08-20T02:38:30.864Z,1755657510.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:30.868Z,1755657510.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 209.206818 m,
bearing: 6.192890 deg,
approach rate: -0.671556 m/s,
LOS rate: 0.015335 deg/s,
cmd heading: 7.543973 deg,
new cmd heading: 7.560239 deg.
2025-08-20T02:38:31.056Z,1755657511.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984846
2025-08-20T02:38:31.307Z,1755657511.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235715
2025-08-20T02:38:31.334Z,1755657511.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:31.337Z,1755657511.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 208.890121 m,
bearing: 6.199849 deg,
approach rate: -0.673839 m/s,
LOS rate: 0.014829 deg/s,
cmd heading: 7.560239 deg,
new cmd heading: 7.581148 deg.
2025-08-20T02:38:31.559Z,1755657511.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488534
2025-08-20T02:38:31.680Z,1755657511.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:31.683Z,1755657511.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:31.686Z,1755657511.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 208.656143 m,
bearing: 6.205003 deg,
approach rate: -0.671508 m/s,
LOS rate: 0.014809 deg/s,
cmd heading: 7.581148 deg,
new cmd heading: 7.596628 deg.
2025-08-20T02:38:31.811Z,1755657511.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739688
2025-08-20T02:38:32.064Z,1755657512.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993056
2025-08-20T02:38:32.110Z,1755657512.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:32.113Z,1755657512.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 208.367493 m,
bearing: 6.211367 deg,
approach rate: -0.675503 m/s,
LOS rate: 0.014915 deg/s,
cmd heading: 7.596628 deg,
new cmd heading: 7.615747 deg.
2025-08-20T02:38:32.315Z,1755657512.315 [DAT](INFO): DAT read: Rx Time:02:38:30.1417
2025-08-20T02:38:32.315Z,1755657512.315 [DAT](INFO): Rx dataTimestamp_ set to:1755657512.314694
2025-08-20T02:38:32.316Z,1755657512.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244778
2025-08-20T02:38:32.567Z,1755657512.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495758
2025-08-20T02:38:32.670Z,1755657512.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.60 m.
2025-08-20T02:38:32.686Z,1755657512.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 232.600006 m,
nav range: 208.024902 m,
bearing: 6.218059 deg,
approach rate: -0.618353 m/s,
LOS rate: 0.012097 deg/s,
cmd heading: 7.615747 deg,
new cmd heading: 7.635854 deg.
2025-08-20T02:38:32.824Z,1755657512.824 [DAT](INFO): DAT read: 02:38:30.1417 LVL= 32752, 32753, 29266, 32755, AGC= 68, IDX= 410,-0.32,-0.495,-2.147,-0.320,-0.846, PHS= 0.453,-1.256, 0.483, RAW= 150.8, 3.7, CAL= 149.9, 3.7, ROT= 0.1, -3.7
2025-08-20T02:38:32.825Z,1755657512.825 [DAT](INFO): got valid direction response:
02:38:30.1417 LVL= 32752, 32753, 29266, 32755, AGC= 68, IDX= 410,-0.32,-0.495,-2.147,-0.320,-0.846, PHS= 0.453,-1.256, 0.483, RAW= 150.8, 3.7, CAL= 149.9, 3.7, ROT= 0.1, -3.7
2025-08-20T02:38:32.826Z,1755657512.826 [DAT](INFO): DAT read: Bearing 168.9, 7.3 (Local)
2025-08-20T02:38:32.827Z,1755657512.827 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.9, 7.3 (Local)
2025-08-20T02:38:32.828Z,1755657512.828 [DAT](INFO): DAT read: Range 11 to 50 : 210.7 m (Round-trip 281.0 ms) speed 0.8 m/s
2025-08-20T02:38:32.829Z,1755657512.829 [DAT](INFO): DAT read: user:3193>
2025-08-20T02:38:32.830Z,1755657512.830 [DAT](INFO): DAT read: Tx time:02:38:31.2550
2025-08-20T02:38:32.830Z,1755657512.830 [DAT](INFO): Ping request sent.
2025-08-20T02:38:32.830Z,1755657512.830 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:32.830Z,1755657512.830 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:32.831Z,1755657512.831 [DAT](INFO): direction in FSK: [0.997914,0.001742,0.064532]
2025-08-20T02:38:32.831Z,1755657512.831 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:32.832Z,1755657512.832 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:32.835Z,1755657512.835 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:32.835Z,1755657512.835 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:33.040Z,1755657513.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 210.699997 m,
deltaT: 7.559953 s,
deltaX: -21.900009 m,
approachRate: -2.896845 m/s,
rangeRepo size: 4
2025-08-20T02:38:33.048Z,1755657513.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 210.699997 m,
bearing: 6.453179 deg,
lat: 36.779340 deg,
lon: -121.859404 deg,
deltaT: 7.559953 s,
deltaX: -21.900009 m,
approachRate: -2.896845 m/s,
posRepo size: 4
2025-08-20T02:38:33.049Z,1755657513.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.70 m.
2025-08-20T02:38:33.062Z,1755657513.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.699997 m,
nav range: 207.953278 m,
bearing: 6.453179 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012097 deg/s,
cmd heading: 7.635854 deg,
new cmd heading: 7.649454 deg.
2025-08-20T02:38:33.444Z,1755657513.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.70 m.
2025-08-20T02:38:33.447Z,1755657513.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.699997 m,
nav range: 207.661591 m,
bearing: 6.459101 deg,
approach rate: -0.719698 m/s,
LOS rate: 0.014632 deg/s,
cmd heading: 7.649454 deg,
new cmd heading: 7.667245 deg.
2025-08-20T02:38:33.817Z,1755657513.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:33.819Z,1755657513.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.70 m.
2025-08-20T02:38:33.822Z,1755657513.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.699997 m,
nav range: 207.412872 m,
bearing: 6.464182 deg,
approach rate: -0.662847 m/s,
LOS rate: 0.013559 deg/s,
cmd heading: 7.667245 deg,
new cmd heading: 7.682508 deg.
2025-08-20T02:38:33.826Z,1755657513.826 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:33.826Z,1755657513.826 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:33.827Z,1755657513.827 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:34.078Z,1755657514.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248404
2025-08-20T02:38:34.216Z,1755657514.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.70 m.
2025-08-20T02:38:34.235Z,1755657514.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.699997 m,
nav range: 207.155792 m,
bearing: 6.469448 deg,
approach rate: -0.647782 m/s,
LOS rate: 0.013284 deg/s,
cmd heading: 7.682508 deg,
new cmd heading: 7.698323 deg.
2025-08-20T02:38:34.331Z,1755657514.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500856
2025-08-20T02:38:34.583Z,1755657514.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752470
2025-08-20T02:38:34.636Z,1755657514.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.70 m.
2025-08-20T02:38:34.638Z,1755657514.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.699997 m,
nav range: 206.871429 m,
bearing: 6.474937 deg,
approach rate: -0.678456 m/s,
LOS rate: 0.013114 deg/s,
cmd heading: 7.698323 deg,
new cmd heading: 7.714813 deg.
2025-08-20T02:38:34.838Z,1755657514.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007529
2025-08-20T02:38:35.015Z,1755657515.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.70 m.
2025-08-20T02:38:35.018Z,1755657515.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.699997 m,
nav range: 206.622177 m,
bearing: 6.479714 deg,
approach rate: -0.656885 m/s,
LOS rate: 0.012606 deg/s,
cmd heading: 7.714813 deg,
new cmd heading: 7.729163 deg.
2025-08-20T02:38:35.087Z,1755657515.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257021
2025-08-20T02:38:35.339Z,1755657515.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508685
2025-08-20T02:38:35.449Z,1755657515.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.70 m.
2025-08-20T02:38:35.452Z,1755657515.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.699997 m,
nav range: 206.334778 m,
bearing: 6.485092 deg,
approach rate: -0.661972 m/s,
LOS rate: 0.012404 deg/s,
cmd heading: 7.729163 deg,
new cmd heading: 7.745319 deg.
2025-08-20T02:38:35.590Z,1755657515.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760394
2025-08-20T02:38:35.830Z,1755657515.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:35.832Z,1755657515.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.70 m.
2025-08-20T02:38:35.839Z,1755657515.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.699997 m,
nav range: 206.093033 m,
bearing: 6.489572 deg,
approach rate: -0.631440 m/s,
LOS rate: 0.011717 deg/s,
cmd heading: 7.745318 deg,
new cmd heading: 7.758775 deg.
2025-08-20T02:38:35.843Z,1755657515.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012514
2025-08-20T02:38:36.095Z,1755657516.095 [DAT](INFO): DAT read: Rx Time:02:38:33.9368
2025-08-20T02:38:36.096Z,1755657516.096 [DAT](INFO): Rx dataTimestamp_ set to:1755657516.095340
2025-08-20T02:38:36.096Z,1755657516.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266184
2025-08-20T02:38:36.238Z,1755657516.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.70 m.
2025-08-20T02:38:36.241Z,1755657516.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 210.699997 m,
nav range: 205.810059 m,
bearing: 6.494780 deg,
approach rate: -0.697283 m/s,
LOS rate: 0.012850 deg/s,
cmd heading: 7.758776 deg,
new cmd heading: 7.774420 deg.
2025-08-20T02:38:36.349Z,1755657516.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518771
2025-08-20T02:38:36.608Z,1755657516.608 [DAT](INFO): DAT read: 02:38:33.9368 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.38, 1.909, 0.396, 2.067, 1.563, PHS= 0.449,-1.122, 0.460, RAW= 150.4, 2.7, CAL= 149.4, 2.6, ROT= 0.6, -2.6
2025-08-20T02:38:36.610Z,1755657516.610 [DAT](INFO): got valid direction response:
02:38:33.9368 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.38, 1.909, 0.396, 2.067, 1.563, PHS= 0.449,-1.122, 0.460, RAW= 150.4, 2.7, CAL= 149.4, 2.6, ROT= 0.6, -2.6
2025-08-20T02:38:36.611Z,1755657516.611 [DAT](INFO): DAT read: Bearing 168.1, 8.5 (Local)
2025-08-20T02:38:36.611Z,1755657516.611 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.1, 8.5 (Local)
2025-08-20T02:38:36.612Z,1755657516.612 [DAT](INFO): DAT read: Range 11 to 50 : 208.2 m (Round-trip 277.6 ms) speed 0.3 m/s
2025-08-20T02:38:36.613Z,1755657516.613 [DAT](INFO): DAT read: user:3194>
2025-08-20T02:38:36.614Z,1755657516.614 [DAT](INFO): DAT read: Tx time:02:38:35.0550
2025-08-20T02:38:36.614Z,1755657516.614 [DAT](INFO): Ping request sent.
2025-08-20T02:38:36.614Z,1755657516.614 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:36.615Z,1755657516.615 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:36.616Z,1755657516.616 [DAT](INFO): direction in FSK: [0.998916,0.010461,0.045363]
2025-08-20T02:38:36.616Z,1755657516.616 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:36.616Z,1755657516.616 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:36.624Z,1755657516.624 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:36.624Z,1755657516.624 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:36.718Z,1755657516.718 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:38:36.764Z,1755657516.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 208.199997 m,
deltaT: 3.779792 s,
deltaX: -2.500000 m,
approachRate: -0.661412 m/s,
rangeRepo size: 4
2025-08-20T02:38:36.770Z,1755657516.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 208.199997 m,
bearing: 6.500715 deg,
lat: 36.779340 deg,
lon: -121.859404 deg,
deltaT: 3.779792 s,
deltaX: -2.500000 m,
approachRate: -0.661412 m/s,
posRepo size: 4
2025-08-20T02:38:36.771Z,1755657516.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.20 m.
2025-08-20T02:38:36.778Z,1755657516.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.199997 m,
nav range: 205.483429 m,
bearing: 6.500715 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012850 deg/s,
cmd heading: 7.774420 deg,
new cmd heading: 7.794683 deg.
2025-08-20T02:38:37.100Z,1755657517.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.20 m.
2025-08-20T02:38:37.104Z,1755657517.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.199997 m,
nav range: 205.253448 m,
bearing: 6.504863 deg,
approach rate: -0.683835 m/s,
LOS rate: 0.012348 deg/s,
cmd heading: 7.794683 deg,
new cmd heading: 7.807141 deg.
2025-08-20T02:38:37.567Z,1755657517.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.20 m.
2025-08-20T02:38:37.574Z,1755657517.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.199997 m,
nav range: 204.959778 m,
bearing: 6.509944 deg,
approach rate: -0.628257 m/s,
LOS rate: 0.010885 deg/s,
cmd heading: 7.807141 deg,
new cmd heading: 7.822405 deg.
2025-08-20T02:38:37.722Z,1755657517.722 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:38:37.908Z,1755657517.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:37.910Z,1755657517.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.20 m.
2025-08-20T02:38:37.912Z,1755657517.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.199997 m,
nav range: 204.718918 m,
bearing: 6.514088 deg,
approach rate: -0.703159 m/s,
LOS rate: 0.012112 deg/s,
cmd heading: 7.822405 deg,
new cmd heading: 7.834852 deg.
2025-08-20T02:38:38.111Z,1755657518.111 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:38.111Z,1755657518.111 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:38.111Z,1755657518.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:38.317Z,1755657518.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.20 m.
2025-08-20T02:38:38.320Z,1755657518.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.199997 m,
nav range: 204.452103 m,
bearing: 6.518619 deg,
approach rate: -0.654925 m/s,
LOS rate: 0.011137 deg/s,
cmd heading: 7.834852 deg,
new cmd heading: 7.848464 deg.
2025-08-20T02:38:38.365Z,1755657518.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750415
2025-08-20T02:38:38.614Z,1755657518.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000147
2025-08-20T02:38:38.851Z,1755657518.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.20 m.
2025-08-20T02:38:38.866Z,1755657518.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252164
2025-08-20T02:38:38.874Z,1755657518.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.199997 m,
nav range: 204.094376 m,
bearing: 6.526155 deg,
approach rate: -0.670100 m/s,
LOS rate: 0.014141 deg/s,
cmd heading: 7.848464 deg,
new cmd heading: 7.871111 deg.
2025-08-20T02:38:39.119Z,1755657519.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504716
2025-08-20T02:38:39.237Z,1755657519.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.20 m.
2025-08-20T02:38:39.240Z,1755657519.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.199997 m,
nav range: 203.841400 m,
bearing: 6.531479 deg,
approach rate: -0.655051 m/s,
LOS rate: 0.013804 deg/s,
cmd heading: 7.871111 deg,
new cmd heading: 7.887104 deg.
2025-08-20T02:38:39.373Z,1755657519.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758041
2025-08-20T02:38:39.622Z,1755657519.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008127
2025-08-20T02:38:39.734Z,1755657519.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.20 m.
2025-08-20T02:38:39.736Z,1755657519.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.199997 m,
nav range: 203.515228 m,
bearing: 6.540651 deg,
approach rate: -0.657170 m/s,
LOS rate: 0.018508 deg/s,
cmd heading: 7.887104 deg,
new cmd heading: 7.914662 deg.
2025-08-20T02:38:39.876Z,1755657519.876 [DAT](INFO): DAT read: Rx Time:02:38:37.7569
2025-08-20T02:38:39.876Z,1755657519.876 [DAT](INFO): Rx dataTimestamp_ set to:1755657519.875787
2025-08-20T02:38:39.877Z,1755657519.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262688
2025-08-20T02:38:40.121Z,1755657520.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:40.123Z,1755657520.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.20 m.
2025-08-20T02:38:40.127Z,1755657520.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512238
2025-08-20T02:38:40.130Z,1755657520.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 208.199997 m,
nav range: 203.265228 m,
bearing: 6.547703 deg,
approach rate: -0.641123 m/s,
LOS rate: 0.018108 deg/s,
cmd heading: 7.914662 deg,
new cmd heading: 7.935845 deg.
2025-08-20T02:38:40.407Z,1755657520.407 [DAT](INFO): DAT read: 02:38:37.7569 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 133,-0.08, 1.230,-0.378, 1.374, 0.875, PHS= 0.457,-1.208, 0.455, RAW= 149.9, 3.6, CAL= 149.0, 3.6, ROT= 1.0, -3.6
2025-08-20T02:38:40.415Z,1755657520.415 [DAT](INFO): got valid direction response:
02:38:37.7569 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 133,-0.08, 1.230,-0.378, 1.374, 0.875, PHS= 0.457,-1.208, 0.455, RAW= 149.9, 3.6, CAL= 149.0, 3.6, ROT= 1.0, -3.6
2025-08-20T02:38:40.418Z,1755657520.418 [DAT](INFO): DAT read: Bearing 169.3, 9.5 (Local)
2025-08-20T02:38:40.419Z,1755657520.419 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.3, 9.5 (Local)
2025-08-20T02:38:40.420Z,1755657520.420 [DAT](INFO): DAT read: Range 11 to 50 : 223.2 m (Round-trip 297.7 ms) speed 0.8 m/s
2025-08-20T02:38:40.437Z,1755657520.437 [DAT](INFO): DAT read: user:3195>
2025-08-20T02:38:40.438Z,1755657520.438 [DAT](INFO): DAT read: Tx time:02:38:38.8550
2025-08-20T02:38:40.439Z,1755657520.439 [DAT](INFO): Ping request sent.
2025-08-20T02:38:40.439Z,1755657520.439 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:40.439Z,1755657520.439 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:40.440Z,1755657520.440 [DAT](INFO): direction in FSK: [0.997875,0.017418,0.062791]
2025-08-20T02:38:40.440Z,1755657520.440 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:40.440Z,1755657520.440 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:40.448Z,1755657520.448 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:40.448Z,1755657520.448 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:40.688Z,1755657520.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 223.199997 m,
deltaT: 3.781930 s,
deltaX: 15.000000 m,
approachRate: 3.966229 m/s,
rangeRepo size: 4
2025-08-20T02:38:40.694Z,1755657520.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 223.199997 m,
bearing: 6.557369 deg,
lat: 36.779340 deg,
lon: -121.859404 deg,
deltaT: 3.781930 s,
deltaX: 15.000000 m,
approachRate: 3.966229 m/s,
posRepo size: 4
2025-08-20T02:38:40.695Z,1755657520.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:40.702Z,1755657520.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 202.892410 m,
bearing: 6.557369 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018108 deg/s,
cmd heading: 7.935846 deg,
new cmd heading: 7.966477 deg.
2025-08-20T02:38:41.059Z,1755657521.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:41.062Z,1755657521.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 202.635818 m,
bearing: 6.564043 deg,
approach rate: -0.689574 m/s,
LOS rate: 0.017958 deg/s,
cmd heading: 7.966477 deg,
new cmd heading: 7.986523 deg.
2025-08-20T02:38:41.489Z,1755657521.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:41.500Z,1755657521.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 202.365921 m,
bearing: 6.571976 deg,
approach rate: -0.627981 m/s,
LOS rate: 0.018482 deg/s,
cmd heading: 7.986523 deg,
new cmd heading: 8.010353 deg.
2025-08-20T02:38:41.858Z,1755657521.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:41.861Z,1755657521.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 202.110062 m,
bearing: 6.579516 deg,
approach rate: -0.693346 m/s,
LOS rate: 0.020459 deg/s,
cmd heading: 8.010354 deg,
new cmd heading: 8.033003 deg.
2025-08-20T02:38:42.246Z,1755657522.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:42.248Z,1755657522.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:42.251Z,1755657522.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 201.855560 m,
bearing: 6.587026 deg,
approach rate: -0.652280 m/s,
LOS rate: 0.019271 deg/s,
cmd heading: 8.033003 deg,
new cmd heading: 8.055560 deg.
2025-08-20T02:38:42.401Z,1755657522.401 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:42.401Z,1755657522.401 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:42.402Z,1755657522.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:42.650Z,1755657522.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211756
2025-08-20T02:38:42.741Z,1755657522.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:42.744Z,1755657522.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 201.532028 m,
bearing: 6.596890 deg,
approach rate: -0.656914 m/s,
LOS rate: 0.020060 deg/s,
cmd heading: 8.055559 deg,
new cmd heading: 8.085198 deg.
2025-08-20T02:38:42.903Z,1755657522.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464300
2025-08-20T02:38:43.152Z,1755657523.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:43.155Z,1755657523.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716631
2025-08-20T02:38:43.159Z,1755657523.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 201.285126 m,
bearing: 6.604378 deg,
approach rate: -0.601113 m/s,
LOS rate: 0.018253 deg/s,
cmd heading: 8.085198 deg,
new cmd heading: 8.107690 deg.
2025-08-20T02:38:43.410Z,1755657523.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970075
2025-08-20T02:38:43.659Z,1755657523.659 [DAT](INFO): DAT read: Rx Time:02:38:41.5299
2025-08-20T02:38:43.659Z,1755657523.659 [DAT](INFO): Rx dataTimestamp_ set to:1755657523.658722
2025-08-20T02:38:43.660Z,1755657523.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220883
2025-08-20T02:38:43.698Z,1755657523.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:43.700Z,1755657523.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 200.905548 m,
bearing: 6.612714 deg,
approach rate: -0.695060 m/s,
LOS rate: 0.015294 deg/s,
cmd heading: 8.107690 deg,
new cmd heading: 8.132747 deg.
2025-08-20T02:38:43.911Z,1755657523.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471838
2025-08-20T02:38:44.114Z,1755657524.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:44.117Z,1755657524.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 200.639557 m,
bearing: 6.618555 deg,
approach rate: -0.638181 m/s,
LOS rate: 0.014032 deg/s,
cmd heading: 8.132747 deg,
new cmd heading: 8.150292 deg.
2025-08-20T02:38:44.177Z,1755657524.177 [DAT](INFO): DAT read: 02:38:41.5299 LVL= 29552, 32449, 25938, 32755, AGC= 69, IDX= 161,-0.18, 0.776,-0.804, 0.957, 0.414, PHS= 0.464,-1.173, 0.498, RAW= 151.0, 2.6, CAL= 150.0, 2.3, ROT= 0.0, -2.3
2025-08-20T02:38:44.179Z,1755657524.179 [DAT](INFO): got valid direction response:
02:38:41.5299 LVL= 29552, 32449, 25938, 32755, AGC= 69, IDX= 161,-0.18, 0.776,-0.804, 0.957, 0.414, PHS= 0.464,-1.173, 0.498, RAW= 151.0, 2.6, CAL= 150.0, 2.3, ROT= 0.0, -2.3
2025-08-20T02:38:44.180Z,1755657524.180 [DAT](INFO): DAT read: Bearing 168.3, 9.4 (Local)
2025-08-20T02:38:44.181Z,1755657524.181 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.3, 9.4 (Local)
2025-08-20T02:38:44.183Z,1755657524.183 [DAT](INFO): DAT read: Range 11 to 50 : 203.1 m (Round-trip 270.8 ms) speed 0.4 m/s
2025-08-20T02:38:44.184Z,1755657524.184 [DAT](INFO): DAT read: user:3196>
2025-08-20T02:38:44.186Z,1755657524.186 [DAT](INFO): DAT read: Tx time:02:38:42.6550
2025-08-20T02:38:44.186Z,1755657524.186 [DAT](INFO): Ping request sent.
2025-08-20T02:38:44.186Z,1755657524.186 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:44.187Z,1755657524.187 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:44.188Z,1755657524.188 [DAT](INFO): direction in FSK: [0.999194,0.000000,0.040132]
2025-08-20T02:38:44.188Z,1755657524.188 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:44.189Z,1755657524.189 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:44.193Z,1755657524.193 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:44.194Z,1755657524.194 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:44.616Z,1755657524.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 203.100006 m,
deltaT: 3.782644 s,
deltaX: -20.099991 m,
approachRate: -5.313741 m/s,
rangeRepo size: 4
2025-08-20T02:38:44.634Z,1755657524.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:44.636Z,1755657524.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 200.303925 m,
bearing: 6.626287 deg,
approach rate: -0.675236 m/s,
LOS rate: 0.015582 deg/s,
cmd heading: 8.150292 deg,
new cmd heading: 8.173528 deg.
2025-08-20T02:38:44.963Z,1755657524.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:44.965Z,1755657524.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:44.968Z,1755657524.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 200.067154 m,
bearing: 6.631833 deg,
approach rate: -0.669267 m/s,
LOS rate: 0.015695 deg/s,
cmd heading: 8.173528 deg,
new cmd heading: 8.190185 deg.
2025-08-20T02:38:45.171Z,1755657525.171 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:45.171Z,1755657525.171 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:45.171Z,1755657525.171 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:45.374Z,1755657525.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:45.377Z,1755657525.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 199.795547 m,
bearing: 6.638190 deg,
approach rate: -0.663919 m/s,
LOS rate: 0.015561 deg/s,
cmd heading: 8.190185 deg,
new cmd heading: 8.209283 deg.
2025-08-20T02:38:45.425Z,1755657525.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238207
2025-08-20T02:38:45.674Z,1755657525.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487981
2025-08-20T02:38:45.807Z,1755657525.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:45.809Z,1755657525.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 199.508377 m,
bearing: 6.643301 deg,
approach rate: -0.664605 m/s,
LOS rate: 0.011845 deg/s,
cmd heading: 8.209283 deg,
new cmd heading: 8.224637 deg.
2025-08-20T02:38:45.927Z,1755657525.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740426
2025-08-20T02:38:46.179Z,1755657526.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992833
2025-08-20T02:38:46.222Z,1755657526.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:46.225Z,1755657526.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 199.252930 m,
bearing: 6.647813 deg,
approach rate: -0.646277 m/s,
LOS rate: 0.011430 deg/s,
cmd heading: 8.224637 deg,
new cmd heading: 8.238191 deg.
2025-08-20T02:38:46.433Z,1755657526.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246654
2025-08-20T02:38:46.682Z,1755657526.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496071
2025-08-20T02:38:46.716Z,1755657526.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:46.719Z,1755657526.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 198.903030 m,
bearing: 6.653252 deg,
approach rate: -0.680150 m/s,
LOS rate: 0.010591 deg/s,
cmd heading: 8.238191 deg,
new cmd heading: 8.254537 deg.
2025-08-20T02:38:46.935Z,1755657526.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748117
2025-08-20T02:38:47.187Z,1755657527.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000470
2025-08-20T02:38:47.196Z,1755657527.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:47.198Z,1755657527.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:47.201Z,1755657527.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 198.586166 m,
bearing: 6.658215 deg,
approach rate: -0.657969 m/s,
LOS rate: 0.010321 deg/s,
cmd heading: 8.254536 deg,
new cmd heading: 8.269448 deg.
2025-08-20T02:38:47.439Z,1755657527.439 [DAT](INFO): DAT read: Rx Time:02:38:45.3266
2025-08-20T02:38:47.439Z,1755657527.439 [DAT](INFO): Rx dataTimestamp_ set to:1755657527.438893
2025-08-20T02:38:47.440Z,1755657527.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253336
2025-08-20T02:38:47.623Z,1755657527.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.20 m.
2025-08-20T02:38:47.625Z,1755657527.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 223.199997 m,
nav range: 198.306549 m,
bearing: 6.662085 deg,
approach rate: -0.658044 m/s,
LOS rate: 0.009120 deg/s,
cmd heading: 8.269447 deg,
new cmd heading: 8.281073 deg.
2025-08-20T02:38:47.691Z,1755657527.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504138
2025-08-20T02:38:47.948Z,1755657527.948 [DAT](INFO): DAT read: 02:38:45.3266 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 415,-0.16,-1.893, 2.852,-1.733,-2.262, PHS= 0.472,-1.124, 0.485, RAW= 150.4, 2.1, CAL= 149.4, 1.8, ROT= 0.6, -1.8
2025-08-20T02:38:47.949Z,1755657527.949 [DAT](INFO): got valid direction response:
02:38:45.3266 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 415,-0.16,-1.893, 2.852,-1.733,-2.262, PHS= 0.472,-1.124, 0.485, RAW= 150.4, 2.1, CAL= 149.4, 1.8, ROT= 0.6, -1.8
2025-08-20T02:38:47.950Z,1755657527.950 [DAT](INFO): DAT read: Bearing 167.6, 11.0 (Local)
2025-08-20T02:38:47.950Z,1755657527.950 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.6, 11.0 (Local)
2025-08-20T02:38:47.952Z,1755657527.952 [DAT](INFO): DAT read: Range 11 to 50 : 200.5 m (Round-trip 267.4 ms) speed 0.2 m/s
2025-08-20T02:38:47.953Z,1755657527.953 [DAT](INFO): DAT read: user:3197>
2025-08-20T02:38:47.958Z,1755657527.958 [DAT](INFO): DAT read: Tx time:02:38:46.4550
2025-08-20T02:38:47.959Z,1755657527.959 [DAT](INFO): Ping request sent.
2025-08-20T02:38:47.959Z,1755657527.959 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:47.959Z,1755657527.959 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:47.960Z,1755657527.960 [DAT](INFO): direction in FSK: [0.999452,0.010467,0.031411]
2025-08-20T02:38:47.960Z,1755657527.960 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:47.961Z,1755657527.961 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:47.964Z,1755657527.964 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:47.964Z,1755657527.964 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:48.170Z,1755657528.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 200.500000 m,
deltaT: 7.562140 s,
deltaX: -22.699997 m,
approachRate: -3.001795 m/s,
rangeRepo size: 4
2025-08-20T02:38:48.172Z,1755657528.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 200.500000 m,
bearing: 7.464925 deg,
lat: 36.779332 deg,
lon: -121.859374 deg,
deltaT: 7.562140 s,
deltaX: -22.699997 m,
approachRate: -3.001795 m/s,
posRepo size: 4
2025-08-20T02:38:48.173Z,1755657528.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.50 m.
2025-08-20T02:38:48.180Z,1755657528.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.500000 m,
nav range: 197.487350 m,
bearing: 7.464925 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009120 deg/s,
cmd heading: 8.281073 deg,
new cmd heading: 8.295915 deg.
2025-08-20T02:38:48.588Z,1755657528.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.50 m.
2025-08-20T02:38:48.606Z,1755657528.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.500000 m,
nav range: 197.160782 m,
bearing: 7.469664 deg,
approach rate: -0.772942 m/s,
LOS rate: 0.011235 deg/s,
cmd heading: 8.295914 deg,
new cmd heading: 8.310155 deg.
2025-08-20T02:38:48.937Z,1755657528.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.50 m.
2025-08-20T02:38:48.940Z,1755657528.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.500000 m,
nav range: 196.924225 m,
bearing: 7.473091 deg,
approach rate: -0.677325 m/s,
LOS rate: 0.009824 deg/s,
cmd heading: 8.310155 deg,
new cmd heading: 8.320448 deg.
2025-08-20T02:38:49.344Z,1755657529.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:49.347Z,1755657529.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.50 m.
2025-08-20T02:38:49.349Z,1755657529.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.500000 m,
nav range: 196.647614 m,
bearing: 7.477078 deg,
approach rate: -0.674943 m/s,
LOS rate: 0.009743 deg/s,
cmd heading: 8.320448 deg,
new cmd heading: 8.332427 deg.
2025-08-20T02:38:49.454Z,1755657529.454 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:49.454Z,1755657529.454 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:49.455Z,1755657529.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:49.706Z,1755657529.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747655
2025-08-20T02:38:49.775Z,1755657529.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.50 m.
2025-08-20T02:38:49.777Z,1755657529.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.500000 m,
nav range: 196.360764 m,
bearing: 7.483254 deg,
approach rate: -0.670387 m/s,
LOS rate: 0.014454 deg/s,
cmd heading: 8.332427 deg,
new cmd heading: 8.350981 deg.
2025-08-20T02:38:49.959Z,1755657529.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999721
2025-08-20T02:38:50.160Z,1755657530.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.50 m.
2025-08-20T02:38:50.164Z,1755657530.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.500000 m,
nav range: 196.103622 m,
bearing: 7.488842 deg,
approach rate: -0.667764 m/s,
LOS rate: 0.014531 deg/s,
cmd heading: 8.350981 deg,
new cmd heading: 8.367767 deg.
2025-08-20T02:38:50.211Z,1755657530.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251758
2025-08-20T02:38:50.462Z,1755657530.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503580
2025-08-20T02:38:50.691Z,1755657530.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.50 m.
2025-08-20T02:38:50.695Z,1755657530.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.500000 m,
nav range: 195.754623 m,
bearing: 7.499454 deg,
approach rate: -0.656330 m/s,
LOS rate: 0.019992 deg/s,
cmd heading: 8.367767 deg,
new cmd heading: 8.399659 deg.
2025-08-20T02:38:50.715Z,1755657530.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755732
2025-08-20T02:38:50.966Z,1755657530.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007559
2025-08-20T02:38:51.129Z,1755657531.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.50 m.
2025-08-20T02:38:51.132Z,1755657531.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.500000 m,
nav range: 195.468430 m,
bearing: 7.508178 deg,
approach rate: -0.653993 m/s,
LOS rate: 0.019965 deg/s,
cmd heading: 8.399659 deg,
new cmd heading: 8.425870 deg.
2025-08-20T02:38:51.219Z,1755657531.219 [DAT](INFO): DAT read: Rx Time:02:38:49.1232
2025-08-20T02:38:51.220Z,1755657531.220 [DAT](INFO): Rx dataTimestamp_ set to:1755657531.219650
2025-08-20T02:38:51.221Z,1755657531.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262048
2025-08-20T02:38:51.471Z,1755657531.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511715
2025-08-20T02:38:51.674Z,1755657531.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:51.676Z,1755657531.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.50 m.
2025-08-20T02:38:51.684Z,1755657531.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 200.500000 m,
nav range: 195.109985 m,
bearing: 7.519409 deg,
approach rate: -0.654985 m/s,
LOS rate: 0.020560 deg/s,
cmd heading: 8.425870 deg,
new cmd heading: 8.459625 deg.
2025-08-20T02:38:51.731Z,1755657531.731 [DAT](INFO): DAT read: 02:38:49.1232 LVL= 32752, 32753, 32114, 32755, AGC= 69, IDX= 412, 0.49, 2.238, 0.635, 2.431, 1.853, PHS= 0.488,-1.173, 0.534, RAW= 151.4, 1.8, CAL= 150.2, 1.4, ROT= 359.8, -1.4
2025-08-20T02:38:51.733Z,1755657531.733 [DAT](INFO): got valid direction response:
02:38:49.1232 LVL= 32752, 32753, 32114, 32755, AGC= 69, IDX= 412, 0.49, 2.238, 0.635, 2.431, 1.853, PHS= 0.488,-1.173, 0.534, RAW= 151.4, 1.8, CAL= 150.2, 1.4, ROT= 359.8, -1.4
2025-08-20T02:38:51.736Z,1755657531.736 [DAT](INFO): DAT read: Bearing 167.1, 10.9 (Local)
2025-08-20T02:38:51.736Z,1755657531.736 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.1, 10.9 (Local)
2025-08-20T02:38:51.738Z,1755657531.738 [DAT](INFO): DAT read: Range 11 to 50 : 198.0 m (Round-trip 264.0 ms) speed 0.8 m/s
2025-08-20T02:38:51.739Z,1755657531.739 [DAT](INFO): DAT read: user:3198>
2025-08-20T02:38:51.740Z,1755657531.740 [DAT](INFO): DAT read: Tx time:02:38:50.2550
2025-08-20T02:38:51.741Z,1755657531.741 [DAT](INFO): Ping request sent.
2025-08-20T02:38:51.741Z,1755657531.741 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:51.742Z,1755657531.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:51.743Z,1755657531.743 [DAT](INFO): direction in FSK: [0.999695,-0.003490,0.024432]
2025-08-20T02:38:51.744Z,1755657531.744 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:51.744Z,1755657531.744 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:51.748Z,1755657531.748 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:51.749Z,1755657531.749 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:52.029Z,1755657532.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 198.000000 m,
deltaT: 3.780281 s,
deltaX: -2.500000 m,
approachRate: -0.661327 m/s,
rangeRepo size: 4
2025-08-20T02:38:52.031Z,1755657532.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 198.000000 m,
bearing: 7.539759 deg,
lat: 36.779329 deg,
lon: -121.859374 deg,
deltaT: 3.780281 s,
deltaX: -2.500000 m,
approachRate: -0.661327 m/s,
posRepo size: 4
2025-08-20T02:38:52.032Z,1755657532.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.00 m.
2025-08-20T02:38:52.034Z,1755657532.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.000000 m,
nav range: 194.541626 m,
bearing: 7.539759 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020560 deg/s,
cmd heading: 8.459625 deg,
new cmd heading: 8.481316 deg.
2025-08-20T02:38:52.405Z,1755657532.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.00 m.
2025-08-20T02:38:52.408Z,1755657532.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.000000 m,
nav range: 194.286041 m,
bearing: 7.547831 deg,
approach rate: -0.677908 m/s,
LOS rate: 0.021437 deg/s,
cmd heading: 8.481316 deg,
new cmd heading: 8.505562 deg.
2025-08-20T02:38:52.834Z,1755657532.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.00 m.
2025-08-20T02:38:52.837Z,1755657532.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.000000 m,
nav range: 194.004883 m,
bearing: 7.558005 deg,
approach rate: -0.655134 m/s,
LOS rate: 0.023741 deg/s,
cmd heading: 8.505562 deg,
new cmd heading: 8.536129 deg.
2025-08-20T02:38:53.235Z,1755657533.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.00 m.
2025-08-20T02:38:53.237Z,1755657533.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.000000 m,
nav range: 193.742889 m,
bearing: 7.567512 deg,
approach rate: -0.656148 m/s,
LOS rate: 0.023842 deg/s,
cmd heading: 8.536129 deg,
new cmd heading: 8.564689 deg.
2025-08-20T02:38:53.675Z,1755657533.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:53.677Z,1755657533.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.00 m.
2025-08-20T02:38:53.680Z,1755657533.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.000000 m,
nav range: 193.462387 m,
bearing: 7.578199 deg,
approach rate: -0.632423 m/s,
LOS rate: 0.024130 deg/s,
cmd heading: 8.564689 deg,
new cmd heading: 8.596797 deg.
2025-08-20T02:38:53.739Z,1755657533.739 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:53.739Z,1755657533.739 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:53.739Z,1755657533.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:53.991Z,1755657533.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250421
2025-08-20T02:38:54.051Z,1755657534.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.00 m.
2025-08-20T02:38:54.053Z,1755657534.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.000000 m,
nav range: 193.218979 m,
bearing: 7.587495 deg,
approach rate: -0.651303 m/s,
LOS rate: 0.024906 deg/s,
cmd heading: 8.596796 deg,
new cmd heading: 8.624720 deg.
2025-08-20T02:38:54.243Z,1755657534.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501587
2025-08-20T02:38:54.424Z,1755657534.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.00 m.
2025-08-20T02:38:54.427Z,1755657534.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.000000 m,
nav range: 192.961380 m,
bearing: 7.597324 deg,
approach rate: -0.689119 m/s,
LOS rate: 0.026329 deg/s,
cmd heading: 8.624720 deg,
new cmd heading: 8.654246 deg.
2025-08-20T02:38:54.496Z,1755657534.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755036
2025-08-20T02:38:54.746Z,1755657534.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005426
2025-08-20T02:38:54.863Z,1755657534.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.00 m.
2025-08-20T02:38:54.866Z,1755657534.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.000000 m,
nav range: 192.676727 m,
bearing: 7.608463 deg,
approach rate: -0.649268 m/s,
LOS rate: 0.025445 deg/s,
cmd heading: 8.654246 deg,
new cmd heading: 8.687713 deg.
2025-08-20T02:38:54.999Z,1755657534.999 [DAT](INFO): DAT read: Rx Time:02:38:52.9198
2025-08-20T02:38:55.000Z,1755657535.000 [DAT](INFO): Rx dataTimestamp_ set to:1755657534.999560
2025-08-20T02:38:55.002Z,1755657535.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260133
2025-08-20T02:38:55.233Z,1755657535.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.00 m.
2025-08-20T02:38:55.235Z,1755657535.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 198.000000 m,
nav range: 192.436127 m,
bearing: 7.617784 deg,
approach rate: -0.650935 m/s,
LOS rate: 0.025246 deg/s,
cmd heading: 8.687713 deg,
new cmd heading: 8.715708 deg.
2025-08-20T02:38:55.253Z,1755657535.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512410
2025-08-20T02:38:55.511Z,1755657535.511 [DAT](INFO): DAT read: 02:38:52.9198 LVL= 27984, 31825, 27570, 32755, AGC= 66, IDX= 409,-0.16,-0.702,-2.267,-0.527,-1.096, PHS= 0.495,-1.126, 0.525, RAW= 150.9, 1.3, CAL= 149.7, 0.9, ROT= 0.3, -0.9
2025-08-20T02:38:55.513Z,1755657535.513 [DAT](INFO): got valid direction response:
02:38:52.9198 LVL= 27984, 31825, 27570, 32755, AGC= 66, IDX= 409,-0.16,-0.702,-2.267,-0.527,-1.096, PHS= 0.495,-1.126, 0.525, RAW= 150.9, 1.3, CAL= 149.7, 0.9, ROT= 0.3, -0.9
2025-08-20T02:38:55.514Z,1755657535.514 [DAT](INFO): DAT read: Bearing 167.0, 11.7 (Local)
2025-08-20T02:38:55.514Z,1755657535.514 [DAT](INFO): Local bearing/azimuth received:
Bearing 167.0, 11.7 (Local)
2025-08-20T02:38:55.515Z,1755657535.515 [DAT](INFO): DAT read: Range 11 to 50 : 195.4 m (Round-trip 260.6 ms) speed 0.6 m/s
2025-08-20T02:38:55.516Z,1755657535.516 [DAT](INFO): DAT read: user:3199>
2025-08-20T02:38:55.517Z,1755657535.517 [DAT](INFO): DAT read: Tx time:02:38:54.0550
2025-08-20T02:38:55.517Z,1755657535.517 [DAT](INFO): Ping request sent.
2025-08-20T02:38:55.517Z,1755657535.517 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:55.518Z,1755657535.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:55.519Z,1755657535.519 [DAT](INFO): direction in FSK: [0.999863,0.005235,0.015707]
2025-08-20T02:38:55.519Z,1755657535.519 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:55.519Z,1755657535.519 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:55.522Z,1755657535.522 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:55.522Z,1755657535.522 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:55.780Z,1755657535.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 195.399994 m,
deltaT: 3.780052 s,
deltaX: -2.600006 m,
approachRate: -0.687823 m/s,
rangeRepo size: 4
2025-08-20T02:38:55.787Z,1755657535.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 195.399994 m,
bearing: 7.511313 deg,
lat: 36.779323 deg,
lon: -121.859379 deg,
deltaT: 3.780052 s,
deltaX: -2.600006 m,
approachRate: -0.687823 m/s,
posRepo size: 4
2025-08-20T02:38:55.788Z,1755657535.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.40 m.
2025-08-20T02:38:55.795Z,1755657535.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.399994 m,
nav range: 191.340332 m,
bearing: 7.511313 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025246 deg/s,
cmd heading: 8.715708 deg,
new cmd heading: 8.757159 deg.
2025-08-20T02:38:56.121Z,1755657536.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:56.123Z,1755657536.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.40 m.
2025-08-20T02:38:56.126Z,1755657536.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.399994 m,
nav range: 191.108353 m,
bearing: 7.519744 deg,
approach rate: -0.675980 m/s,
LOS rate: 0.024599 deg/s,
cmd heading: 8.757160 deg,
new cmd heading: 8.782485 deg.
2025-08-20T02:38:56.258Z,1755657536.258 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:38:56.258Z,1755657536.258 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:38:56.259Z,1755657536.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:38:56.511Z,1755657536.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993366
2025-08-20T02:38:56.538Z,1755657536.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.40 m.
2025-08-20T02:38:56.541Z,1755657536.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.399994 m,
nav range: 190.839951 m,
bearing: 7.529437 deg,
approach rate: -0.647237 m/s,
LOS rate: 0.023405 deg/s,
cmd heading: 8.782485 deg,
new cmd heading: 8.811603 deg.
2025-08-20T02:38:56.762Z,1755657536.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245216
2025-08-20T02:38:56.967Z,1755657536.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.40 m.
2025-08-20T02:38:56.970Z,1755657536.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.399994 m,
nav range: 190.557281 m,
bearing: 7.539110 deg,
approach rate: -0.658453 m/s,
LOS rate: 0.022567 deg/s,
cmd heading: 8.811602 deg,
new cmd heading: 8.840666 deg.
2025-08-20T02:38:57.016Z,1755657537.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498881
2025-08-20T02:38:57.266Z,1755657537.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749259
2025-08-20T02:38:57.344Z,1755657537.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.40 m.
2025-08-20T02:38:57.347Z,1755657537.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.399994 m,
nav range: 190.308701 m,
bearing: 7.547557 deg,
approach rate: -0.658632 m/s,
LOS rate: 0.022410 deg/s,
cmd heading: 8.840666 deg,
new cmd heading: 8.866040 deg.
2025-08-20T02:38:57.518Z,1755657537.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001276
2025-08-20T02:38:57.767Z,1755657537.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.40 m.
2025-08-20T02:38:57.771Z,1755657537.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253342
2025-08-20T02:38:57.771Z,1755657537.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.399994 m,
nav range: 190.033661 m,
bearing: 7.556099 deg,
approach rate: -0.651035 m/s,
LOS rate: 0.020249 deg/s,
cmd heading: 8.866040 deg,
new cmd heading: 8.891703 deg.
2025-08-20T02:38:58.022Z,1755657538.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505251
2025-08-20T02:38:58.195Z,1755657538.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:38:58.202Z,1755657538.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.40 m.
2025-08-20T02:38:58.204Z,1755657538.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.399994 m,
nav range: 189.760284 m,
bearing: 7.564555 deg,
approach rate: -0.634845 m/s,
LOS rate: 0.019665 deg/s,
cmd heading: 8.891702 deg,
new cmd heading: 8.917107 deg.
2025-08-20T02:38:58.275Z,1755657538.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757759
2025-08-20T02:38:58.526Z,1755657538.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009269
2025-08-20T02:38:58.546Z,1755657538.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.40 m.
2025-08-20T02:38:58.548Z,1755657538.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.399994 m,
nav range: 189.526642 m,
bearing: 7.571761 deg,
approach rate: -0.671165 m/s,
LOS rate: 0.020725 deg/s,
cmd heading: 8.917107 deg,
new cmd heading: 8.938751 deg.
2025-08-20T02:38:58.778Z,1755657538.778 [DAT](INFO): DAT read: Rx Time:02:38:56.7165
2025-08-20T02:38:58.779Z,1755657538.779 [DAT](INFO): Rx dataTimestamp_ set to:1755657538.778683
2025-08-20T02:38:58.780Z,1755657538.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262353
2025-08-20T02:38:59.010Z,1755657539.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.40 m.
2025-08-20T02:38:59.013Z,1755657539.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 195.399994 m,
nav range: 189.223007 m,
bearing: 7.579945 deg,
approach rate: -0.653880 m/s,
LOS rate: 0.017653 deg/s,
cmd heading: 8.938751 deg,
new cmd heading: 8.963344 deg.
2025-08-20T02:38:59.033Z,1755657539.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515996
2025-08-20T02:38:59.291Z,1755657539.291 [DAT](INFO): DAT read: 02:38:56.7165 LVL= 30192, 32753, 29250, 32755, AGC= 68, IDX= 407,-0.15,-2.746, 1.936,-2.532,-3.107, PHS= 0.464,-1.195, 0.532, RAW= 152.0, 2.4, CAL= 150.9, 2.0, ROT= 359.1, -2.0
2025-08-20T02:38:59.292Z,1755657539.292 [DAT](INFO): got valid direction response:
02:38:56.7165 LVL= 30192, 32753, 29250, 32755, AGC= 68, IDX= 407,-0.15,-2.746, 1.936,-2.532,-3.107, PHS= 0.464,-1.195, 0.532, RAW= 152.0, 2.4, CAL= 150.9, 2.0, ROT= 359.1, -2.0
2025-08-20T02:38:59.293Z,1755657539.293 [DAT](INFO): DAT read: Bearing 168.6, 11.1 (Local)
2025-08-20T02:38:59.293Z,1755657539.293 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.6, 11.1 (Local)
2025-08-20T02:38:59.294Z,1755657539.294 [DAT](INFO): DAT read: Range 11 to 50 : 192.9 m (Round-trip 257.3 ms) speed 0.8 m/s
2025-08-20T02:38:59.295Z,1755657539.295 [DAT](INFO): DAT read: user:3200>
2025-08-20T02:38:59.296Z,1755657539.296 [DAT](INFO): DAT read: Tx time:02:38:57.8050
2025-08-20T02:38:59.296Z,1755657539.296 [DAT](INFO): Ping request sent.
2025-08-20T02:38:59.296Z,1755657539.296 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:38:59.297Z,1755657539.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:38:59.326Z,1755657539.326 [DAT](INFO): direction in FSK: [0.999268,-0.015698,0.034899]
2025-08-20T02:38:59.326Z,1755657539.326 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:59.326Z,1755657539.326 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:59.341Z,1755657539.341 [DAT](INFO): publishing transmit ping time
2025-08-20T02:38:59.342Z,1755657539.342 [DAT](INFO): publishing direction and range info
2025-08-20T02:38:59.439Z,1755657539.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 192.899994 m,
deltaT: 3.779783 s,
deltaX: -2.500000 m,
approachRate: -0.661414 m/s,
rangeRepo size: 4
2025-08-20T02:38:59.450Z,1755657539.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 192.899994 m,
bearing: 7.230644 deg,
lat: 36.779321 deg,
lon: -121.859393 deg,
deltaT: 3.779783 s,
deltaX: -2.500000 m,
approachRate: -0.661414 m/s,
posRepo size: 4
2025-08-20T02:38:59.451Z,1755657539.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.90 m.
2025-08-20T02:38:59.458Z,1755657539.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 192.899994 m,
nav range: 188.560928 m,
bearing: 7.230644 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017653 deg/s,
cmd heading: 8.963343 deg,
new cmd heading: 8.986043 deg.
2025-08-20T02:38:59.838Z,1755657539.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.90 m.
2025-08-20T02:38:59.841Z,1755657539.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 192.899994 m,
nav range: 188.295258 m,
bearing: 7.236664 deg,
approach rate: -0.664705 m/s,
LOS rate: 0.015084 deg/s,
cmd heading: 8.986043 deg,
new cmd heading: 9.004129 deg.
2025-08-20T02:39:00.199Z,1755657540.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:00.217Z,1755657540.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.90 m.
2025-08-20T02:39:00.220Z,1755657540.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 192.899994 m,
nav range: 188.034042 m,
bearing: 7.242557 deg,
approach rate: -0.719540 m/s,
LOS rate: 0.016254 deg/s,
cmd heading: 9.004129 deg,
new cmd heading: 9.021831 deg.
2025-08-20T02:39:00.291Z,1755657540.291 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:00.291Z,1755657540.291 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:00.291Z,1755657540.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:00.543Z,1755657540.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246215
2025-08-20T02:39:00.616Z,1755657540.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.90 m.
2025-08-20T02:39:00.622Z,1755657540.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 192.899994 m,
nav range: 187.762695 m,
bearing: 7.248650 deg,
approach rate: -0.654912 m/s,
LOS rate: 0.014728 deg/s,
cmd heading: 9.021831 deg,
new cmd heading: 9.040138 deg.
2025-08-20T02:39:00.795Z,1755657540.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498395
2025-08-20T02:39:01.047Z,1755657541.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750430
2025-08-20T02:39:01.065Z,1755657541.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.90 m.
2025-08-20T02:39:01.067Z,1755657541.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 192.899994 m,
nav range: 187.457001 m,
bearing: 7.256330 deg,
approach rate: -0.680789 m/s,
LOS rate: 0.017132 deg/s,
cmd heading: 9.040138 deg,
new cmd heading: 9.063216 deg.
2025-08-20T02:39:01.299Z,1755657541.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002338
2025-08-20T02:39:01.510Z,1755657541.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.90 m.
2025-08-20T02:39:01.512Z,1755657541.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 192.899994 m,
nav range: 187.165573 m,
bearing: 7.263673 deg,
approach rate: -0.654841 m/s,
LOS rate: 0.016524 deg/s,
cmd heading: 9.063216 deg,
new cmd heading: 9.085278 deg.
2025-08-20T02:39:01.551Z,1755657541.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254564
2025-08-20T02:39:01.803Z,1755657541.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506302
2025-08-20T02:39:01.887Z,1755657541.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.90 m.
2025-08-20T02:39:01.890Z,1755657541.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 192.899994 m,
nav range: 186.916336 m,
bearing: 7.269968 deg,
approach rate: -0.659722 m/s,
LOS rate: 0.016685 deg/s,
cmd heading: 9.085278 deg,
new cmd heading: 9.104188 deg.
2025-08-20T02:39:02.054Z,1755657542.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758129
2025-08-20T02:39:02.253Z,1755657542.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:02.255Z,1755657542.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.90 m.
2025-08-20T02:39:02.258Z,1755657542.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 192.899994 m,
nav range: 186.658905 m,
bearing: 7.276488 deg,
approach rate: -0.700091 m/s,
LOS rate: 0.017758 deg/s,
cmd heading: 9.104188 deg,
new cmd heading: 9.123778 deg.
2025-08-20T02:39:02.307Z,1755657542.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010655
2025-08-20T02:39:02.558Z,1755657542.558 [DAT](INFO): DAT read: Rx Time:02:39:00.4630
2025-08-20T02:39:02.559Z,1755657542.559 [DAT](INFO): Rx dataTimestamp_ set to:1755657542.558566
2025-08-20T02:39:02.559Z,1755657542.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263131
2025-08-20T02:39:02.694Z,1755657542.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.90 m.
2025-08-20T02:39:02.712Z,1755657542.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 192.899994 m,
nav range: 186.385071 m,
bearing: 7.283445 deg,
approach rate: -0.632214 m/s,
LOS rate: 0.016084 deg/s,
cmd heading: 9.123778 deg,
new cmd heading: 9.144677 deg.
2025-08-20T02:39:02.811Z,1755657542.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514850
2025-08-20T02:39:03.068Z,1755657543.068 [DAT](INFO): DAT read: 02:39:00.4630 LVL= 32752, 32753, 30146, 32755, AGC= 65, IDX= 404, 0.11,-2.302, 2.446,-2.111,-2.663, PHS= 0.463,-1.129, 0.508, RAW= 151.4, 2.0, CAL= 150.2, 1.6, ROT= 359.8, -1.6
2025-08-20T02:39:03.069Z,1755657543.069 [DAT](INFO): got valid direction response:
02:39:00.4630 LVL= 32752, 32753, 30146, 32755, AGC= 65, IDX= 404, 0.11,-2.302, 2.446,-2.111,-2.663, PHS= 0.463,-1.129, 0.508, RAW= 151.4, 2.0, CAL= 150.2, 1.6, ROT= 359.8, -1.6
2025-08-20T02:39:03.070Z,1755657543.070 [DAT](INFO): DAT read: Bearing 168.5, 12.0 (Local)
2025-08-20T02:39:03.071Z,1755657543.071 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.5, 12.0 (Local)
2025-08-20T02:39:03.072Z,1755657543.072 [DAT](INFO): DAT read: Range 11 to 50 : 190.4 m (Round-trip 253.9 ms) speed 0.3 m/s
2025-08-20T02:39:03.073Z,1755657543.073 [DAT](INFO): DAT read: user:3201>
2025-08-20T02:39:03.074Z,1755657543.074 [DAT](INFO): DAT read: Tx time:02:39:01.5550
2025-08-20T02:39:03.074Z,1755657543.074 [DAT](INFO): Ping request sent.
2025-08-20T02:39:03.074Z,1755657543.074 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:03.074Z,1755657543.074 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:03.075Z,1755657543.075 [DAT](INFO): direction in FSK: [0.999604,-0.003489,0.027922]
2025-08-20T02:39:03.076Z,1755657543.076 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:03.076Z,1755657543.076 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:03.105Z,1755657543.105 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:03.105Z,1755657543.105 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:03.285Z,1755657543.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 190.399994 m,
deltaT: 3.780026 s,
deltaX: -2.500000 m,
approachRate: -0.661371 m/s,
rangeRepo size: 4
2025-08-20T02:39:03.288Z,1755657543.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 190.399994 m,
bearing: 7.495743 deg,
lat: 36.779320 deg,
lon: -121.859386 deg,
deltaT: 3.780026 s,
deltaX: -2.500000 m,
approachRate: -0.661371 m/s,
posRepo size: 4
2025-08-20T02:39:03.288Z,1755657543.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.40 m.
2025-08-20T02:39:03.299Z,1755657543.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 190.399994 m,
nav range: 185.988174 m,
bearing: 7.495743 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016084 deg/s,
cmd heading: 9.144676 deg,
new cmd heading: 9.173254 deg.
2025-08-20T02:39:03.301Z,1755657543.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 60.011562 m.
2025-08-20T02:39:03.660Z,1755657543.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.40 m.
2025-08-20T02:39:03.663Z,1755657543.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 190.399994 m,
nav range: 185.722504 m,
bearing: 7.502690 deg,
approach rate: -0.699443 m/s,
LOS rate: 0.018315 deg/s,
cmd heading: 9.173254 deg,
new cmd heading: 9.194123 deg.
2025-08-20T02:39:04.081Z,1755657544.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.40 m.
2025-08-20T02:39:04.088Z,1755657544.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 190.399994 m,
nav range: 185.446365 m,
bearing: 7.509418 deg,
approach rate: -0.656555 m/s,
LOS rate: 0.016020 deg/s,
cmd heading: 9.194124 deg,
new cmd heading: 9.214337 deg.
2025-08-20T02:39:04.532Z,1755657544.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:04.534Z,1755657544.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.40 m.
2025-08-20T02:39:04.537Z,1755657544.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 190.399994 m,
nav range: 185.131989 m,
bearing: 7.517101 deg,
approach rate: -0.693718 m/s,
LOS rate: 0.016983 deg/s,
cmd heading: 9.214337 deg,
new cmd heading: 9.237426 deg.
2025-08-20T02:39:04.574Z,1755657544.574 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:04.574Z,1755657544.574 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:04.575Z,1755657544.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:04.827Z,1755657544.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752485
2025-08-20T02:39:04.931Z,1755657544.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.40 m.
2025-08-20T02:39:04.934Z,1755657544.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 190.399994 m,
nav range: 184.863724 m,
bearing: 7.523528 deg,
approach rate: -0.676212 m/s,
LOS rate: 0.016223 deg/s,
cmd heading: 9.237426 deg,
new cmd heading: 9.256734 deg.
2025-08-20T02:39:05.079Z,1755657545.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004697
2025-08-20T02:39:05.331Z,1755657545.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256354
2025-08-20T02:39:05.338Z,1755657545.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.40 m.
2025-08-20T02:39:05.343Z,1755657545.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 190.399994 m,
nav range: 184.604843 m,
bearing: 7.529713 deg,
approach rate: -0.635401 m/s,
LOS rate: 0.015202 deg/s,
cmd heading: 9.256734 deg,
new cmd heading: 9.275316 deg.
2025-08-20T02:39:05.583Z,1755657545.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508550
2025-08-20T02:39:05.841Z,1755657545.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766810
2025-08-20T02:39:05.861Z,1755657545.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.40 m.
2025-08-20T02:39:05.864Z,1755657545.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 190.399994 m,
nav range: 184.258804 m,
bearing: 7.540374 deg,
approach rate: -0.662166 m/s,
LOS rate: 0.020438 deg/s,
cmd heading: 9.275316 deg,
new cmd heading: 9.307358 deg.
2025-08-20T02:39:06.090Z,1755657546.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016282
2025-08-20T02:39:06.343Z,1755657546.343 [DAT](INFO): DAT read: Rx Time:02:39:04.2096
2025-08-20T02:39:06.343Z,1755657546.343 [DAT](INFO): Rx dataTimestamp_ set to:1755657546.342737
2025-08-20T02:39:06.344Z,1755657546.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269430
2025-08-20T02:39:06.378Z,1755657546.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.40 m.
2025-08-20T02:39:06.380Z,1755657546.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 190.399994 m,
nav range: 183.910889 m,
bearing: 7.550906 deg,
approach rate: -0.678855 m/s,
LOS rate: 0.020590 deg/s,
cmd heading: 9.307358 deg,
new cmd heading: 9.339016 deg.
2025-08-20T02:39:06.595Z,1755657546.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520358
2025-08-20T02:39:06.852Z,1755657546.852 [DAT](INFO): DAT read: 02:39:04.2096 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 401,-0.07, 1.077,-0.501, 1.273, 0.715, PHS= 0.464,-1.170, 0.514, RAW= 151.5, 2.3, CAL= 150.4, 2.0, ROT= 359.6, -2.0
2025-08-20T02:39:06.854Z,1755657546.854 [DAT](INFO): got valid direction response:
02:39:04.2096 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 401,-0.07, 1.077,-0.501, 1.273, 0.715, PHS= 0.464,-1.170, 0.514, RAW= 151.5, 2.3, CAL= 150.4, 2.0, ROT= 359.6, -2.0
2025-08-20T02:39:06.855Z,1755657546.855 [DAT](INFO): DAT read: Bearing 169.3, 11.9 (Local)
2025-08-20T02:39:06.855Z,1755657546.855 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.3, 11.9 (Local)
2025-08-20T02:39:06.857Z,1755657546.857 [DAT](INFO): DAT read: Range 11 to 50 : 187.8 m (Round-trip 250.4 ms) speed 0.6 m/s
2025-08-20T02:39:06.858Z,1755657546.858 [DAT](INFO): DAT read: user:3202>
2025-08-20T02:39:06.858Z,1755657546.858 [DAT](INFO): DAT read: Tx time:02:39:05.3050
2025-08-20T02:39:06.859Z,1755657546.859 [DAT](INFO): Ping request sent.
2025-08-20T02:39:06.859Z,1755657546.859 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:06.859Z,1755657546.859 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:06.860Z,1755657546.860 [DAT](INFO): direction in FSK: [0.999366,-0.006977,0.034899]
2025-08-20T02:39:06.860Z,1755657546.860 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:06.861Z,1755657546.861 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:06.868Z,1755657546.868 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:06.868Z,1755657546.868 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:06.881Z,1755657546.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 187.800003 m,
deltaT: 3.784027 s,
deltaX: -2.599991 m,
approachRate: -0.687096 m/s,
rangeRepo size: 4
2025-08-20T02:39:06.911Z,1755657546.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 187.800003 m,
bearing: 7.588972 deg,
lat: 36.779314 deg,
lon: -121.859386 deg,
deltaT: 3.784027 s,
deltaX: -2.599991 m,
approachRate: -0.687096 m/s,
posRepo size: 4
2025-08-20T02:39:06.912Z,1755657546.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:06.919Z,1755657546.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 182.924652 m,
bearing: 7.588972 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020590 deg/s,
cmd heading: 9.339016 deg,
new cmd heading: 9.370319 deg.
2025-08-20T02:39:07.253Z,1755657547.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:07.256Z,1755657547.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:07.259Z,1755657547.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 182.662506 m,
bearing: 7.597492 deg,
approach rate: -0.697345 m/s,
LOS rate: 0.022697 deg/s,
cmd heading: 9.370319 deg,
new cmd heading: 9.395916 deg.
2025-08-20T02:39:07.351Z,1755657547.351 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:07.351Z,1755657547.351 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:07.351Z,1755657547.351 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:07.602Z,1755657547.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743508
2025-08-20T02:39:07.640Z,1755657547.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:07.644Z,1755657547.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 182.410370 m,
bearing: 7.605612 deg,
approach rate: -0.656157 m/s,
LOS rate: 0.021161 deg/s,
cmd heading: 9.395916 deg,
new cmd heading: 9.420309 deg.
2025-08-20T02:39:07.854Z,1755657547.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995627
2025-08-20T02:39:07.858Z,1755657547.858 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:39:08.069Z,1755657548.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:08.072Z,1755657548.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 182.124130 m,
bearing: 7.615458 deg,
approach rate: -0.668093 m/s,
LOS rate: 0.023019 deg/s,
cmd heading: 9.420310 deg,
new cmd heading: 9.449896 deg.
2025-08-20T02:39:08.107Z,1755657548.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247735
2025-08-20T02:39:08.359Z,1755657548.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499733
2025-08-20T02:39:08.448Z,1755657548.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:08.471Z,1755657548.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 181.870331 m,
bearing: 7.624165 deg,
approach rate: -0.669313 m/s,
LOS rate: 0.022992 deg/s,
cmd heading: 9.449896 deg,
new cmd heading: 9.476052 deg.
2025-08-20T02:39:08.613Z,1755657548.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754444
2025-08-20T02:39:08.863Z,1755657548.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003748
2025-08-20T02:39:08.863Z,1755657548.863 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:39:08.912Z,1755657548.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:08.915Z,1755657548.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 181.569290 m,
bearing: 7.634118 deg,
approach rate: -0.648797 m/s,
LOS rate: 0.021487 deg/s,
cmd heading: 9.476052 deg,
new cmd heading: 9.505962 deg.
2025-08-20T02:39:09.114Z,1755657549.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255483
2025-08-20T02:39:09.293Z,1755657549.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:09.295Z,1755657549.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:09.298Z,1755657549.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 181.320953 m,
bearing: 7.642354 deg,
approach rate: -0.648384 m/s,
LOS rate: 0.021532 deg/s,
cmd heading: 9.505962 deg,
new cmd heading: 9.530702 deg.
2025-08-20T02:39:09.367Z,1755657549.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507834
2025-08-20T02:39:09.618Z,1755657549.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759550
2025-08-20T02:39:09.708Z,1755657549.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:09.715Z,1755657549.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 181.062637 m,
bearing: 7.650853 deg,
approach rate: -0.625625 m/s,
LOS rate: 0.020613 deg/s,
cmd heading: 9.530703 deg,
new cmd heading: 9.556235 deg.
2025-08-20T02:39:09.872Z,1755657549.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013299
2025-08-20T02:39:10.123Z,1755657550.123 [DAT](INFO): DAT read: Rx Time:02:39:07.9561
2025-08-20T02:39:10.123Z,1755657550.123 [DAT](INFO): Rx dataTimestamp_ set to:1755657550.122901
2025-08-20T02:39:10.124Z,1755657550.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264902
2025-08-20T02:39:10.222Z,1755657550.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:10.224Z,1755657550.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 180.723160 m,
bearing: 7.665360 deg,
approach rate: -0.660793 m/s,
LOS rate: 0.028292 deg/s,
cmd heading: 9.556235 deg,
new cmd heading: 9.599839 deg.
2025-08-20T02:39:10.374Z,1755657550.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515570
2025-08-20T02:39:10.566Z,1755657550.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.80 m.
2025-08-20T02:39:10.569Z,1755657550.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 187.800003 m,
nav range: 180.502060 m,
bearing: 7.674790 deg,
approach rate: -0.641674 m/s,
LOS rate: 0.027402 deg/s,
cmd heading: 9.599839 deg,
new cmd heading: 9.628165 deg.
2025-08-20T02:39:10.635Z,1755657550.635 [DAT](INFO): DAT read: 02:39:07.9561 LVL= 28112, 32609, 25682, 32755, AGC= 62, IDX= 414, 0.14, 0.316,-1.292, 0.521,-0.002, PHS= 0.420,-1.244, 0.479, RAW= 151.7, 4.1, CAL= 150.8, 4.0, ROT= 359.2, -4.0
2025-08-20T02:39:10.636Z,1755657550.636 [DAT](INFO): got valid direction response:
02:39:07.9561 LVL= 28112, 32609, 25682, 32755, AGC= 62, IDX= 414, 0.14, 0.316,-1.292, 0.521,-0.002, PHS= 0.420,-1.244, 0.479, RAW= 151.7, 4.1, CAL= 150.8, 4.0, ROT= 359.2, -4.0
2025-08-20T02:39:10.638Z,1755657550.638 [DAT](INFO): DAT read: Bearing 171.9, 8.3 (Local)
2025-08-20T02:39:10.638Z,1755657550.638 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 8.3 (Local)
2025-08-20T02:39:10.644Z,1755657550.644 [DAT](INFO): DAT read: Range 11 to 50 : 185.2 m (Round-trip 247.0 ms) speed 0.4 m/s
2025-08-20T02:39:10.646Z,1755657550.646 [DAT](INFO): DAT read: user:3203>
2025-08-20T02:39:10.647Z,1755657550.647 [DAT](INFO): DAT read: Tx time:02:39:09.0549
2025-08-20T02:39:10.648Z,1755657550.648 [DAT](INFO): Ping request sent.
2025-08-20T02:39:10.648Z,1755657550.648 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:10.648Z,1755657550.648 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:10.654Z,1755657550.654 [DAT](INFO): direction in FSK: [0.997467,-0.013928,0.069756]
2025-08-20T02:39:10.654Z,1755657550.654 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:10.655Z,1755657550.655 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:10.670Z,1755657550.670 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:10.670Z,1755657550.670 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:11.018Z,1755657551.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 185.199997 m,
deltaT: 3.780715 s,
deltaX: -2.600006 m,
approachRate: -0.687702 m/s,
rangeRepo size: 4
2025-08-20T02:39:11.021Z,1755657551.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 185.199997 m,
bearing: 7.686193 deg,
lat: 36.779314 deg,
lon: -121.859386 deg,
deltaT: 3.780715 s,
deltaX: -2.600006 m,
approachRate: -0.687702 m/s,
posRepo size: 4
2025-08-20T02:39:11.021Z,1755657551.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-08-20T02:39:11.024Z,1755657551.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.199997 m,
nav range: 180.212189 m,
bearing: 7.686193 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.027402 deg/s,
cmd heading: 9.628165 deg,
new cmd heading: 9.665266 deg.
2025-08-20T02:39:11.394Z,1755657551.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:11.396Z,1755657551.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-08-20T02:39:11.399Z,1755657551.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.199997 m,
nav range: 179.964386 m,
bearing: 7.695948 deg,
approach rate: -0.654718 m/s,
LOS rate: 0.025807 deg/s,
cmd heading: 9.665267 deg,
new cmd heading: 9.694570 deg.
2025-08-20T02:39:11.634Z,1755657551.634 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:11.634Z,1755657551.634 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:11.635Z,1755657551.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:11.854Z,1755657551.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-08-20T02:39:11.870Z,1755657551.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.199997 m,
nav range: 179.701035 m,
bearing: 7.706344 deg,
approach rate: -0.582407 m/s,
LOS rate: 0.023025 deg/s,
cmd heading: 9.694570 deg,
new cmd heading: 9.725804 deg.
2025-08-20T02:39:11.887Z,1755657551.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238789
2025-08-20T02:39:12.139Z,1755657552.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491722
2025-08-20T02:39:12.262Z,1755657552.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-08-20T02:39:12.265Z,1755657552.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.199997 m,
nav range: 179.398499 m,
bearing: 7.718105 deg,
approach rate: -0.731587 m/s,
LOS rate: 0.028490 deg/s,
cmd heading: 9.725803 deg,
new cmd heading: 9.761148 deg.
2025-08-20T02:39:12.390Z,1755657552.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742592
2025-08-20T02:39:12.617Z,1755657552.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-08-20T02:39:12.620Z,1755657552.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.199997 m,
nav range: 179.159546 m,
bearing: 7.727357 deg,
approach rate: -0.672924 m/s,
LOS rate: 0.026090 deg/s,
cmd heading: 9.761148 deg,
new cmd heading: 9.788942 deg.
2025-08-20T02:39:12.645Z,1755657552.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996426
2025-08-20T02:39:12.899Z,1755657552.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249018
2025-08-20T02:39:13.056Z,1755657553.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-08-20T02:39:13.059Z,1755657553.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.199997 m,
nav range: 178.866547 m,
bearing: 7.737966 deg,
approach rate: -0.667219 m/s,
LOS rate: 0.024198 deg/s,
cmd heading: 9.788942 deg,
new cmd heading: 9.820820 deg.
2025-08-20T02:39:13.148Z,1755657553.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499897
2025-08-20T02:39:13.398Z,1755657553.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750738
2025-08-20T02:39:13.430Z,1755657553.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:13.432Z,1755657553.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-08-20T02:39:13.435Z,1755657553.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.199997 m,
nav range: 178.609375 m,
bearing: 7.747208 deg,
approach rate: -0.683525 m/s,
LOS rate: 0.024598 deg/s,
cmd heading: 9.820821 deg,
new cmd heading: 9.848585 deg.
2025-08-20T02:39:13.651Z,1755657553.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003060
2025-08-20T02:39:13.903Z,1755657553.903 [DAT](INFO): DAT read: Rx Time:02:39:11.7028
2025-08-20T02:39:13.903Z,1755657553.903 [DAT](INFO): Rx dataTimestamp_ set to:1755657553.902813
2025-08-20T02:39:13.904Z,1755657553.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255946
2025-08-20T02:39:13.910Z,1755657553.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-08-20T02:39:13.912Z,1755657553.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.199997 m,
nav range: 178.327377 m,
bearing: 7.757267 deg,
approach rate: -0.595999 m/s,
LOS rate: 0.021293 deg/s,
cmd heading: 9.848585 deg,
new cmd heading: 9.878810 deg.
2025-08-20T02:39:14.155Z,1755657554.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507231
2025-08-20T02:39:14.310Z,1755657554.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-08-20T02:39:14.312Z,1755657554.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 185.199997 m,
nav range: 178.014160 m,
bearing: 7.767727 deg,
approach rate: -0.774799 m/s,
LOS rate: 0.025921 deg/s,
cmd heading: 9.878810 deg,
new cmd heading: 9.910246 deg.
2025-08-20T02:39:14.416Z,1755657554.416 [DAT](INFO): DAT read: 02:39:11.7028 LVL= 32752, 32753, 27618, 32755, AGC= 69, IDX= 412,-0.01,-1.008,-2.690,-0.777,-1.311, PHS= 0.405,-1.334, 0.490, RAW= 152.4, 5.0, CAL= 151.5, 5.0, ROT= 358.5, -5.0
2025-08-20T02:39:14.417Z,1755657554.417 [DAT](INFO): got valid direction response:
02:39:11.7028 LVL= 32752, 32753, 27618, 32755, AGC= 69, IDX= 412,-0.01,-1.008,-2.690,-0.777,-1.311, PHS= 0.405,-1.334, 0.490, RAW= 152.4, 5.0, CAL= 151.5, 5.0, ROT= 358.5, -5.0
2025-08-20T02:39:14.419Z,1755657554.419 [DAT](INFO): DAT read: Bearing 173.4, 3.3 (Local)
2025-08-20T02:39:14.419Z,1755657554.419 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, 3.3 (Local)
2025-08-20T02:39:14.421Z,1755657554.421 [DAT](INFO): DAT read: Range 11 to 50 : 182.7 m (Round-trip 243.7 ms) speed 0.7 m/s
2025-08-20T02:39:14.446Z,1755657554.446 [DAT](INFO): DAT read: user:3204>
2025-08-20T02:39:14.448Z,1755657554.448 [DAT](INFO): DAT read: Tx time:02:39:12.8049
2025-08-20T02:39:14.448Z,1755657554.448 [DAT](INFO): Ping request sent.
2025-08-20T02:39:14.448Z,1755657554.448 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:14.449Z,1755657554.449 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:14.451Z,1755657554.451 [DAT](INFO): direction in FSK: [0.995853,-0.026077,0.087156]
2025-08-20T02:39:14.452Z,1755657554.452 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:14.452Z,1755657554.452 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:14.474Z,1755657554.474 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:14.474Z,1755657554.474 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:14.703Z,1755657554.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 182.699997 m,
deltaT: 3.779762 s,
deltaX: -2.500000 m,
approachRate: -0.661417 m/s,
rangeRepo size: 4
2025-08-20T02:39:14.706Z,1755657554.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 182.699997 m,
bearing: 7.674982 deg,
lat: 36.779314 deg,
lon: -121.859389 deg,
deltaT: 3.779762 s,
deltaX: -2.500000 m,
approachRate: -0.661417 m/s,
posRepo size: 4
2025-08-20T02:39:14.706Z,1755657554.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.70 m.
2025-08-20T02:39:14.709Z,1755657554.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.699997 m,
nav range: 177.706589 m,
bearing: 7.674982 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025921 deg/s,
cmd heading: 9.910246 deg,
new cmd heading: 9.940821 deg.
2025-08-20T02:39:15.119Z,1755657555.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.70 m.
2025-08-20T02:39:15.126Z,1755657555.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.699997 m,
nav range: 177.431000 m,
bearing: 7.682064 deg,
approach rate: -0.662033 m/s,
LOS rate: 0.017039 deg/s,
cmd heading: 9.940820 deg,
new cmd heading: 9.962100 deg.
2025-08-20T02:39:15.510Z,1755657555.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:15.512Z,1755657555.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.70 m.
2025-08-20T02:39:15.515Z,1755657555.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.699997 m,
nav range: 177.163742 m,
bearing: 7.688866 deg,
approach rate: -0.679509 m/s,
LOS rate: 0.017321 deg/s,
cmd heading: 9.962100 deg,
new cmd heading: 9.982538 deg.
2025-08-20T02:39:15.666Z,1755657555.666 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:15.666Z,1755657555.666 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:15.667Z,1755657555.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:15.921Z,1755657555.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472101
2025-08-20T02:39:15.992Z,1755657555.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.70 m.
2025-08-20T02:39:15.995Z,1755657555.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.699997 m,
nav range: 176.818146 m,
bearing: 7.697382 deg,
approach rate: -0.721170 m/s,
LOS rate: 0.017806 deg/s,
cmd heading: 9.982537 deg,
new cmd heading: 10.008137 deg.
2025-08-20T02:39:16.171Z,1755657556.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722776
2025-08-20T02:39:16.319Z,1755657556.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.70 m.
2025-08-20T02:39:16.322Z,1755657556.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.699997 m,
nav range: 176.590378 m,
bearing: 7.702957 deg,
approach rate: -0.694624 m/s,
LOS rate: 0.017022 deg/s,
cmd heading: 10.008137 deg,
new cmd heading: 10.024882 deg.
2025-08-20T02:39:16.423Z,1755657556.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974974
2025-08-20T02:39:16.674Z,1755657556.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225957
2025-08-20T02:39:16.715Z,1755657556.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.70 m.
2025-08-20T02:39:16.718Z,1755657556.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.699997 m,
nav range: 176.314575 m,
bearing: 7.709631 deg,
approach rate: -0.696568 m/s,
LOS rate: 0.016881 deg/s,
cmd heading: 10.024882 deg,
new cmd heading: 10.044934 deg.
2025-08-20T02:39:16.929Z,1755657556.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480183
2025-08-20T02:39:17.138Z,1755657557.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.70 m.
2025-08-20T02:39:17.141Z,1755657557.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.699997 m,
nav range: 176.026611 m,
bearing: 7.715913 deg,
approach rate: -0.681381 m/s,
LOS rate: 0.014891 deg/s,
cmd heading: 10.044935 deg,
new cmd heading: 10.063814 deg.
2025-08-20T02:39:17.180Z,1755657557.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731958
2025-08-20T02:39:17.432Z,1755657557.432 [DAT](INFO): DAT read: Rx Time:02:39:15.4495
2025-08-20T02:39:17.433Z,1755657557.433 [DAT](INFO): Rx dataTimestamp_ set to:1755657557.432176
2025-08-20T02:39:17.434Z,1755657557.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985646
2025-08-20T02:39:17.616Z,1755657557.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:17.635Z,1755657557.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.70 m.
2025-08-20T02:39:17.642Z,1755657557.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.699997 m,
nav range: 175.699127 m,
bearing: 7.723084 deg,
approach rate: -0.659259 m/s,
LOS rate: 0.014461 deg/s,
cmd heading: 10.063814 deg,
new cmd heading: 10.085365 deg.
2025-08-20T02:39:17.683Z,1755657557.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234347
2025-08-20T02:39:17.939Z,1755657557.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489676
2025-08-20T02:39:18.088Z,1755657558.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.70 m.
2025-08-20T02:39:18.091Z,1755657558.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 182.699997 m,
nav range: 175.369904 m,
bearing: 7.728735 deg,
approach rate: -0.726562 m/s,
LOS rate: 0.012495 deg/s,
cmd heading: 10.085365 deg,
new cmd heading: 10.102351 deg.
2025-08-20T02:39:18.194Z,1755657558.194 [DAT](INFO): DAT read: 02:39:15.4495 LVL= 31552, 32753, 22498, 32755, AGC= 66, IDX= 410,-0.33,-0.275,-1.878, 0.019,-0.482, PHS= 0.308,-1.351, 0.457, RAW= 154.2, 6.8, CAL= 153.6, 7.0, ROT= 356.4, -7.0
2025-08-20T02:39:18.195Z,1755657558.195 [DAT](INFO): got valid direction response:
02:39:15.4495 LVL= 31552, 32753, 22498, 32755, AGC= 66, IDX= 410,-0.33,-0.275,-1.878, 0.019,-0.482, PHS= 0.308,-1.351, 0.457, RAW= 154.2, 6.8, CAL= 153.6, 7.0, ROT= 356.4, -7.0
2025-08-20T02:39:18.196Z,1755657558.196 [DAT](INFO): DAT read: Bearing 176.2, -2.9 (Local)
2025-08-20T02:39:18.196Z,1755657558.196 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.2, -2.9 (Local)
2025-08-20T02:39:18.199Z,1755657558.199 [DAT](INFO): DAT read: Range 11 to 50 : 180.3 m (Round-trip 240.4 ms) speed 0.2 m/s
2025-08-20T02:39:18.200Z,1755657558.200 [DAT](INFO): DAT read: user:3205>
2025-08-20T02:39:18.200Z,1755657558.200 [DAT](INFO): DAT read: Tx time:02:39:16.5549
2025-08-20T02:39:18.201Z,1755657558.201 [DAT](INFO): Ping request sent.
2025-08-20T02:39:18.201Z,1755657558.201 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:18.201Z,1755657558.201 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:18.202Z,1755657558.202 [DAT](INFO): direction in FSK: [0.990588,-0.062323,0.121869]
2025-08-20T02:39:18.202Z,1755657558.202 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:18.203Z,1755657558.203 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:18.207Z,1755657558.207 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:18.207Z,1755657558.207 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:18.537Z,1755657558.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 180.300003 m,
deltaT: 3.780053 s,
deltaX: -2.399994 m,
approachRate: -0.634910 m/s,
rangeRepo size: 4
2025-08-20T02:39:18.543Z,1755657558.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 180.300003 m,
bearing: 7.675597 deg,
lat: 36.779326 deg,
lon: -121.859389 deg,
deltaT: 3.780053 s,
deltaX: -2.399994 m,
approachRate: -0.634910 m/s,
posRepo size: 4
2025-08-20T02:39:18.544Z,1755657558.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.30 m.
2025-08-20T02:39:18.551Z,1755657558.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 180.300003 m,
nav range: 176.391037 m,
bearing: 7.675597 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012495 deg/s,
cmd heading: 10.102351 deg,
new cmd heading: 10.119155 deg.
2025-08-20T02:39:18.913Z,1755657558.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.30 m.
2025-08-20T02:39:18.916Z,1755657558.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 180.300003 m,
nav range: 176.113205 m,
bearing: 7.680077 deg,
approach rate: -0.737681 m/s,
LOS rate: 0.011912 deg/s,
cmd heading: 10.119155 deg,
new cmd heading: 10.132614 deg.
2025-08-20T02:39:19.338Z,1755657559.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.30 m.
2025-08-20T02:39:19.340Z,1755657559.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 180.300003 m,
nav range: 175.828049 m,
bearing: 7.683780 deg,
approach rate: -0.671392 m/s,
LOS rate: 0.008733 deg/s,
cmd heading: 10.132615 deg,
new cmd heading: 10.143742 deg.
2025-08-20T02:39:19.719Z,1755657559.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:19.722Z,1755657559.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.30 m.
2025-08-20T02:39:19.724Z,1755657559.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 180.300003 m,
nav range: 175.564697 m,
bearing: 7.687210 deg,
approach rate: -0.686081 m/s,
LOS rate: 0.008951 deg/s,
cmd heading: 10.143742 deg,
new cmd heading: 10.154049 deg.
2025-08-20T02:39:19.953Z,1755657559.953 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:19.954Z,1755657559.954 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:19.954Z,1755657559.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:20.146Z,1755657560.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.30 m.
2025-08-20T02:39:20.149Z,1755657560.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 180.300003 m,
nav range: 175.286041 m,
bearing: 7.690983 deg,
approach rate: -0.657477 m/s,
LOS rate: 0.008916 deg/s,
cmd heading: 10.154050 deg,
new cmd heading: 10.165386 deg.
2025-08-20T02:39:20.203Z,1755657560.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002568
2025-08-20T02:39:20.454Z,1755657560.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253772
2025-08-20T02:39:20.522Z,1755657560.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.30 m.
2025-08-20T02:39:20.525Z,1755657560.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 180.300003 m,
nav range: 175.031494 m,
bearing: 7.694359 deg,
approach rate: -0.675437 m/s,
LOS rate: 0.008972 deg/s,
cmd heading: 10.165386 deg,
new cmd heading: 10.175529 deg.
2025-08-20T02:39:20.707Z,1755657560.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506581
2025-08-20T02:39:20.961Z,1755657560.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760109
2025-08-20T02:39:20.973Z,1755657560.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.30 m.
2025-08-20T02:39:20.995Z,1755657560.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 180.300003 m,
nav range: 174.767624 m,
bearing: 7.697797 deg,
approach rate: -0.587572 m/s,
LOS rate: 0.007665 deg/s,
cmd heading: 10.175530 deg,
new cmd heading: 10.185857 deg.
2025-08-20T02:39:21.210Z,1755657561.210 [DAT](INFO): DAT read: Rx Time:02:39:19.1961
2025-08-20T02:39:21.211Z,1755657561.211 [DAT](INFO): Rx dataTimestamp_ set to:1755657561.210607
2025-08-20T02:39:21.211Z,1755657561.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010777
2025-08-20T02:39:21.421Z,1755657561.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.30 m.
2025-08-20T02:39:21.436Z,1755657561.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 180.300003 m,
nav range: 174.441193 m,
bearing: 7.702106 deg,
approach rate: -0.726611 m/s,
LOS rate: 0.009611 deg/s,
cmd heading: 10.185857 deg,
new cmd heading: 10.198810 deg.
2025-08-20T02:39:21.463Z,1755657561.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261856
2025-08-20T02:39:21.752Z,1755657561.752 [DAT](INFO): DAT read: 02:39:19.1961 LVL= 32752, 32753, 28962, 32755, AGC= 69, IDX= 408,-0.18, 2.360, 0.843, 2.773, 2.200, PHS= 0.262,-1.312, 0.529, RAW= 157.7, 6.1, CAL= 157.0, 5.9, ROT= 353.0, -5.9
2025-08-20T02:39:21.756Z,1755657561.756 [DAT](INFO): got valid direction response:
02:39:19.1961 LVL= 32752, 32753, 28962, 32755, AGC= 69, IDX= 408,-0.18, 2.360, 0.843, 2.773, 2.200, PHS= 0.262,-1.312, 0.529, RAW= 157.7, 6.1, CAL= 157.0, 5.9, ROT= 353.0, -5.9
2025-08-20T02:39:21.758Z,1755657561.758 [DAT](INFO): DAT read: Bearing 175.8, -9.7 (Local)
2025-08-20T02:39:21.758Z,1755657561.758 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.8, -9.7 (Local)
2025-08-20T02:39:21.759Z,1755657561.759 [DAT](INFO): DAT read: Range 11 to 50 : 177.8 m (Round-trip 237.1 ms) speed 0.8 m/s
2025-08-20T02:39:21.760Z,1755657561.760 [DAT](INFO): DAT read: user:3206>
2025-08-20T02:39:21.761Z,1755657561.761 [DAT](INFO): DAT read: Tx time:02:39:20.3049
2025-08-20T02:39:21.761Z,1755657561.761 [DAT](INFO): Ping request sent.
2025-08-20T02:39:21.761Z,1755657561.761 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:21.766Z,1755657561.766 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:21.767Z,1755657561.767 [DAT](INFO): direction in FSK: [0.987288,-0.121224,0.102793]
2025-08-20T02:39:21.767Z,1755657561.767 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:21.767Z,1755657561.767 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:21.814Z,1755657561.814 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:21.815Z,1755657561.815 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:21.868Z,1755657561.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 177.800003 m,
deltaT: 3.530012 s,
deltaX: -2.500000 m,
approachRate: -0.708213 m/s,
rangeRepo size: 4
2025-08-20T02:39:21.875Z,1755657561.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 177.800003 m,
bearing: 7.206258 deg,
lat: 36.779345 deg,
lon: -121.859403 deg,
deltaT: 3.530012 s,
deltaX: -2.500000 m,
approachRate: -0.708213 m/s,
posRepo size: 4
2025-08-20T02:39:21.876Z,1755657561.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.80 m.
2025-08-20T02:39:21.882Z,1755657561.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.800003 m,
nav range: 176.118073 m,
bearing: 7.206258 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.009611 deg/s,
cmd heading: 10.198809 deg,
new cmd heading: 10.211707 deg.
2025-08-20T02:39:22.246Z,1755657562.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:22.248Z,1755657562.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.80 m.
2025-08-20T02:39:22.271Z,1755657562.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.800003 m,
nav range: 175.849289 m,
bearing: 7.208714 deg,
approach rate: -0.707364 m/s,
LOS rate: 0.006474 deg/s,
cmd heading: 10.211707 deg,
new cmd heading: 10.219087 deg.
2025-08-20T02:39:22.471Z,1755657562.471 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:22.471Z,1755657562.471 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:22.471Z,1755657562.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:22.692Z,1755657562.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.80 m.
2025-08-20T02:39:22.695Z,1755657562.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.800003 m,
nav range: 175.556778 m,
bearing: 7.211256 deg,
approach rate: -0.658312 m/s,
LOS rate: 0.005732 deg/s,
cmd heading: 10.219087 deg,
new cmd heading: 10.226727 deg.
2025-08-20T02:39:22.727Z,1755657562.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.965829
2025-08-20T02:39:22.978Z,1755657562.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217263
2025-08-20T02:39:23.122Z,1755657563.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.80 m.
2025-08-20T02:39:23.124Z,1755657563.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.800003 m,
nav range: 175.287811 m,
bearing: 7.217044 deg,
approach rate: -0.626680 m/s,
LOS rate: 0.013505 deg/s,
cmd heading: 10.226727 deg,
new cmd heading: 10.244115 deg.
2025-08-20T02:39:23.231Z,1755657563.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469340
2025-08-20T02:39:23.486Z,1755657563.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724661
2025-08-20T02:39:23.517Z,1755657563.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.80 m.
2025-08-20T02:39:23.520Z,1755657563.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.800003 m,
nav range: 175.020020 m,
bearing: 7.222785 deg,
approach rate: -0.676744 m/s,
LOS rate: 0.014531 deg/s,
cmd heading: 10.244115 deg,
new cmd heading: 10.261364 deg.
2025-08-20T02:39:23.738Z,1755657563.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977259
2025-08-20T02:39:23.976Z,1755657563.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.80 m.
2025-08-20T02:39:23.979Z,1755657563.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.800003 m,
nav range: 174.723969 m,
bearing: 7.229108 deg,
approach rate: -0.645375 m/s,
LOS rate: 0.013809 deg/s,
cmd heading: 10.261365 deg,
new cmd heading: 10.280368 deg.
2025-08-20T02:39:23.994Z,1755657563.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231756
2025-08-20T02:39:24.242Z,1755657564.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481177
2025-08-20T02:39:24.371Z,1755657564.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:24.373Z,1755657564.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.80 m.
2025-08-20T02:39:24.392Z,1755657564.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.800003 m,
nav range: 174.467407 m,
bearing: 7.234549 deg,
approach rate: -0.645884 m/s,
LOS rate: 0.013716 deg/s,
cmd heading: 10.280368 deg,
new cmd heading: 10.296713 deg.
2025-08-20T02:39:24.496Z,1755657564.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734571
2025-08-20T02:39:24.746Z,1755657564.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985280
2025-08-20T02:39:24.768Z,1755657564.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.80 m.
2025-08-20T02:39:24.771Z,1755657564.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.800003 m,
nav range: 174.221710 m,
bearing: 7.239780 deg,
approach rate: -0.621263 m/s,
LOS rate: 0.013245 deg/s,
cmd heading: 10.296713 deg,
new cmd heading: 10.312428 deg.
2025-08-20T02:39:25.001Z,1755657565.001 [DAT](INFO): DAT read: Rx Time:02:39:22.9428
2025-08-20T02:39:25.002Z,1755657565.002 [DAT](INFO): Rx dataTimestamp_ set to:1755657565.001275
2025-08-20T02:39:25.002Z,1755657565.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240968
2025-08-20T02:39:25.207Z,1755657565.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.80 m.
2025-08-20T02:39:25.226Z,1755657565.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 177.800003 m,
nav range: 173.929749 m,
bearing: 7.246885 deg,
approach rate: -0.665402 m/s,
LOS rate: 0.016220 deg/s,
cmd heading: 10.312428 deg,
new cmd heading: 10.333779 deg.
2025-08-20T02:39:25.251Z,1755657565.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489750
2025-08-20T02:39:25.508Z,1755657565.508 [DAT](INFO): DAT read: 02:39:22.9428 LVL= 32752, 32753, 30706, 32755, AGC= 64, IDX= 406, 0.04, 3.092, 1.642,-2.691, 2.989, PHS= 0.205,-1.302, 0.560, RAW= 160.3, 6.3, CAL= 159.6, 6.0, ROT= 350.4, -6.0
2025-08-20T02:39:25.509Z,1755657565.509 [DAT](INFO): got valid direction response:
02:39:22.9428 LVL= 32752, 32753, 30706, 32755, AGC= 64, IDX= 406, 0.04, 3.092, 1.642,-2.691, 2.989, PHS= 0.205,-1.302, 0.560, RAW= 160.3, 6.3, CAL= 159.6, 6.0, ROT= 350.4, -6.0
2025-08-20T02:39:25.510Z,1755657565.510 [DAT](INFO): DAT read: Bearing 176.4, -14.6 (Local)
2025-08-20T02:39:25.511Z,1755657565.511 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.4, -14.6 (Local)
2025-08-20T02:39:25.512Z,1755657565.512 [DAT](INFO): DAT read: Range 11 to 50 : 175.2 m (Round-trip 233.7 ms) speed 0.3 m/s
2025-08-20T02:39:25.513Z,1755657565.513 [DAT](INFO): DAT read: user:3207>
2025-08-20T02:39:25.514Z,1755657565.514 [DAT](INFO): DAT read: Tx time:02:39:24.0565
2025-08-20T02:39:25.514Z,1755657565.514 [DAT](INFO): Ping request sent.
2025-08-20T02:39:25.514Z,1755657565.514 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:25.514Z,1755657565.514 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:25.515Z,1755657565.515 [DAT](INFO): direction in FSK: [0.980595,-0.165855,0.104528]
2025-08-20T02:39:25.515Z,1755657565.515 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:25.516Z,1755657565.516 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:25.519Z,1755657565.519 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:25.519Z,1755657565.519 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:25.639Z,1755657565.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 175.199997 m,
deltaT: 3.785374 s,
deltaX: -2.600006 m,
approachRate: -0.686856 m/s,
rangeRepo size: 4
2025-08-20T02:39:25.646Z,1755657565.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 175.199997 m,
bearing: 5.505512 deg,
lat: 36.779359 deg,
lon: -121.859461 deg,
deltaT: 3.785374 s,
deltaX: -2.600006 m,
approachRate: -0.686856 m/s,
posRepo size: 4
2025-08-20T02:39:25.646Z,1755657565.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.20 m.
2025-08-20T02:39:25.649Z,1755657565.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 175.199997 m,
nav range: 174.662125 m,
bearing: 5.505512 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.016220 deg/s,
cmd heading: 10.333778 deg,
new cmd heading: 10.354765 deg.
2025-08-20T02:39:25.972Z,1755657565.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.20 m.
2025-08-20T02:39:25.975Z,1755657565.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 175.199997 m,
nav range: 174.434402 m,
bearing: 5.508730 deg,
approach rate: -0.682590 m/s,
LOS rate: 0.009659 deg/s,
cmd heading: 10.354765 deg,
new cmd heading: 10.364433 deg.
2025-08-20T02:39:26.392Z,1755657566.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:26.395Z,1755657566.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.20 m.
2025-08-20T02:39:26.398Z,1755657566.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 175.199997 m,
nav range: 174.157196 m,
bearing: 5.514005 deg,
approach rate: -0.655891 m/s,
LOS rate: 0.012500 deg/s,
cmd heading: 10.364432 deg,
new cmd heading: 10.380281 deg.
2025-08-20T02:39:26.510Z,1755657566.510 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:26.510Z,1755657566.510 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:26.511Z,1755657566.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:26.763Z,1755657566.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249148
2025-08-20T02:39:26.884Z,1755657566.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.20 m.
2025-08-20T02:39:26.892Z,1755657566.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 175.199997 m,
nav range: 173.835556 m,
bearing: 5.520129 deg,
approach rate: -0.656895 m/s,
LOS rate: 0.012532 deg/s,
cmd heading: 10.380281 deg,
new cmd heading: 10.398689 deg.
2025-08-20T02:39:27.015Z,1755657567.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500887
2025-08-20T02:39:27.266Z,1755657567.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752494
2025-08-20T02:39:27.303Z,1755657567.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.20 m.
2025-08-20T02:39:27.321Z,1755657567.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 175.199997 m,
nav range: 173.566269 m,
bearing: 5.525104 deg,
approach rate: -0.643889 m/s,
LOS rate: 0.011913 deg/s,
cmd heading: 10.398689 deg,
new cmd heading: 10.413636 deg.
2025-08-20T02:39:27.518Z,1755657567.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004507
2025-08-20T02:39:27.771Z,1755657567.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256594
2025-08-20T02:39:27.777Z,1755657567.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.20 m.
2025-08-20T02:39:27.780Z,1755657567.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 175.199997 m,
nav range: 173.262146 m,
bearing: 5.530772 deg,
approach rate: -0.641189 m/s,
LOS rate: 0.011971 deg/s,
cmd heading: 10.413636 deg,
new cmd heading: 10.430670 deg.
2025-08-20T02:39:28.022Z,1755657568.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508438
2025-08-20T02:39:28.240Z,1755657568.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.20 m.
2025-08-20T02:39:28.243Z,1755657568.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 175.199997 m,
nav range: 172.960464 m,
bearing: 5.536316 deg,
approach rate: -0.651064 m/s,
LOS rate: 0.011986 deg/s,
cmd heading: 10.430670 deg,
new cmd heading: 10.447332 deg.
2025-08-20T02:39:28.288Z,1755657568.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773500
2025-08-20T02:39:28.538Z,1755657568.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024480
2025-08-20T02:39:28.613Z,1755657568.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:28.615Z,1755657568.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.20 m.
2025-08-20T02:39:28.618Z,1755657568.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 175.199997 m,
nav range: 172.726578 m,
bearing: 5.540628 deg,
approach rate: -0.624007 m/s,
LOS rate: 0.011519 deg/s,
cmd heading: 10.447332 deg,
new cmd heading: 10.460284 deg.
2025-08-20T02:39:28.790Z,1755657568.790 [DAT](INFO): DAT read: Rx Time:02:39:26.6911
2025-08-20T02:39:28.791Z,1755657568.791 [DAT](INFO): Rx dataTimestamp_ set to:1755657568.790602
2025-08-20T02:39:28.791Z,1755657568.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277487
2025-08-20T02:39:28.997Z,1755657568.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.20 m.
2025-08-20T02:39:28.999Z,1755657568.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 175.199997 m,
nav range: 172.470459 m,
bearing: 5.545384 deg,
approach rate: -0.671326 m/s,
LOS rate: 0.012486 deg/s,
cmd heading: 10.460284 deg,
new cmd heading: 10.474575 deg.
2025-08-20T02:39:29.043Z,1755657569.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528895
2025-08-20T02:39:29.300Z,1755657569.300 [DAT](INFO): DAT read: 02:39:26.6911 LVL= 30880, 32753, 32754, 32755, AGC= 69, IDX= 404, 0.04, 0.029,-1.487, 0.607, 0.014, PHS= 0.117,-1.456, 0.549, RAW= 161.8, 8.7, CAL= 161.6, 9.1, ROT= 348.4, -9.1
2025-08-20T02:39:29.301Z,1755657569.301 [DAT](INFO): got valid direction response:
02:39:26.6911 LVL= 30880, 32753, 32754, 32755, AGC= 69, IDX= 404, 0.04, 0.029,-1.487, 0.607, 0.014, PHS= 0.117,-1.456, 0.549, RAW= 161.8, 8.7, CAL= 161.6, 9.1, ROT= 348.4, -9.1
2025-08-20T02:39:29.302Z,1755657569.302 [DAT](INFO): DAT read: Bearing 180.0, -17.8 (Local)
2025-08-20T02:39:29.303Z,1755657569.303 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.0, -17.8 (Local)
2025-08-20T02:39:29.304Z,1755657569.304 [DAT](INFO): DAT read: Range 11 to 50 : 172.8 m (Round-trip 230.4 ms) speed 0.7 m/s
2025-08-20T02:39:29.305Z,1755657569.305 [DAT](INFO): DAT read: user:3208>
2025-08-20T02:39:29.306Z,1755657569.306 [DAT](INFO): DAT read: Tx time:02:39:27.8049
2025-08-20T02:39:29.306Z,1755657569.306 [DAT](INFO): Ping request sent.
2025-08-20T02:39:29.306Z,1755657569.306 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:29.306Z,1755657569.306 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:29.307Z,1755657569.307 [DAT](INFO): direction in FSK: [0.967246,-0.198547,0.158158]
2025-08-20T02:39:29.308Z,1755657569.308 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:29.308Z,1755657569.308 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:29.312Z,1755657569.312 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:29.312Z,1755657569.312 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:29.496Z,1755657569.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 172.800003 m,
deltaT: 3.792011 s,
deltaX: -2.399994 m,
approachRate: -0.632908 m/s,
rangeRepo size: 4
2025-08-20T02:39:29.503Z,1755657569.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 172.800003 m,
bearing: 2.603207 deg,
lat: 36.779370 deg,
lon: -121.859560 deg,
deltaT: 3.792011 s,
deltaX: -2.399994 m,
approachRate: -0.632908 m/s,
posRepo size: 4
2025-08-20T02:39:29.503Z,1755657569.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:29.510Z,1755657569.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 172.724350 m,
bearing: 2.603207 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012486 deg/s,
cmd heading: 10.474575 deg,
new cmd heading: 10.493266 deg.
2025-08-20T02:39:29.844Z,1755657569.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:29.847Z,1755657569.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 172.484085 m,
bearing: 2.603763 deg,
approach rate: -0.690228 m/s,
LOS rate: 0.001600 deg/s,
cmd heading: 10.493267 deg,
new cmd heading: 10.494938 deg.
2025-08-20T02:39:30.285Z,1755657570.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:30.292Z,1755657570.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 172.204453 m,
bearing: 2.602132 deg,
approach rate: -0.633547 m/s,
LOS rate: -0.003702 deg/s,
cmd heading: 10.494937 deg,
new cmd heading: 10.490035 deg.
2025-08-20T02:39:30.656Z,1755657570.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:30.659Z,1755657570.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:30.663Z,1755657570.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 171.944107 m,
bearing: 2.600590 deg,
approach rate: -0.696651 m/s,
LOS rate: -0.004132 deg/s,
cmd heading: 10.490035 deg,
new cmd heading: 10.485403 deg.
2025-08-20T02:39:30.806Z,1755657570.806 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:30.806Z,1755657570.806 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:30.807Z,1755657570.807 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:31.058Z,1755657571.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752486
2025-08-20T02:39:31.082Z,1755657571.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:31.085Z,1755657571.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 171.685165 m,
bearing: 2.598985 deg,
approach rate: -0.611484 m/s,
LOS rate: -0.003795 deg/s,
cmd heading: 10.485402 deg,
new cmd heading: 10.480582 deg.
2025-08-20T02:39:31.311Z,1755657571.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004626
2025-08-20T02:39:31.554Z,1755657571.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:31.557Z,1755657571.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 171.352905 m,
bearing: 2.595674 deg,
approach rate: -0.704840 m/s,
LOS rate: -0.007039 deg/s,
cmd heading: 10.480581 deg,
new cmd heading: 10.470627 deg.
2025-08-20T02:39:31.563Z,1755657571.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256584
2025-08-20T02:39:31.814Z,1755657571.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508452
2025-08-20T02:39:31.872Z,1755657571.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:31.875Z,1755657571.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 171.138260 m,
bearing: 2.593474 deg,
approach rate: -0.673454 m/s,
LOS rate: -0.006910 deg/s,
cmd heading: 10.470627 deg,
new cmd heading: 10.464020 deg.
2025-08-20T02:39:32.069Z,1755657572.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763266
2025-08-20T02:39:32.318Z,1755657572.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012376
2025-08-20T02:39:32.320Z,1755657572.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:32.323Z,1755657572.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 170.847137 m,
bearing: 2.589362 deg,
approach rate: -0.649875 m/s,
LOS rate: -0.009195 deg/s,
cmd heading: 10.464021 deg,
new cmd heading: 10.451663 deg.
2025-08-20T02:39:32.570Z,1755657572.570 [DAT](INFO): DAT read: Rx Time:02:39:30.4362
2025-08-20T02:39:32.571Z,1755657572.571 [DAT](INFO): Rx dataTimestamp_ set to:1755657572.570634
2025-08-20T02:39:32.571Z,1755657572.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265486
2025-08-20T02:39:32.789Z,1755657572.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:32.791Z,1755657572.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:32.794Z,1755657572.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 170.520996 m,
bearing: 2.584633 deg,
approach rate: -0.692540 m/s,
LOS rate: -0.010061 deg/s,
cmd heading: 10.451663 deg,
new cmd heading: 10.437449 deg.
2025-08-20T02:39:32.823Z,1755657572.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516555
2025-08-20T02:39:33.077Z,1755657573.077 [DAT](INFO): DAT read: 02:39:30.4362 LVL= 32192, 32753, 27186, 32759.7, CAL= 162.1, 10.5, ROT= 347.9, -10.5
2025-08-20T02:39:33.077Z,1755657573.077 [DAT](INFO): unknown deviceResponse_: 02:39:30.4362 LVL= 32192, 32753, 27186, 32759.7, CAL= 162.1, 10.5, ROT= 347.9, -10.5
2025-08-20T02:39:33.078Z,1755657573.078 [DAT](INFO): DAT read: Bearing 181.8, -19.1 (Local)
2025-08-20T02:39:33.079Z,1755657573.079 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.8, -19.1 (Local)
2025-08-20T02:39:33.080Z,1755657573.080 [DAT](INFO): DAT read: Range 11 to 50 : 170.3 m (Round-trip 227.1 ms) speed -0.1 m/s
2025-08-20T02:39:33.081Z,1755657573.081 [DAT](INFO): DAT read: user:3209>
2025-08-20T02:39:33.082Z,1755657573.082 [DAT](INFO): DAT read: Tx time:02:39:31.5549
2025-08-20T02:39:33.082Z,1755657573.082 [DAT](INFO): Ping request sent.
2025-08-20T02:39:33.082Z,1755657573.082 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:33.082Z,1755657573.082 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-20T02:39:33.082Z,1755657573.082 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:33.083Z,1755657573.083 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:33.321Z,1755657573.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 170.300003 m,
deltaT: 3.779952 s,
deltaX: -2.500000 m,
approachRate: -0.661384 m/s,
rangeRepo size: 4
2025-08-20T02:39:33.327Z,1755657573.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:33.333Z,1755657573.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 170.172867 m,
bearing: 2.579475 deg,
approach rate: -0.658228 m/s,
LOS rate: -0.009772 deg/s,
cmd heading: 10.437449 deg,
new cmd heading: 10.421945 deg.
2025-08-20T02:39:33.804Z,1755657573.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:33.807Z,1755657573.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 169.844086 m,
bearing: 2.574564 deg,
approach rate: -0.679308 m/s,
LOS rate: -0.010167 deg/s,
cmd heading: 10.421945 deg,
new cmd heading: 10.407183 deg.
2025-08-20T02:39:34.355Z,1755657574.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:34.358Z,1755657574.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 169.476181 m,
bearing: 2.568758 deg,
approach rate: -0.667793 m/s,
LOS rate: -0.010562 deg/s,
cmd heading: 10.407183 deg,
new cmd heading: 10.389726 deg.
2025-08-20T02:39:34.788Z,1755657574.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:34.791Z,1755657574.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 169.186874 m,
bearing: 2.564123 deg,
approach rate: -0.667918 m/s,
LOS rate: -0.010720 deg/s,
cmd heading: 10.389726 deg,
new cmd heading: 10.375796 deg.
2025-08-20T02:39:35.266Z,1755657575.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:35.268Z,1755657575.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:35.271Z,1755657575.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 168.870224 m,
bearing: 2.559470 deg,
approach rate: -0.660094 m/s,
LOS rate: -0.009717 deg/s,
cmd heading: 10.375796 deg,
new cmd heading: 10.361812 deg.
2025-08-20T02:39:35.342Z,1755657575.342 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:35.343Z,1755657575.343 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:35.343Z,1755657575.343 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:35.594Z,1755657575.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512479
2025-08-20T02:39:35.599Z,1755657575.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:35.602Z,1755657575.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 168.651978 m,
bearing: 2.556264 deg,
approach rate: -0.658392 m/s,
LOS rate: -0.009683 deg/s,
cmd heading: 10.361812 deg,
new cmd heading: 10.352183 deg.
2025-08-20T02:39:35.847Z,1755657575.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764789
2025-08-20T02:39:35.999Z,1755657575.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:36.002Z,1755657576.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 168.386948 m,
bearing: 2.552341 deg,
approach rate: -0.663492 m/s,
LOS rate: -0.009838 deg/s,
cmd heading: 10.352183 deg,
new cmd heading: 10.340394 deg.
2025-08-20T02:39:36.099Z,1755657576.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016522
2025-08-20T02:39:36.350Z,1755657576.350 [DAT](INFO): DAT read: Rx Time:02:39:34.2127
2025-08-20T02:39:36.351Z,1755657576.351 [DAT](INFO): Rx dataTimestamp_ set to:1755657576.350621
2025-08-20T02:39:36.351Z,1755657576.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269475
2025-08-20T02:39:36.531Z,1755657576.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:36.534Z,1755657576.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 168.038544 m,
bearing: 2.546719 deg,
approach rate: -0.654592 m/s,
LOS rate: -0.010584 deg/s,
cmd heading: 10.340394 deg,
new cmd heading: 10.323494 deg.
2025-08-20T02:39:36.607Z,1755657576.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525175
2025-08-20T02:39:36.864Z,1755657576.864 [DAT](INFO): DAT read: 02:39:34.2127 LVL= 27952, 29473, 21778, 23635, AGC= 67, IDX= 178,-0.05,-2.278, 2.716,-2.085,-3.059, PHS= 0.882,-0.463, 0.930, RAW= 151.7, -19.2, CAL= 153.8, -21.3, ROT= 356.2, 21.3
2025-08-20T02:39:36.865Z,1755657576.865 [DAT](INFO): got valid direction response:
02:39:34.2127 LVL= 27952, 29473, 21778, 23635, AGC= 67, IDX= 178,-0.05,-2.278, 2.716,-2.085,-3.059, PHS= 0.882,-0.463, 0.930, RAW= 151.7, -19.2, CAL= 153.8, -21.3, ROT= 356.2, 21.3
2025-08-20T02:39:36.866Z,1755657576.866 [DAT](INFO): DAT read: Bearing 149.0, -11.3 (Local)
2025-08-20T02:39:36.866Z,1755657576.866 [DAT](INFO): Local bearing/azimuth received:
Bearing 149.0, -11.3 (Local)
2025-08-20T02:39:36.868Z,1755657576.868 [DAT](INFO): DAT read: Range 11 to 50 : 190.2 m (Round-trip 253.7 ms) speed 0.0 m/s
2025-08-20T02:39:36.869Z,1755657576.869 [DAT](INFO): DAT read: user:3210>
2025-08-20T02:39:36.869Z,1755657576.869 [DAT](INFO): DAT read: Tx time:02:39:35.3049
2025-08-20T02:39:36.870Z,1755657576.870 [DAT](INFO): Ping request sent.
2025-08-20T02:39:36.870Z,1755657576.870 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:36.870Z,1755657576.870 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:36.871Z,1755657576.871 [DAT](INFO): direction in FSK: [0.929643,-0.061746,-0.363251]
2025-08-20T02:39:36.871Z,1755657576.871 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:36.872Z,1755657576.872 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:36.875Z,1755657576.875 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:36.876Z,1755657576.876 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:36.964Z,1755657576.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
range: 190.199997 m,
deltaT: 3.783915 s,
deltaX: 19.899994 m,
approachRate: 5.259102 m/s,
rangeRepo size: 4
2025-08-20T02:39:36.964Z,1755657576.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:36.987Z,1755657576.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 167.768738 m,
bearing: 2.542357 deg,
approach rate: -0.624593 m/s,
LOS rate: -0.010113 deg/s,
cmd heading: 10.323494 deg,
new cmd heading: 10.310388 deg.
2025-08-20T02:39:37.347Z,1755657577.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:37.349Z,1755657577.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:37.352Z,1755657577.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 167.504395 m,
bearing: 2.539442 deg,
approach rate: -0.685072 m/s,
LOS rate: -0.007569 deg/s,
cmd heading: 10.310387 deg,
new cmd heading: 10.301626 deg.
2025-08-20T02:39:37.379Z,1755657577.379 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:37.380Z,1755657577.380 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:37.380Z,1755657577.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:37.632Z,1755657577.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761753
2025-08-20T02:39:37.727Z,1755657577.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:37.730Z,1755657577.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 167.257446 m,
bearing: 2.536710 deg,
approach rate: -0.652950 m/s,
LOS rate: -0.007234 deg/s,
cmd heading: 10.301626 deg,
new cmd heading: 10.293418 deg.
2025-08-20T02:39:37.884Z,1755657577.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013783
2025-08-20T02:39:38.135Z,1755657578.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264787
2025-08-20T02:39:38.140Z,1755657578.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:38.143Z,1755657578.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 166.989166 m,
bearing: 2.533736 deg,
approach rate: -0.650002 m/s,
LOS rate: -0.007217 deg/s,
cmd heading: 10.293418 deg,
new cmd heading: 10.284482 deg.
2025-08-20T02:39:38.387Z,1755657578.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517137
2025-08-20T02:39:38.541Z,1755657578.541 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022506265586,35 0
2025-08-20T02:39:38.556Z,1755657578.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:38.559Z,1755657578.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 166.716492 m,
bearing: 2.530741 deg,
approach rate: -0.654511 m/s,
LOS rate: -0.007201 deg/s,
cmd heading: 10.284481 deg,
new cmd heading: 10.275482 deg.
2025-08-20T02:39:38.639Z,1755657578.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769395
2025-08-20T02:39:38.892Z,1755657578.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021942
2025-08-20T02:39:38.942Z,1755657578.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:38.944Z,1755657578.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 166.465332 m,
bearing: 2.527981 deg,
approach rate: -0.652663 m/s,
LOS rate: -0.007182 deg/s,
cmd heading: 10.275482 deg,
new cmd heading: 10.267190 deg.
2025-08-20T02:39:38.998Z,1755657578.998 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:39:39.142Z,1755657579.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272724
2025-08-20T02:39:39.364Z,1755657579.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:39.366Z,1755657579.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:39.369Z,1755657579.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 166.190887 m,
bearing: 2.527476 deg,
approach rate: -0.646302 m/s,
LOS rate: -0.001193 deg/s,
cmd heading: 10.267191 deg,
new cmd heading: 10.265671 deg.
2025-08-20T02:39:39.395Z,1755657579.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525150
2025-08-20T02:39:39.646Z,1755657579.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776671
2025-08-20T02:39:39.840Z,1755657579.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:39.843Z,1755657579.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 165.883484 m,
bearing: 2.526972 deg,
approach rate: -0.648420 m/s,
LOS rate: -0.001065 deg/s,
cmd heading: 10.265671 deg,
new cmd heading: 10.264157 deg.
2025-08-20T02:39:39.905Z,1755657579.905 [DAT](INFO): DAT read: Rx Time:02:39:37.9295
2025-08-20T02:39:39.906Z,1755657579.906 [DAT](INFO): Rx dataTimestamp_ set to:1755657579.904918
2025-08-20T02:39:39.906Z,1755657579.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036508
2025-08-20T02:39:40.002Z,1755657580.002 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:39:40.155Z,1755657580.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285267
2025-08-20T02:39:40.303Z,1755657580.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.80 m.
2025-08-20T02:39:40.306Z,1755657580.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 172.800003 m,
nav range: 165.583633 m,
bearing: 2.526478 deg,
approach rate: -0.647476 m/s,
LOS rate: -0.001067 deg/s,
cmd heading: 10.264156 deg,
new cmd heading: 10.262674 deg.
2025-08-20T02:39:40.410Z,1755657580.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539074
2025-08-20T02:39:40.666Z,1755657580.666 [DAT](INFO): DAT read: 02:39:37.9295 LVL= 32752, 32753, 29394, 32755, AGC= 70, IDX= 95,-0.50,-1.863, 3.085,-1.276,-1.853, PHS= 0.092,-1.300, 0.533, RAW= 163.3, 8.2, CAL= 163.0, 8.4, ROT= 347.0, -8.4
2025-08-20T02:39:40.667Z,1755657580.667 [DAT](INFO): got valid direction response:
02:39:37.9295 LVL= 32752, 32753, 29394, 32755, AGC= 70, IDX= 95,-0.50,-1.863, 3.085,-1.276,-1.853, PHS= 0.092,-1.300, 0.533, RAW= 163.3, 8.2, CAL= 163.0, 8.4, ROT= 347.0, -8.4
2025-08-20T02:39:40.668Z,1755657580.668 [DAT](INFO): DAT read: Bearing 180.1, -19.0 (Local)
2025-08-20T02:39:40.669Z,1755657580.669 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.1, -19.0 (Local)
2025-08-20T02:39:40.670Z,1755657580.670 [DAT](INFO): DAT read: Range 11 to 50 : 165.3 m (Round-trip 220.5 ms) speed 0.6 m/s
2025-08-20T02:39:40.671Z,1755657580.671 [DAT](INFO): DAT read: user:3211>
2025-08-20T02:39:40.672Z,1755657580.672 [DAT](INFO): DAT read: Tx time:02:39:39.0549
2025-08-20T02:39:40.672Z,1755657580.672 [DAT](INFO): Ping request sent.
2025-08-20T02:39:40.672Z,1755657580.672 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:40.676Z,1755657580.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:40.679Z,1755657580.679 [DAT](INFO): direction in FSK: [0.963917,-0.222538,0.146083]
2025-08-20T02:39:40.679Z,1755657580.679 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:40.679Z,1755657580.679 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:40.682Z,1755657580.682 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:40.683Z,1755657580.683 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:40.839Z,1755657580.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 165.300003 m,
deltaT: 7.584623 s,
deltaX: -5.000000 m,
approachRate: -0.659229 m/s,
rangeRepo size: 4
2025-08-20T02:39:40.854Z,1755657580.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 165.300003 m,
bearing: 0.116364 deg,
lat: 36.779370 deg,
lon: -121.859638 deg,
deltaT: 11.364575 s,
deltaX: -7.500000 m,
approachRate: -0.659945 m/s,
posRepo size: 4
2025-08-20T02:39:40.855Z,1755657580.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.30 m.
2025-08-20T02:39:40.857Z,1755657580.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.300003 m,
nav range: 165.086838 m,
bearing: 0.116364 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.001067 deg/s,
cmd heading: 10.262674 deg,
new cmd heading: 10.260960 deg.
2025-08-20T02:39:41.226Z,1755657581.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.30 m.
2025-08-20T02:39:41.229Z,1755657581.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.300003 m,
nav range: 164.820694 m,
bearing: 0.112617 deg,
approach rate: -0.686688 m/s,
LOS rate: -0.009682 deg/s,
cmd heading: 10.260960 deg,
new cmd heading: 10.249703 deg.
2025-08-20T02:39:41.654Z,1755657581.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:41.656Z,1755657581.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.30 m.
2025-08-20T02:39:41.663Z,1755657581.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.300003 m,
nav range: 164.544769 m,
bearing: 0.109462 deg,
approach rate: -0.642129 m/s,
LOS rate: -0.007356 deg/s,
cmd heading: 10.249703 deg,
new cmd heading: 10.240220 deg.
2025-08-20T02:39:41.666Z,1755657581.666 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:41.666Z,1755657581.666 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:41.667Z,1755657581.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:41.921Z,1755657581.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248570
2025-08-20T02:39:42.079Z,1755657582.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.30 m.
2025-08-20T02:39:42.082Z,1755657582.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.300003 m,
nav range: 164.274551 m,
bearing: 0.106378 deg,
approach rate: -0.638721 m/s,
LOS rate: -0.007300 deg/s,
cmd heading: 10.240220 deg,
new cmd heading: 10.230955 deg.
2025-08-20T02:39:42.171Z,1755657582.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499019
2025-08-20T02:39:42.422Z,1755657582.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750442
2025-08-20T02:39:42.473Z,1755657582.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.30 m.
2025-08-20T02:39:42.475Z,1755657582.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.300003 m,
nav range: 164.008286 m,
bearing: 0.101418 deg,
approach rate: -0.676562 m/s,
LOS rate: -0.012624 deg/s,
cmd heading: 10.230956 deg,
new cmd heading: 10.216051 deg.
2025-08-20T02:39:42.676Z,1755657582.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003497
2025-08-20T02:39:42.829Z,1755657582.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.30 m.
2025-08-20T02:39:42.832Z,1755657582.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.300003 m,
nav range: 163.773865 m,
bearing: 0.097026 deg,
approach rate: -0.658275 m/s,
LOS rate: -0.012352 deg/s,
cmd heading: 10.216051 deg,
new cmd heading: 10.202855 deg.
2025-08-20T02:39:42.927Z,1755657582.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254723
2025-08-20T02:39:43.179Z,1755657583.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507144
2025-08-20T02:39:43.271Z,1755657583.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.30 m.
2025-08-20T02:39:43.274Z,1755657583.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.300003 m,
nav range: 163.496811 m,
bearing: 0.091806 deg,
approach rate: -0.634172 m/s,
LOS rate: -0.011970 deg/s,
cmd heading: 10.202855 deg,
new cmd heading: 10.187168 deg.
2025-08-20T02:39:43.431Z,1755657583.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758663
2025-08-20T02:39:43.650Z,1755657583.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.30 m.
2025-08-20T02:39:43.653Z,1755657583.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.300003 m,
nav range: 163.228775 m,
bearing: 0.085776 deg,
approach rate: -0.697286 m/s,
LOS rate: -0.015712 deg/s,
cmd heading: 10.187167 deg,
new cmd heading: 10.169049 deg.
2025-08-20T02:39:43.683Z,1755657583.683 [DAT](INFO): DAT read: Rx Time:02:39:41.6763
2025-08-20T02:39:43.683Z,1755657583.683 [DAT](INFO): Rx dataTimestamp_ set to:1755657583.682788
2025-08-20T02:39:43.684Z,1755657583.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011693
2025-08-20T02:39:43.935Z,1755657583.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262815
2025-08-20T02:39:44.029Z,1755657584.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:44.035Z,1755657584.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.30 m.
2025-08-20T02:39:44.038Z,1755657584.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 165.300003 m,
nav range: 162.973282 m,
bearing: 0.079967 deg,
approach rate: -0.663000 m/s,
LOS rate: -0.015097 deg/s,
cmd heading: 10.169049 deg,
new cmd heading: 10.151595 deg.
2025-08-20T02:39:44.205Z,1755657584.205 [DAT](INFO): DAT read: 02:39:41.6763 LVL= 30352, 32753, 29586, 32755, AGC= 69, IDX= 413,-0.25,-2.577, 2.346,-2.085,-2.632, PHS= 0.157,-1.260, 0.504, RAW= 160.7, 7.5, CAL= 160.2, 7.5, ROT= 349.8, -7.5
2025-08-20T02:39:44.208Z,1755657584.208 [DAT](INFO): got valid direction response:
02:39:41.6763 LVL= 30352, 32753, 29586, 32755, AGC= 69, IDX= 413,-0.25,-2.577, 2.346,-2.085,-2.632, PHS= 0.157,-1.260, 0.504, RAW= 160.7, 7.5, CAL= 160.2, 7.5, ROT= 349.8, -7.5
2025-08-20T02:39:44.209Z,1755657584.209 [DAT](INFO): DAT read: Bearing 179.1, -15.0 (Local)
2025-08-20T02:39:44.210Z,1755657584.210 [DAT](INFO): Local bearing/azimuth received:
Bearing 179.1, -15.0 (Local)
2025-08-20T02:39:44.211Z,1755657584.211 [DAT](INFO): DAT read: Range 11 to 50 : 162.9 m (Round-trip 217.2 ms) speed 0.6 m/s
2025-08-20T02:39:44.212Z,1755657584.212 [DAT](INFO): DAT read: user:3212>
2025-08-20T02:39:44.212Z,1755657584.212 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:44.213Z,1755657584.213 [DAT](INFO): direction in FSK: [0.975776,-0.175570,0.130526]
2025-08-20T02:39:44.214Z,1755657584.214 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:44.217Z,1755657584.217 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:44.217Z,1755657584.217 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:44.217Z,1755657584.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:44.439Z,1755657584.439 [DAT](INFO): DAT read: Tx time:02:39:42.8049
2025-08-20T02:39:44.439Z,1755657584.439 [DAT](INFO): Ping request sent.
2025-08-20T02:39:44.439Z,1755657584.439 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:44.439Z,1755657584.439 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:44.440Z,1755657584.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-08-20T02:39:44.522Z,1755657584.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 162.899994 m,
deltaT: 3.529055 s,
deltaX: -2.400009 m,
approachRate: -0.680071 m/s,
rangeRepo size: 4
2025-08-20T02:39:44.524Z,1755657584.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 162.899994 m,
bearing: 0.072314 deg,
lat: 36.779371 deg,
lon: -121.859638 deg,
deltaT: 3.529055 s,
deltaX: -2.400009 m,
approachRate: -0.680071 m/s,
posRepo size: 4
2025-08-20T02:39:44.529Z,1755657584.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m.
2025-08-20T02:39:44.532Z,1755657584.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.899994 m,
nav range: 162.788101 m,
bearing: 0.072314 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.015097 deg/s,
cmd heading: 10.151596 deg,
new cmd heading: 10.129580 deg.
2025-08-20T02:39:44.690Z,1755657584.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251394
2025-08-20T02:39:44.853Z,1755657584.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m.
2025-08-20T02:39:44.855Z,1755657584.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.899994 m,
nav range: 162.552719 m,
bearing: 0.066524 deg,
approach rate: -0.710738 m/s,
LOS rate: -0.017507 deg/s,
cmd heading: 10.129580 deg,
new cmd heading: 10.112186 deg.
2025-08-20T02:39:44.943Z,1755657584.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504117
2025-08-20T02:39:45.194Z,1755657585.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755429
2025-08-20T02:39:45.280Z,1755657585.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m.
2025-08-20T02:39:45.284Z,1755657585.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.899994 m,
nav range: 162.281113 m,
bearing: 0.059780 deg,
approach rate: -0.635514 m/s,
LOS rate: -0.015806 deg/s,
cmd heading: 10.112186 deg,
new cmd heading: 10.091921 deg.
2025-08-20T02:39:45.446Z,1755657585.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007309
2025-08-20T02:39:45.699Z,1755657585.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259471
2025-08-20T02:39:45.704Z,1755657585.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m.
2025-08-20T02:39:45.707Z,1755657585.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.899994 m,
nav range: 161.983688 m,
bearing: 0.050273 deg,
approach rate: -0.701560 m/s,
LOS rate: -0.022467 deg/s,
cmd heading: 10.091921 deg,
new cmd heading: 10.063347 deg.
2025-08-20T02:39:45.951Z,1755657585.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511793
2025-08-20T02:39:46.079Z,1755657586.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:46.085Z,1755657586.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m.
2025-08-20T02:39:46.088Z,1755657586.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.899994 m,
nav range: 161.732605 m,
bearing: 0.042204 deg,
approach rate: -0.665479 m/s,
LOS rate: -0.021419 deg/s,
cmd heading: 10.063346 deg,
new cmd heading: 10.039103 deg.
2025-08-20T02:39:46.202Z,1755657586.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763399
2025-08-20T02:39:46.455Z,1755657586.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015505
2025-08-20T02:39:46.498Z,1755657586.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m.
2025-08-20T02:39:46.500Z,1755657586.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.899994 m,
nav range: 161.441849 m,
bearing: 0.033458 deg,
approach rate: -0.698879 m/s,
LOS rate: -0.021061 deg/s,
cmd heading: 10.039103 deg,
new cmd heading: 10.012816 deg.
2025-08-20T02:39:46.706Z,1755657586.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267422
2025-08-20T02:39:46.894Z,1755657586.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m.
2025-08-20T02:39:46.896Z,1755657586.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.899994 m,
nav range: 161.171082 m,
bearing: 0.025262 deg,
approach rate: -0.682702 m/s,
LOS rate: -0.020699 deg/s,
cmd heading: 10.012816 deg,
new cmd heading: 9.988188 deg.
2025-08-20T02:39:46.960Z,1755657586.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520583
2025-08-20T02:39:47.210Z,1755657587.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771309
2025-08-20T02:39:47.311Z,1755657587.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.90 m.
2025-08-20T02:39:47.327Z,1755657587.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 162.899994 m,
nav range: 160.890106 m,
bearing: 0.016690 deg,
approach rate: -0.673844 m/s,
LOS rate: -0.020595 deg/s,
cmd heading: 9.988188 deg,
new cmd heading: 9.962425 deg.
2025-08-20T02:39:47.463Z,1755657587.463 [DAT](INFO): DAT read: Rx Time:02:39:45.4229
2025-08-20T02:39:47.463Z,1755657587.463 [DAT](INFO): Rx dataTimestamp_ set to:1755657587.463103
2025-08-20T02:39:47.464Z,1755657587.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024922
2025-08-20T02:39:47.714Z,1755657587.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275346
2025-08-20T02:39:47.972Z,1755657587.972 [DAT](INFO): DAT read: 02:39:45.4229 LVL= 31440, 32753, 22034, 32755, AGC= 66, IDX= 411,-0.47, 0.775,-0.598, 1.306, 0.707, PHS= 0.171,-1.260, 0.555, RAW= 161.6, 6.5, CAL= 160.9, 6.2, ROT= 349.1, -6.2
2025-08-20T02:39:47.973Z,1755657587.973 [DAT](INFO): got valid direction response:
02:39:45.4229 LVL= 31440, 32753, 22034, 32755, AGC= 66, IDX= 411,-0.47, 0.775,-0.598, 1.306, 0.707, PHS= 0.171,-1.260, 0.555, RAW= 161.6, 6.5, CAL= 160.9, 6.2, ROT= 349.1, -6.2
2025-08-20T02:39:47.977Z,1755657587.977 [DAT](INFO): DAT read: Bearing 177.7, -14.6 (Local)
2025-08-20T02:39:47.978Z,1755657587.978 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.7, -14.6 (Local)
2025-08-20T02:39:47.980Z,1755657587.980 [DAT](INFO): DAT read: Range 11 to 50 : 160.3 m (Round-trip 213.8 ms) speed 0.8 m/s
2025-08-20T02:39:47.980Z,1755657587.980 [DAT](INFO): DAT read: user:3213>
2025-08-20T02:39:47.981Z,1755657587.981 [DAT](INFO): DAT read: Tx time:02:39:46.5549
2025-08-20T02:39:47.981Z,1755657587.981 [DAT](INFO): Ping request sent.
2025-08-20T02:39:47.981Z,1755657587.981 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:47.982Z,1755657587.982 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:47.983Z,1755657587.983 [DAT](INFO): direction in FSK: [0.976215,-0.187989,0.107999]
2025-08-20T02:39:47.983Z,1755657587.983 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:47.983Z,1755657587.983 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:47.986Z,1755657587.986 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:47.986Z,1755657587.986 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:48.090Z,1755657588.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 160.300003 m,
deltaT: 3.778429 s,
deltaX: -2.599991 m,
approachRate: -0.688114 m/s,
rangeRepo size: 4
2025-08-20T02:39:48.093Z,1755657588.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 160.300003 m,
bearing: 359.481996 deg,
lat: 36.779370 deg,
lon: -121.859655 deg,
deltaT: 3.778429 s,
deltaX: -2.599991 m,
approachRate: -0.688114 m/s,
posRepo size: 4
2025-08-20T02:39:48.098Z,1755657588.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.30 m.
2025-08-20T02:39:48.100Z,1755657588.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.300003 m,
nav range: 160.255371 m,
bearing: 359.481996 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.020595 deg/s,
cmd heading: 9.962425 deg,
new cmd heading: 9.914564 deg.
2025-08-20T02:39:48.611Z,1755657588.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:48.613Z,1755657588.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.30 m.
2025-08-20T02:39:48.620Z,1755657588.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.300003 m,
nav range: 159.850067 m,
bearing: 359.467833 deg,
approach rate: -0.768440 m/s,
LOS rate: -0.026921 deg/s,
cmd heading: 9.914564 deg,
new cmd heading: 9.871967 deg.
2025-08-20T02:39:48.722Z,1755657588.722 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:48.722Z,1755657588.722 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:48.723Z,1755657588.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:48.975Z,1755657588.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993388
2025-08-20T02:39:49.094Z,1755657589.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.30 m.
2025-08-20T02:39:49.097Z,1755657589.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.300003 m,
nav range: 159.523880 m,
bearing: 359.456380 deg,
approach rate: -0.677992 m/s,
LOS rate: -0.023854 deg/s,
cmd heading: 9.871968 deg,
new cmd heading: 9.837538 deg.
2025-08-20T02:39:49.226Z,1755657589.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244926
2025-08-20T02:39:49.479Z,1755657589.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497033
2025-08-20T02:39:49.525Z,1755657589.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.30 m.
2025-08-20T02:39:49.528Z,1755657589.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.300003 m,
nav range: 159.221527 m,
bearing: 359.445669 deg,
approach rate: -0.707823 m/s,
LOS rate: -0.025123 deg/s,
cmd heading: 9.837539 deg,
new cmd heading: 9.805345 deg.
2025-08-20T02:39:49.731Z,1755657589.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749077
2025-08-20T02:39:49.898Z,1755657589.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.30 m.
2025-08-20T02:39:49.901Z,1755657589.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.300003 m,
nav range: 158.953812 m,
bearing: 359.436154 deg,
approach rate: -0.711875 m/s,
LOS rate: -0.025344 deg/s,
cmd heading: 9.805344 deg,
new cmd heading: 9.776751 deg.
2025-08-20T02:39:49.983Z,1755657589.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001157
2025-08-20T02:39:50.234Z,1755657590.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252944
2025-08-20T02:39:50.290Z,1755657590.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.30 m.
2025-08-20T02:39:50.292Z,1755657590.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.300003 m,
nav range: 158.692261 m,
bearing: 359.426869 deg,
approach rate: -0.687997 m/s,
LOS rate: -0.024464 deg/s,
cmd heading: 9.776751 deg,
new cmd heading: 9.748850 deg.
2025-08-20T02:39:50.487Z,1755657590.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505123
2025-08-20T02:39:50.720Z,1755657590.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:50.723Z,1755657590.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.30 m.
2025-08-20T02:39:50.726Z,1755657590.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.300003 m,
nav range: 158.383011 m,
bearing: 359.416032 deg,
approach rate: -0.693672 m/s,
LOS rate: -0.024356 deg/s,
cmd heading: 9.748850 deg,
new cmd heading: 9.716275 deg.
2025-08-20T02:39:50.739Z,1755657590.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756999
2025-08-20T02:39:50.991Z,1755657590.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009239
2025-08-20T02:39:51.108Z,1755657591.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.30 m.
2025-08-20T02:39:51.115Z,1755657591.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.300003 m,
nav range: 158.120178 m,
bearing: 359.406806 deg,
approach rate: -0.682822 m/s,
LOS rate: -0.024007 deg/s,
cmd heading: 9.716275 deg,
new cmd heading: 9.688553 deg.
2025-08-20T02:39:51.242Z,1755657591.242 [DAT](INFO): DAT read: Rx Time:02:39:49.1695
2025-08-20T02:39:51.243Z,1755657591.243 [DAT](INFO): Rx dataTimestamp_ set to:1755657591.242646
2025-08-20T02:39:51.243Z,1755657591.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262024
2025-08-20T02:39:51.494Z,1755657591.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512981
2025-08-20T02:39:51.540Z,1755657591.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.30 m.
2025-08-20T02:39:51.543Z,1755657591.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 160.300003 m,
nav range: 157.821182 m,
bearing: 359.396214 deg,
approach rate: -0.692942 m/s,
LOS rate: -0.024594 deg/s,
cmd heading: 9.688553 deg,
new cmd heading: 9.656717 deg.
2025-08-20T02:39:51.753Z,1755657591.753 [DAT](INFO): DAT read: 02:39:49.1695 LVL= 27280, 32753, 24466, 31363, AGC= 63, IDX= 407,-0.05, 2.496, 1.137, 2.905, 2.362, PHS= 0.237,-1.180, 0.499, RAW= 158.4, 5.7, CAL= 157.6, 5.4, ROT= 352.4, -5.4
2025-08-20T02:39:51.754Z,1755657591.754 [DAT](INFO): got valid direction response:
02:39:49.1695 LVL= 27280, 32753, 24466, 31363, AGC= 63, IDX= 407,-0.05, 2.496, 1.137, 2.905, 2.362, PHS= 0.237,-1.180, 0.499, RAW= 158.4, 5.7, CAL= 157.6, 5.4, ROT= 352.4, -5.4
2025-08-20T02:39:51.755Z,1755657591.755 [DAT](INFO): DAT read: Bearing 176.3, -10.1 (Local)
2025-08-20T02:39:51.756Z,1755657591.756 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.3, -10.1 (Local)
2025-08-20T02:39:51.757Z,1755657591.757 [DAT](INFO): DAT read: Range 11 to 50 : 157.8 m (Round-trip 210.4 ms) speed 0.4 m/s
2025-08-20T02:39:51.758Z,1755657591.758 [DAT](INFO): DAT read: user:3214>
2025-08-20T02:39:51.759Z,1755657591.759 [DAT](INFO): DAT read: Tx time:02:39:50.3049
2025-08-20T02:39:51.759Z,1755657591.759 [DAT](INFO): Ping request sent.
2025-08-20T02:39:51.759Z,1755657591.759 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:51.760Z,1755657591.760 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:51.761Z,1755657591.761 [DAT](INFO): direction in FSK: [0.986816,-0.131669,0.094108]
2025-08-20T02:39:51.761Z,1755657591.761 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:51.761Z,1755657591.761 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:51.764Z,1755657591.764 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:51.764Z,1755657591.764 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:51.979Z,1755657591.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 157.800003 m,
deltaT: 3.780604 s,
deltaX: -2.500000 m,
approachRate: -0.661270 m/s,
rangeRepo size: 4
2025-08-20T02:39:51.986Z,1755657591.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 157.800003 m,
bearing: 359.948573 deg,
lat: 36.779370 deg,
lon: -121.859637 deg,
deltaT: 3.780604 s,
deltaX: -2.500000 m,
approachRate: -0.661270 m/s,
posRepo size: 4
2025-08-20T02:39:51.986Z,1755657591.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m.
2025-08-20T02:39:51.989Z,1755657591.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.800003 m,
nav range: 157.506775 m,
bearing: 359.948573 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.024594 deg/s,
cmd heading: 9.656717 deg,
new cmd heading: 9.624336 deg.
2025-08-20T02:39:52.333Z,1755657592.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m.
2025-08-20T02:39:52.336Z,1755657592.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.800003 m,
nav range: 157.257751 m,
bearing: 359.940585 deg,
approach rate: -0.702297 m/s,
LOS rate: -0.022563 deg/s,
cmd heading: 9.624336 deg,
new cmd heading: 9.600334 deg.
2025-08-20T02:39:52.743Z,1755657592.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:52.745Z,1755657592.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m.
2025-08-20T02:39:52.748Z,1755657592.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.800003 m,
nav range: 156.969925 m,
bearing: 359.934286 deg,
approach rate: -0.698713 m/s,
LOS rate: -0.015317 deg/s,
cmd heading: 9.600334 deg,
new cmd heading: 9.581405 deg.
2025-08-20T02:39:52.754Z,1755657592.754 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:52.754Z,1755657592.754 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:52.755Z,1755657592.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:53.007Z,1755657593.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247439
2025-08-20T02:39:53.120Z,1755657593.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m.
2025-08-20T02:39:53.123Z,1755657593.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.800003 m,
nav range: 156.715271 m,
bearing: 359.928708 deg,
approach rate: -0.678869 m/s,
LOS rate: -0.014894 deg/s,
cmd heading: 9.581405 deg,
new cmd heading: 9.564644 deg.
2025-08-20T02:39:53.258Z,1755657593.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499092
2025-08-20T02:39:53.510Z,1755657593.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751151
2025-08-20T02:39:53.574Z,1755657593.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m.
2025-08-20T02:39:53.577Z,1755657593.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.800003 m,
nav range: 156.411667 m,
bearing: 359.921523 deg,
approach rate: -0.668368 m/s,
LOS rate: -0.015849 deg/s,
cmd heading: 9.564643 deg,
new cmd heading: 9.543045 deg.
2025-08-20T02:39:53.763Z,1755657593.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004042
2025-08-20T02:39:54.015Z,1755657594.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255195
2025-08-20T02:39:54.022Z,1755657594.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m.
2025-08-20T02:39:54.024Z,1755657594.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.800003 m,
nav range: 156.113022 m,
bearing: 359.914478 deg,
approach rate: -0.668229 m/s,
LOS rate: -0.015794 deg/s,
cmd heading: 9.543046 deg,
new cmd heading: 9.521869 deg.
2025-08-20T02:39:54.267Z,1755657594.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507680
2025-08-20T02:39:54.519Z,1755657594.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759199
2025-08-20T02:39:54.567Z,1755657594.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m.
2025-08-20T02:39:54.570Z,1755657594.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.800003 m,
nav range: 155.751389 m,
bearing: 359.906836 deg,
approach rate: -0.662791 m/s,
LOS rate: -0.014038 deg/s,
cmd heading: 9.521869 deg,
new cmd heading: 9.498890 deg.
2025-08-20T02:39:54.772Z,1755657594.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012159
2025-08-20T02:39:55.023Z,1755657595.023 [DAT](INFO): DAT read: Rx Time:02:39:52.9159
2025-08-20T02:39:55.023Z,1755657595.023 [DAT](INFO): Rx dataTimestamp_ set to:1755657595.022748
2025-08-20T02:39:55.024Z,1755657595.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264286
2025-08-20T02:39:55.051Z,1755657595.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:55.053Z,1755657595.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.80 m.
2025-08-20T02:39:55.055Z,1755657595.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 157.800003 m,
nav range: 155.430664 m,
bearing: 359.900091 deg,
approach rate: -0.660408 m/s,
LOS rate: -0.013916 deg/s,
cmd heading: 9.498890 deg,
new cmd heading: 9.478615 deg.
2025-08-20T02:39:55.274Z,1755657595.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515106
2025-08-20T02:39:55.541Z,1755657595.541 [DAT](INFO): DAT read: 02:39:52.9159 LVL= 31312, 32753, 27954, 32755, AGC= 66, IDX= 403, 0.26, 1.685, 0.211, 2.047, 1.466, PHS= 0.321,-1.211, 0.537, RAW= 156.5, 4.3, CAL= 155.6, 3.8, ROT= 354.4, -3.8
2025-08-20T02:39:55.542Z,1755657595.542 [DAT](INFO): got valid direction response:
02:39:52.9159 LVL= 31312, 32753, 27954, 32755, AGC= 66, IDX= 403, 0.26, 1.685, 0.211, 2.047, 1.466, PHS= 0.321,-1.211, 0.537, RAW= 156.5, 4.3, CAL= 155.6, 3.8, ROT= 354.4, -3.8
2025-08-20T02:39:55.543Z,1755657595.543 [DAT](INFO): DAT read: Bearing 174.3, -6.5 (Local)
2025-08-20T02:39:55.544Z,1755657595.544 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.3, -6.5 (Local)
2025-08-20T02:39:55.545Z,1755657595.545 [DAT](INFO): DAT read: Range 11 to 50 : 155.1 m (Round-trip 206.9 ms) speed 0.6 m/s
2025-08-20T02:39:55.550Z,1755657595.550 [DAT](INFO): DAT read: user:3215>
2025-08-20T02:39:55.551Z,1755657595.551 [DAT](INFO): DAT read: Tx time:02:39:54.0048
2025-08-20T02:39:55.551Z,1755657595.551 [DAT](INFO): Ping request sent.
2025-08-20T02:39:55.551Z,1755657595.551 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:55.551Z,1755657595.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:55.552Z,1755657595.552 [DAT](INFO): direction in FSK: [0.993039,-0.097368,0.066274]
2025-08-20T02:39:55.553Z,1755657595.553 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:55.553Z,1755657595.553 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:55.560Z,1755657595.560 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:55.560Z,1755657595.560 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:55.728Z,1755657595.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 155.100006 m,
deltaT: 3.780520 s,
deltaX: -2.699997 m,
approachRate: -0.714187 m/s,
rangeRepo size: 4
2025-08-20T02:39:55.735Z,1755657595.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 155.100006 m,
bearing: 359.890100 deg,
lat: 36.779370 deg,
lon: -121.859637 deg,
deltaT: 3.780520 s,
deltaX: -2.699997 m,
approachRate: -0.714187 m/s,
posRepo size: 4
2025-08-20T02:39:55.735Z,1755657595.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-20T02:39:55.746Z,1755657595.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.100006 m,
nav range: 155.006226 m,
bearing: 359.890100 deg,
approach rate: -0.000000 m/s,
LOS rate: -0.013916 deg/s,
cmd heading: 9.478616 deg,
new cmd heading: 9.450443 deg.
2025-08-20T02:39:56.118Z,1755657596.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-20T02:39:56.121Z,1755657596.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.100006 m,
nav range: 154.743744 m,
bearing: 359.883925 deg,
approach rate: -0.671566 m/s,
LOS rate: -0.015825 deg/s,
cmd heading: 9.450444 deg,
new cmd heading: 9.431888 deg.
2025-08-20T02:39:56.599Z,1755657596.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-20T02:39:56.601Z,1755657596.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.100006 m,
nav range: 154.412888 m,
bearing: 359.875882 deg,
approach rate: -0.688929 m/s,
LOS rate: -0.016784 deg/s,
cmd heading: 9.431888 deg,
new cmd heading: 9.407706 deg.
2025-08-20T02:39:56.951Z,1755657596.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-20T02:39:56.954Z,1755657596.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.100006 m,
nav range: 154.178589 m,
bearing: 359.870194 deg,
approach rate: -0.665209 m/s,
LOS rate: -0.016172 deg/s,
cmd heading: 9.407706 deg,
new cmd heading: 9.390618 deg.
2025-08-20T02:39:57.369Z,1755657597.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:57.375Z,1755657597.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-20T02:39:57.383Z,1755657597.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.100006 m,
nav range: 153.912857 m,
bearing: 359.863753 deg,
approach rate: -0.625774 m/s,
LOS rate: -0.015196 deg/s,
cmd heading: 9.390618 deg,
new cmd heading: 9.371259 deg.
2025-08-20T02:39:57.544Z,1755657597.544 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:39:57.545Z,1755657597.545 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:39:57.558Z,1755657597.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:39:57.770Z,1755657597.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-20T02:39:57.772Z,1755657597.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.100006 m,
nav range: 153.632736 m,
bearing: 359.855078 deg,
approach rate: -0.710894 m/s,
LOS rate: -0.022055 deg/s,
cmd heading: 9.371259 deg,
new cmd heading: 9.345188 deg.
2025-08-20T02:39:57.794Z,1755657597.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243197
2025-08-20T02:39:58.046Z,1755657598.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495350
2025-08-20T02:39:58.167Z,1755657598.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-20T02:39:58.171Z,1755657598.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.100006 m,
nav range: 153.371613 m,
bearing: 359.847023 deg,
approach rate: -0.657433 m/s,
LOS rate: -0.020316 deg/s,
cmd heading: 9.345188 deg,
new cmd heading: 9.320980 deg.
2025-08-20T02:39:58.299Z,1755657598.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747567
2025-08-20T02:39:58.553Z,1755657598.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001621
2025-08-20T02:39:58.624Z,1755657598.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-20T02:39:58.627Z,1755657598.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.100006 m,
nav range: 153.060410 m,
bearing: 359.837859 deg,
approach rate: -0.680476 m/s,
LOS rate: -0.020078 deg/s,
cmd heading: 9.320980 deg,
new cmd heading: 9.293433 deg.
2025-08-20T02:39:58.805Z,1755657598.805 [DAT](INFO): DAT read: Rx Time:02:39:56.6125
2025-08-20T02:39:58.806Z,1755657598.806 [DAT](INFO): Rx dataTimestamp_ set to:1755657598.805545
2025-08-20T02:39:58.806Z,1755657598.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255305
2025-08-20T02:39:58.959Z,1755657598.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.10 m.
2025-08-20T02:39:58.962Z,1755657598.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 155.100006 m,
nav range: 152.834473 m,
bearing: 359.831199 deg,
approach rate: -0.674292 m/s,
LOS rate: -0.019904 deg/s,
cmd heading: 9.293433 deg,
new cmd heading: 9.273425 deg.
2025-08-20T02:39:59.055Z,1755657599.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503767
2025-08-20T02:39:59.312Z,1755657599.312 [DAT](INFO): DAT read: 02:39:56.6125 LVL= 31968, 32753, 28034, 32755, AGC= 67, IDX= 401, 0.04,-1.307,-2.814,-0.958,-1.534, PHS= 0.330,-1.234, 0.533, RAW= 156.0, 4.5, CAL= 155.1, 4.1, ROT= 354.9, -4.1
2025-08-20T02:39:59.313Z,1755657599.313 [DAT](INFO): got valid direction response:
02:39:56.6125 LVL= 31968, 32753, 28034, 32755, AGC= 67, IDX= 401, 0.04,-1.307,-2.814,-0.958,-1.534, PHS= 0.330,-1.234, 0.533, RAW= 156.0, 4.5, CAL= 155.1, 4.1, ROT= 354.9, -4.1
2025-08-20T02:39:59.314Z,1755657599.314 [DAT](INFO): DAT read: Bearing 174.6, -3.6 (Local)
2025-08-20T02:39:59.315Z,1755657599.315 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.6, -3.6 (Local)
2025-08-20T02:39:59.316Z,1755657599.316 [DAT](INFO): DAT read: Range 11 to 50 : 152.7 m (Round-trip 203.6 ms) speed 0.6 m/s
2025-08-20T02:39:59.317Z,1755657599.317 [DAT](INFO): DAT read: user:3216>
2025-08-20T02:39:59.318Z,1755657599.318 [DAT](INFO): DAT read: Tx time:02:39:57.7048
2025-08-20T02:39:59.318Z,1755657599.318 [DAT](INFO): Ping request sent.
2025-08-20T02:39:59.318Z,1755657599.318 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:39:59.318Z,1755657599.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:39:59.319Z,1755657599.319 [DAT](INFO): direction in FSK: [0.993492,-0.088667,0.071497]
2025-08-20T02:39:59.319Z,1755657599.319 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:59.320Z,1755657599.320 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:59.363Z,1755657599.363 [DAT](INFO): publishing transmit ping time
2025-08-20T02:39:59.363Z,1755657599.363 [DAT](INFO): publishing direction and range info
2025-08-20T02:39:59.439Z,1755657599.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 152.699997 m,
deltaT: 3.778787 s,
deltaX: -2.400009 m,
approachRate: -0.635127 m/s,
rangeRepo size: 4
2025-08-20T02:39:59.441Z,1755657599.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 152.699997 m,
bearing: 2.661091 deg,
lat: 36.779370 deg,
lon: -121.859552 deg,
deltaT: 3.778787 s,
deltaX: -2.400009 m,
approachRate: -0.635127 m/s,
posRepo size: 4
2025-08-20T02:39:59.446Z,1755657599.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-20T02:39:59.449Z,1755657599.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.699997 m,
nav range: 152.665878 m,
bearing: 2.661091 deg,
approach rate: -0.000000 m/s,
LOS rate: -0.019904 deg/s,
cmd heading: 9.273425 deg,
new cmd heading: 9.244804 deg.
2025-08-20T02:39:59.821Z,1755657599.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:39:59.824Z,1755657599.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-20T02:39:59.833Z,1755657599.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.699997 m,
nav range: 152.397324 m,
bearing: 2.655631 deg,
approach rate: -0.697260 m/s,
LOS rate: -0.014203 deg/s,
cmd heading: 9.244804 deg,
new cmd heading: 9.228392 deg.
2025-08-20T02:40:00.070Z,1755657600.070 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:00.071Z,1755657600.071 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:00.071Z,1755657600.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:00.246Z,1755657600.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-20T02:40:00.248Z,1755657600.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.699997 m,
nav range: 152.117386 m,
bearing: 2.649964 deg,
approach rate: -0.689286 m/s,
LOS rate: -0.013978 deg/s,
cmd heading: 9.228392 deg,
new cmd heading: 9.211362 deg.
2025-08-20T02:40:00.324Z,1755657600.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005907
2025-08-20T02:40:00.578Z,1755657600.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258848
2025-08-20T02:40:00.652Z,1755657600.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-20T02:40:00.655Z,1755657600.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.699997 m,
nav range: 151.821213 m,
bearing: 2.643948 deg,
approach rate: -0.700953 m/s,
LOS rate: -0.014266 deg/s,
cmd heading: 9.211361 deg,
new cmd heading: 9.193278 deg.
2025-08-20T02:40:00.828Z,1755657600.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509524
2025-08-20T02:40:00.996Z,1755657600.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-20T02:40:00.999Z,1755657600.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.699997 m,
nav range: 151.584686 m,
bearing: 2.639137 deg,
approach rate: -0.688410 m/s,
LOS rate: -0.014024 deg/s,
cmd heading: 9.193278 deg,
new cmd heading: 9.178822 deg.
2025-08-20T02:40:01.079Z,1755657601.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761430
2025-08-20T02:40:01.331Z,1755657601.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013085
2025-08-20T02:40:01.419Z,1755657601.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-20T02:40:01.422Z,1755657601.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.699997 m,
nav range: 151.304764 m,
bearing: 2.633482 deg,
approach rate: -0.661665 m/s,
LOS rate: -0.013392 deg/s,
cmd heading: 9.178822 deg,
new cmd heading: 9.161825 deg.
2025-08-20T02:40:01.585Z,1755657601.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266807
2025-08-20T02:40:01.835Z,1755657601.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517005
2025-08-20T02:40:01.890Z,1755657601.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:01.892Z,1755657601.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-20T02:40:01.907Z,1755657601.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.699997 m,
nav range: 150.975082 m,
bearing: 2.626613 deg,
approach rate: -0.696052 m/s,
LOS rate: -0.014534 deg/s,
cmd heading: 9.161825 deg,
new cmd heading: 9.141173 deg.
2025-08-20T02:40:02.086Z,1755657602.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768398
2025-08-20T02:40:02.231Z,1755657602.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-20T02:40:02.233Z,1755657602.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.699997 m,
nav range: 150.732758 m,
bearing: 2.621557 deg,
approach rate: -0.716628 m/s,
LOS rate: -0.014977 deg/s,
cmd heading: 9.141173 deg,
new cmd heading: 9.125981 deg.
2025-08-20T02:40:02.345Z,1755657602.345 [DAT](INFO): DAT read: Rx Time:02:40:00.3092
2025-08-20T02:40:02.346Z,1755657602.346 [DAT](INFO): Rx dataTimestamp_ set to:1755657602.345030
2025-08-20T02:40:02.347Z,1755657602.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028573
2025-08-20T02:40:02.597Z,1755657602.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278663
2025-08-20T02:40:02.681Z,1755657602.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.70 m.
2025-08-20T02:40:02.688Z,1755657602.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.699997 m,
nav range: 150.419418 m,
bearing: 2.616805 deg,
approach rate: -0.695564 m/s,
LOS rate: -0.010569 deg/s,
cmd heading: 9.125981 deg,
new cmd heading: 9.111697 deg.
2025-08-20T02:40:02.855Z,1755657602.855 [DAT](INFO): DAT read: 02:40:00.3092 LVL= 32720, 32753, 27106, 32755, AGC= 63, IDX= 415, 0.04, 3.091, 1.526,-2.929, 2.830, PHS= 0.363,-1.259, 0.480, RAW= 153.5, 5.0, CAL= 152.6, 4.9, ROT= 357.4, -4.9
2025-08-20T02:40:02.857Z,1755657602.857 [DAT](INFO): got valid direction response:
02:40:00.3092 LVL= 32720, 32753, 27106, 32755, AGC= 63, IDX= 415, 0.04, 3.091, 1.526,-2.929, 2.830, PHS= 0.363,-1.259, 0.480, RAW= 153.5, 5.0, CAL= 152.6, 4.9, ROT= 357.4, -4.9
2025-08-20T02:40:02.858Z,1755657602.858 [DAT](INFO): DAT read: Bearing 174.9, 1.2 (Local)
2025-08-20T02:40:02.859Z,1755657602.859 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.9, 1.2 (Local)
2025-08-20T02:40:02.860Z,1755657602.860 [DAT](INFO): DAT read: Range 11 to 50 : 150.1 m (Round-trip 200.2 ms) speed 0.5 m/s
2025-08-20T02:40:02.861Z,1755657602.861 [DAT](INFO): DAT read: user:3217>
2025-08-20T02:40:02.862Z,1755657602.862 [DAT](INFO): DAT read: Tx time:02:40:01.4048
2025-08-20T02:40:02.862Z,1755657602.862 [DAT](INFO): Ping request sent.
2025-08-20T02:40:02.862Z,1755657602.862 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:02.863Z,1755657602.863 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:02.864Z,1755657602.864 [DAT](INFO): direction in FSK: [0.995320,-0.045197,0.085417]
2025-08-20T02:40:02.864Z,1755657602.864 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:02.864Z,1755657602.864 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:02.867Z,1755657602.867 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:02.868Z,1755657602.868 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:03.063Z,1755657603.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 150.100006 m,
deltaT: 3.541665 s,
deltaX: -2.599991 m,
approachRate: -0.734115 m/s,
rangeRepo size: 4
2025-08-20T02:40:03.069Z,1755657603.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 150.100006 m,
bearing: 4.542289 deg,
lat: 36.779364 deg,
lon: -121.859496 deg,
deltaT: 3.541665 s,
deltaX: -2.599991 m,
approachRate: -0.734115 m/s,
posRepo size: 4
2025-08-20T02:40:03.078Z,1755657603.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-20T02:40:03.080Z,1755657603.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.100006 m,
nav range: 149.906891 m,
bearing: 4.542289 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010569 deg/s,
cmd heading: 9.111697 deg,
new cmd heading: 9.099598 deg.
2025-08-20T02:40:03.444Z,1755657603.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-20T02:40:03.447Z,1755657603.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.100006 m,
nav range: 149.627838 m,
bearing: 4.541755 deg,
approach rate: -0.732220 m/s,
LOS rate: -0.001404 deg/s,
cmd heading: 9.099598 deg,
new cmd heading: 9.097993 deg.
2025-08-20T02:40:03.886Z,1755657603.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-20T02:40:03.888Z,1755657603.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.100006 m,
nav range: 149.319427 m,
bearing: 4.542779 deg,
approach rate: -0.697855 m/s,
LOS rate: 0.002321 deg/s,
cmd heading: 9.097993 deg,
new cmd heading: 9.101071 deg.
2025-08-20T02:40:04.272Z,1755657604.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:04.274Z,1755657604.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-20T02:40:04.277Z,1755657604.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.100006 m,
nav range: 149.048340 m,
bearing: 4.543683 deg,
approach rate: -0.697411 m/s,
LOS rate: 0.002328 deg/s,
cmd heading: 9.101071 deg,
new cmd heading: 9.103786 deg.
2025-08-20T02:40:04.358Z,1755657604.358 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:04.358Z,1755657604.358 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:04.359Z,1755657604.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:04.616Z,1755657604.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753066
2025-08-20T02:40:04.728Z,1755657604.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-20T02:40:04.731Z,1755657604.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.100006 m,
nav range: 148.737549 m,
bearing: 4.545665 deg,
approach rate: -0.685419 m/s,
LOS rate: 0.004381 deg/s,
cmd heading: 9.103786 deg,
new cmd heading: 9.109745 deg.
2025-08-20T02:40:04.862Z,1755657604.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000153
2025-08-20T02:40:05.096Z,1755657605.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-20T02:40:05.104Z,1755657605.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.100006 m,
nav range: 148.485718 m,
bearing: 4.547631 deg,
approach rate: -0.683619 m/s,
LOS rate: 0.005346 deg/s,
cmd heading: 9.109745 deg,
new cmd heading: 9.115654 deg.
2025-08-20T02:40:05.115Z,1755657605.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252402
2025-08-20T02:40:05.367Z,1755657605.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504747
2025-08-20T02:40:05.494Z,1755657605.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-20T02:40:05.496Z,1755657605.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.100006 m,
nav range: 148.213394 m,
bearing: 4.549915 deg,
approach rate: -0.685506 m/s,
LOS rate: 0.005761 deg/s,
cmd heading: 9.115653 deg,
new cmd heading: 9.122519 deg.
2025-08-20T02:40:05.622Z,1755657605.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758753
2025-08-20T02:40:05.870Z,1755657605.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008030
2025-08-20T02:40:05.928Z,1755657605.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-20T02:40:05.931Z,1755657605.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.100006 m,
nav range: 147.917236 m,
bearing: 4.551547 deg,
approach rate: -0.682176 m/s,
LOS rate: 0.003765 deg/s,
cmd heading: 9.122518 deg,
new cmd heading: 9.127422 deg.
2025-08-20T02:40:06.123Z,1755657606.123 [DAT](INFO): DAT read: Rx Time:02:40:04.0058
2025-08-20T02:40:06.123Z,1755657606.123 [DAT](INFO): Rx dataTimestamp_ set to:1755657606.122764
2025-08-20T02:40:06.124Z,1755657606.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261360
2025-08-20T02:40:06.296Z,1755657606.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:06.298Z,1755657606.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.10 m.
2025-08-20T02:40:06.306Z,1755657606.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.100006 m,
nav range: 147.663971 m,
bearing: 4.553047 deg,
approach rate: -0.683301 m/s,
LOS rate: 0.004054 deg/s,
cmd heading: 9.127423 deg,
new cmd heading: 9.131930 deg.
2025-08-20T02:40:06.375Z,1755657606.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513068
2025-08-20T02:40:06.656Z,1755657606.656 [DAT](INFO): DAT read: 02:40:04.0058 LVL= 31936, 32753, 26226, 32755, AGC= 67, IDX= 412,-0.01,-2.702, 2.098,-2.485,-2.972, PHS= 0.372,-1.168, 0.443, RAW= 152.2, 4.5, CAL= 151.3, 4.5, ROT= 358.7, -4.5
2025-08-20T02:40:06.664Z,1755657606.664 [DAT](INFO): got valid direction response:
02:40:04.0058 LVL= 31936, 32753, 26226, 32755, AGC= 67, IDX= 412,-0.01,-2.702, 2.098,-2.485,-2.972, PHS= 0.372,-1.168, 0.443, RAW= 152.2, 4.5, CAL= 151.3, 4.5, ROT= 358.7, -4.5
2025-08-20T02:40:06.676Z,1755657606.676 [DAT](INFO): DAT read: Bearing 174.0, 4.2 (Local)
2025-08-20T02:40:06.677Z,1755657606.677 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.0, 4.2 (Local)
2025-08-20T02:40:06.730Z,1755657606.730 [DAT](INFO): DAT read: Range 11 to 50 : 147.6 m (Round-trip 196.8 ms) speed 0.3 m/s
2025-08-20T02:40:06.731Z,1755657606.731 [DAT](INFO): DAT read: user:3218>
2025-08-20T02:40:06.731Z,1755657606.731 [DAT](INFO): DAT read: Tx time:02:40:05.1048
2025-08-20T02:40:06.732Z,1755657606.732 [DAT](INFO): Ping request sent.
2025-08-20T02:40:06.732Z,1755657606.732 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:06.732Z,1755657606.732 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:06.733Z,1755657606.733 [DAT](INFO): direction in FSK: [0.996661,-0.022617,0.078459]
2025-08-20T02:40:06.742Z,1755657606.742 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:06.742Z,1755657606.742 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:06.745Z,1755657606.745 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:06.745Z,1755657606.745 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:06.902Z,1755657606.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 147.600006 m,
deltaT: 3.780107 s,
deltaX: -2.500000 m,
approachRate: -0.661357 m/s,
rangeRepo size: 4
2025-08-20T02:40:06.905Z,1755657606.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 147.600006 m,
bearing: 4.885929 deg,
lat: 36.779360 deg,
lon: -121.859487 deg,
deltaT: 3.780107 s,
deltaX: -2.500000 m,
approachRate: -0.661357 m/s,
posRepo size: 4
2025-08-20T02:40:06.906Z,1755657606.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-20T02:40:06.908Z,1755657606.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.600006 m,
nav range: 146.853424 m,
bearing: 4.885929 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004054 deg/s,
cmd heading: 9.131930 deg,
new cmd heading: 9.139216 deg.
2025-08-20T02:40:07.248Z,1755657607.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-20T02:40:07.251Z,1755657607.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.600006 m,
nav range: 146.619370 m,
bearing: 4.887957 deg,
approach rate: -0.667760 m/s,
LOS rate: 0.005794 deg/s,
cmd heading: 9.139216 deg,
new cmd heading: 9.145308 deg.
2025-08-20T02:40:07.632Z,1755657607.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-20T02:40:07.636Z,1755657607.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.600006 m,
nav range: 146.347214 m,
bearing: 4.890397 deg,
approach rate: -0.708538 m/s,
LOS rate: 0.006363 deg/s,
cmd heading: 9.145308 deg,
new cmd heading: 9.152641 deg.
2025-08-20T02:40:08.108Z,1755657608.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-20T02:40:08.112Z,1755657608.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.600006 m,
nav range: 146.017502 m,
bearing: 4.893082 deg,
approach rate: -0.692927 m/s,
LOS rate: 0.005655 deg/s,
cmd heading: 9.152641 deg,
new cmd heading: 9.160714 deg.
2025-08-20T02:40:08.444Z,1755657608.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:08.446Z,1755657608.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-20T02:40:08.448Z,1755657608.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.600006 m,
nav range: 145.785919 m,
bearing: 4.895029 deg,
approach rate: -0.685671 m/s,
LOS rate: 0.005776 deg/s,
cmd heading: 9.160715 deg,
new cmd heading: 9.166567 deg.
2025-08-20T02:40:08.661Z,1755657608.661 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:08.661Z,1755657608.661 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:08.662Z,1755657608.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:08.903Z,1755657608.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-20T02:40:08.906Z,1755657608.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.600006 m,
nav range: 145.475601 m,
bearing: 4.896037 deg,
approach rate: -0.678814 m/s,
LOS rate: 0.002209 deg/s,
cmd heading: 9.166567 deg,
new cmd heading: 9.169597 deg.
2025-08-20T02:40:08.911Z,1755657608.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.178684
2025-08-20T02:40:09.164Z,1755657609.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.431402
2025-08-20T02:40:09.273Z,1755657609.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-20T02:40:09.275Z,1755657609.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.600006 m,
nav range: 145.224030 m,
bearing: 4.896897 deg,
approach rate: -0.680282 m/s,
LOS rate: 0.002329 deg/s,
cmd heading: 9.169597 deg,
new cmd heading: 9.172181 deg.
2025-08-20T02:40:09.414Z,1755657609.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682576
2025-08-20T02:40:09.653Z,1755657609.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-20T02:40:09.660Z,1755657609.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.600006 m,
nav range: 144.965576 m,
bearing: 4.897812 deg,
approach rate: -0.678908 m/s,
LOS rate: 0.002407 deg/s,
cmd heading: 9.172181 deg,
new cmd heading: 9.174930 deg.
2025-08-20T02:40:09.667Z,1755657609.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934701
2025-08-20T02:40:09.918Z,1755657609.918 [DAT](INFO): DAT read: Rx Time:02:40:07.7024
2025-08-20T02:40:09.919Z,1755657609.919 [DAT](INFO): Rx dataTimestamp_ set to:1755657609.918641
2025-08-20T02:40:09.919Z,1755657609.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.187682
2025-08-20T02:40:10.087Z,1755657610.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.60 m.
2025-08-20T02:40:10.090Z,1755657610.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.600006 m,
nav range: 144.674896 m,
bearing: 4.899619 deg,
approach rate: -0.669665 m/s,
LOS rate: 0.004173 deg/s,
cmd heading: 9.174930 deg,
new cmd heading: 9.180365 deg.
2025-08-20T02:40:10.122Z,1755657610.122 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:40:10.171Z,1755657610.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439618
2025-08-20T02:40:10.428Z,1755657610.428 [DAT](INFO): DAT read: 02:40:07.7024 LVL= 28192, 32753, 25042, 32755, AGC= 65, IDX= 409, 0.05,-2.176, 2.541,-1.979,-2.493, PHS= 0.419,-1.204, 0.470, RAW= 151.5, 3.9, CAL= 150.6, 3.8, ROT= 359.4, -3.8
2025-08-20T02:40:10.429Z,1755657610.429 [DAT](INFO): got valid direction response:
02:40:07.7024 LVL= 28192, 32753, 25042, 32755, AGC= 65, IDX= 409, 0.05,-2.176, 2.541,-1.979,-2.493, PHS= 0.419,-1.204, 0.470, RAW= 151.5, 3.9, CAL= 150.6, 3.8, ROT= 359.4, -3.8
2025-08-20T02:40:10.430Z,1755657610.430 [DAT](INFO): DAT read: Bearing 172.8, 6.5 (Local)
2025-08-20T02:40:10.430Z,1755657610.430 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, 6.5 (Local)
2025-08-20T02:40:10.432Z,1755657610.432 [DAT](INFO): DAT read: Range 11 to 50 : 145.0 m (Round-trip 193.4 ms) speed 0.5 m/s
2025-08-20T02:40:10.433Z,1755657610.433 [DAT](INFO): DAT read: user:3219>
2025-08-20T02:40:10.433Z,1755657610.433 [DAT](INFO): DAT read: Tx time:02:40:08.8048
2025-08-20T02:40:10.434Z,1755657610.434 [DAT](INFO): Ping request sent.
2025-08-20T02:40:10.434Z,1755657610.434 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:10.434Z,1755657610.434 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:10.435Z,1755657610.435 [DAT](INFO): direction in FSK: [0.997747,-0.010449,0.066274]
2025-08-20T02:40:10.435Z,1755657610.435 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:10.436Z,1755657610.436 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:10.439Z,1755657610.439 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:10.439Z,1755657610.439 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:10.531Z,1755657610.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 145.000000 m,
deltaT: 3.794158 s,
deltaX: -2.600006 m,
approachRate: -0.685266 m/s,
rangeRepo size: 4
2025-08-20T02:40:10.533Z,1755657610.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 145.000000 m,
bearing: 7.242607 deg,
lat: 36.779345 deg,
lon: -121.859422 deg,
deltaT: 3.794158 s,
deltaX: -2.600006 m,
approachRate: -0.685266 m/s,
posRepo size: 4
2025-08-20T02:40:10.542Z,1755657610.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.00 m.
2025-08-20T02:40:10.545Z,1755657610.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.000000 m,
nav range: 143.371048 m,
bearing: 7.242607 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.004173 deg/s,
cmd heading: 9.180364 deg,
new cmd heading: 9.185910 deg.
2025-08-20T02:40:10.924Z,1755657610.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:10.926Z,1755657610.926 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:10.926Z,1755657610.926 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:10.927Z,1755657610.927 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:10.930Z,1755657610.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.00 m.
2025-08-20T02:40:10.933Z,1755657610.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.000000 m,
nav range: 143.099915 m,
bearing: 7.248256 deg,
approach rate: -0.678346 m/s,
LOS rate: 0.014159 deg/s,
cmd heading: 9.185909 deg,
new cmd heading: 9.202887 deg.
2025-08-20T02:40:11.127Z,1755657611.127 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:40:11.179Z,1755657611.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744942
2025-08-20T02:40:11.285Z,1755657611.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.00 m.
2025-08-20T02:40:11.288Z,1755657611.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.000000 m,
nav range: 142.862869 m,
bearing: 7.253426 deg,
approach rate: -0.667382 m/s,
LOS rate: 0.014580 deg/s,
cmd heading: 9.202887 deg,
new cmd heading: 9.218422 deg.
2025-08-20T02:40:11.430Z,1755657611.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996547
2025-08-20T02:40:11.683Z,1755657611.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248730
2025-08-20T02:40:11.697Z,1755657611.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.00 m.
2025-08-20T02:40:11.703Z,1755657611.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.000000 m,
nav range: 142.592621 m,
bearing: 7.259420 deg,
approach rate: -0.656078 m/s,
LOS rate: 0.014581 deg/s,
cmd heading: 9.218422 deg,
new cmd heading: 9.236441 deg.
2025-08-20T02:40:11.934Z,1755657611.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500550
2025-08-20T02:40:12.122Z,1755657612.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.00 m.
2025-08-20T02:40:12.125Z,1755657612.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.000000 m,
nav range: 142.309036 m,
bearing: 7.267497 deg,
approach rate: -0.666842 m/s,
LOS rate: 0.019031 deg/s,
cmd heading: 9.236441 deg,
new cmd heading: 9.260720 deg.
2025-08-20T02:40:12.187Z,1755657612.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753246
2025-08-20T02:40:12.438Z,1755657612.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004610
2025-08-20T02:40:12.505Z,1755657612.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.00 m.
2025-08-20T02:40:12.507Z,1755657612.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.000000 m,
nav range: 142.055054 m,
bearing: 7.274886 deg,
approach rate: -0.664274 m/s,
LOS rate: 0.019360 deg/s,
cmd heading: 9.260720 deg,
new cmd heading: 9.282926 deg.
2025-08-20T02:40:12.691Z,1755657612.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256786
2025-08-20T02:40:12.931Z,1755657612.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:12.933Z,1755657612.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.00 m.
2025-08-20T02:40:12.936Z,1755657612.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.000000 m,
nav range: 141.772293 m,
bearing: 7.285325 deg,
approach rate: -0.660127 m/s,
LOS rate: 0.024418 deg/s,
cmd heading: 9.282926 deg,
new cmd heading: 9.314304 deg.
2025-08-20T02:40:12.943Z,1755657612.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508690
2025-08-20T02:40:13.195Z,1755657613.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761033
2025-08-20T02:40:13.332Z,1755657613.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.00 m.
2025-08-20T02:40:13.335Z,1755657613.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.000000 m,
nav range: 141.511353 m,
bearing: 7.295095 deg,
approach rate: -0.653885 m/s,
LOS rate: 0.024529 deg/s,
cmd heading: 9.314303 deg,
new cmd heading: 9.343669 deg.
2025-08-20T02:40:13.447Z,1755657613.447 [DAT](INFO): DAT read: Rx Time:02:40:11.3990
2025-08-20T02:40:13.447Z,1755657613.447 [DAT](INFO): Rx dataTimestamp_ set to:1755657613.446949
2025-08-20T02:40:13.448Z,1755657613.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013947
2025-08-20T02:40:13.699Z,1755657613.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264666
2025-08-20T02:40:13.708Z,1755657613.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.00 m.
2025-08-20T02:40:13.710Z,1755657613.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.000000 m,
nav range: 141.260437 m,
bearing: 7.304632 deg,
approach rate: -0.668190 m/s,
LOS rate: 0.025442 deg/s,
cmd heading: 9.343669 deg,
new cmd heading: 9.372330 deg.
2025-08-20T02:40:13.956Z,1755657613.956 [DAT](INFO): DAT read: 02:40:11.3990 LVL= 29616, 32497, 27746, 32755, AGC= 64, IDX= 406,-0.11,-1.532,-3.063,-1.354,-1.851, PHS= 0.421,-1.167, 0.453, RAW= 151.0, 3.7, CAL= 150.0, 3.6, ROT= 360.0, -3.6
2025-08-20T02:40:13.957Z,1755657613.957 [DAT](INFO): got valid direction response:
02:40:11.3990 LVL= 29616, 32497, 27746, 32755, AGC= 64, IDX= 406,-0.11,-1.532,-3.063,-1.354,-1.851, PHS= 0.421,-1.167, 0.453, RAW= 151.0, 3.7, CAL= 150.0, 3.6, ROT= 360.0, -3.6
2025-08-20T02:40:13.958Z,1755657613.958 [DAT](INFO): DAT read: Bearing 172.2, 8.3 (Local)
2025-08-20T02:40:13.959Z,1755657613.959 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, 8.3 (Local)
2025-08-20T02:40:13.960Z,1755657613.960 [DAT](INFO): DAT read: Range 11 to 50 : 142.5 m (Round-trip 190.0 ms) speed 0.5 m/s
2025-08-20T02:40:13.961Z,1755657613.961 [DAT](INFO): DAT read: user:3220>
2025-08-20T02:40:13.962Z,1755657613.962 [DAT](INFO): DAT read: Tx time:02:40:12.5048
2025-08-20T02:40:13.962Z,1755657613.962 [DAT](INFO): Ping request sent.
2025-08-20T02:40:13.962Z,1755657613.962 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:13.963Z,1755657613.963 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:13.964Z,1755657613.964 [DAT](INFO): direction in FSK: [0.998027,0.000000,0.062791]
2025-08-20T02:40:13.964Z,1755657613.964 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:13.964Z,1755657613.964 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:13.967Z,1755657613.967 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:13.967Z,1755657613.967 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:14.218Z,1755657614.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 142.500000 m,
deltaT: 3.528177 s,
deltaX: -2.500000 m,
approachRate: -0.708581 m/s,
rangeRepo size: 4
2025-08-20T02:40:14.223Z,1755657614.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 142.500000 m,
bearing: 7.991778 deg,
lat: 36.779339 deg,
lon: -121.859405 deg,
deltaT: 3.528177 s,
deltaX: -2.500000 m,
approachRate: -0.708581 m/s,
posRepo size: 4
2025-08-20T02:40:14.224Z,1755657614.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-20T02:40:14.227Z,1755657614.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.500000 m,
nav range: 140.442490 m,
bearing: 7.991778 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.025442 deg/s,
cmd heading: 9.372330 deg,
new cmd heading: 9.410634 deg.
2025-08-20T02:40:14.566Z,1755657614.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-20T02:40:14.569Z,1755657614.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.500000 m,
nav range: 140.193588 m,
bearing: 8.002718 deg,
approach rate: -0.697805 m/s,
LOS rate: 0.030725 deg/s,
cmd heading: 9.410634 deg,
new cmd heading: 9.443511 deg.
2025-08-20T02:40:14.975Z,1755657614.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:14.977Z,1755657614.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-20T02:40:14.980Z,1755657614.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.500000 m,
nav range: 139.916229 m,
bearing: 8.015395 deg,
approach rate: -0.675377 m/s,
LOS rate: 0.030930 deg/s,
cmd heading: 9.443512 deg,
new cmd heading: 9.481619 deg.
2025-08-20T02:40:15.213Z,1755657615.213 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:15.214Z,1755657615.214 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:15.214Z,1755657615.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:15.361Z,1755657615.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-20T02:40:15.363Z,1755657615.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.500000 m,
nav range: 139.656311 m,
bearing: 8.027407 deg,
approach rate: -0.677315 m/s,
LOS rate: 0.031360 deg/s,
cmd heading: 9.481618 deg,
new cmd heading: 9.517721 deg.
2025-08-20T02:40:15.463Z,1755657615.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500286
2025-08-20T02:40:15.714Z,1755657615.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751987
2025-08-20T02:40:15.834Z,1755657615.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-20T02:40:15.837Z,1755657615.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.500000 m,
nav range: 139.382492 m,
bearing: 8.040244 deg,
approach rate: -0.577797 m/s,
LOS rate: 0.027141 deg/s,
cmd heading: 9.517721 deg,
new cmd heading: 9.556307 deg.
2025-08-20T02:40:15.967Z,1755657615.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004331
2025-08-20T02:40:16.218Z,1755657616.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256021
2025-08-20T02:40:16.230Z,1755657616.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-20T02:40:16.232Z,1755657616.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.500000 m,
nav range: 139.086365 m,
bearing: 8.054952 deg,
approach rate: -0.789808 m/s,
LOS rate: 0.039313 deg/s,
cmd heading: 9.556307 deg,
new cmd heading: 9.600526 deg.
2025-08-20T02:40:16.472Z,1755657616.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509301
2025-08-20T02:40:16.578Z,1755657616.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-20T02:40:16.580Z,1755657616.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.500000 m,
nav range: 138.839920 m,
bearing: 8.067257 deg,
approach rate: -0.669667 m/s,
LOS rate: 0.033496 deg/s,
cmd heading: 9.600526 deg,
new cmd heading: 9.637506 deg.
2025-08-20T02:40:16.723Z,1755657616.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760294
2025-08-20T02:40:16.975Z,1755657616.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012171
2025-08-20T02:40:17.008Z,1755657617.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:17.010Z,1755657617.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-20T02:40:17.013Z,1755657617.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.500000 m,
nav range: 138.547913 m,
bearing: 8.081811 deg,
approach rate: -0.674373 m/s,
LOS rate: 0.033682 deg/s,
cmd heading: 9.637506 deg,
new cmd heading: 9.681260 deg.
2025-08-20T02:40:17.226Z,1755657617.226 [DAT](INFO): DAT read: Rx Time:02:40:15.0957
2025-08-20T02:40:17.227Z,1755657617.227 [DAT](INFO): Rx dataTimestamp_ set to:1755657617.226670
2025-08-20T02:40:17.228Z,1755657617.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265174
2025-08-20T02:40:17.391Z,1755657617.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.50 m.
2025-08-20T02:40:17.394Z,1755657617.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 142.500000 m,
nav range: 138.290634 m,
bearing: 8.094708 deg,
approach rate: -0.676514 m/s,
LOS rate: 0.033975 deg/s,
cmd heading: 9.681260 deg,
new cmd heading: 9.720022 deg.
2025-08-20T02:40:17.480Z,1755657617.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517340
2025-08-20T02:40:17.736Z,1755657617.736 [DAT](INFO): DAT read: 02:40:15.0957 LVL= 30896, 31793, 27426, 31667, AGC= 67, IDX= 404, 0.06,-1.435,-3.038,-1.271,-1.789, PHS= 0.456,-1.204, 0.474, RAW= 150.5, 3.3, CAL= 149.6, 3.2, ROT= 0.4, -3.2
2025-08-20T02:40:17.737Z,1755657617.737 [DAT](INFO): got valid direction response:
02:40:15.0957 LVL= 30896, 31793, 27426, 31667, AGC= 67, IDX= 404, 0.06,-1.435,-3.038,-1.271,-1.789, PHS= 0.456,-1.204, 0.474, RAW= 150.5, 3.3, CAL= 149.6, 3.2, ROT= 0.4, -3.2
2025-08-20T02:40:17.738Z,1755657617.738 [DAT](INFO): DAT read: Bearing 171.6, 9.9 (Local)
2025-08-20T02:40:17.739Z,1755657617.739 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.6, 9.9 (Local)
2025-08-20T02:40:17.740Z,1755657617.740 [DAT](INFO): DAT read: Range 11 to 50 : 140.0 m (Round-trip 186.7 ms) speed 0.4 m/s
2025-08-20T02:40:17.741Z,1755657617.741 [DAT](INFO): DAT read: user:3221>
2025-08-20T02:40:17.742Z,1755657617.742 [DAT](INFO): DAT read: Tx time:02:40:16.2048
2025-08-20T02:40:17.742Z,1755657617.742 [DAT](INFO): Ping request sent.
2025-08-20T02:40:17.742Z,1755657617.742 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:17.742Z,1755657617.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:17.743Z,1755657617.743 [DAT](INFO): direction in FSK: [0.998416,0.006970,0.055822]
2025-08-20T02:40:17.744Z,1755657617.744 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:17.744Z,1755657617.744 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:17.747Z,1755657617.747 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:17.747Z,1755657617.747 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:17.902Z,1755657617.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 140.000000 m,
deltaT: 3.779949 s,
deltaX: -2.500000 m,
approachRate: -0.661385 m/s,
rangeRepo size: 4
2025-08-20T02:40:17.904Z,1755657617.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 140.000000 m,
bearing: 8.545707 deg,
lat: 36.779335 deg,
lon: -121.859393 deg,
deltaT: 3.779949 s,
deltaX: -2.500000 m,
approachRate: -0.661385 m/s,
posRepo size: 4
2025-08-20T02:40:17.905Z,1755657617.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.00 m.
2025-08-20T02:40:17.911Z,1755657617.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.000000 m,
nav range: 137.682129 m,
bearing: 8.545707 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.033975 deg/s,
cmd heading: 9.720022 deg,
new cmd heading: 9.771600 deg.
2025-08-20T02:40:18.347Z,1755657618.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.00 m.
2025-08-20T02:40:18.354Z,1755657618.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.000000 m,
nav range: 137.360458 m,
bearing: 8.561450 deg,
approach rate: -0.714688 m/s,
LOS rate: 0.035060 deg/s,
cmd heading: 9.771600 deg,
new cmd heading: 9.818940 deg.
2025-08-20T02:40:18.695Z,1755657618.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.00 m.
2025-08-20T02:40:18.698Z,1755657618.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.000000 m,
nav range: 137.133224 m,
bearing: 8.572577 deg,
approach rate: -0.652115 m/s,
LOS rate: 0.031985 deg/s,
cmd heading: 9.818940 deg,
new cmd heading: 9.852376 deg.
2025-08-20T02:40:19.105Z,1755657619.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:19.108Z,1755657619.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.00 m.
2025-08-20T02:40:19.110Z,1755657619.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.000000 m,
nav range: 136.848923 m,
bearing: 8.586552 deg,
approach rate: -0.689556 m/s,
LOS rate: 0.033965 deg/s,
cmd heading: 9.852375 deg,
new cmd heading: 9.894386 deg.
2025-08-20T02:40:19.242Z,1755657619.242 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:19.242Z,1755657619.242 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:19.243Z,1755657619.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:19.494Z,1755657619.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752325
2025-08-20T02:40:19.503Z,1755657619.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.00 m.
2025-08-20T02:40:19.505Z,1755657619.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.000000 m,
nav range: 136.596909 m,
bearing: 8.598924 deg,
approach rate: -0.638038 m/s,
LOS rate: 0.031382 deg/s,
cmd heading: 9.894386 deg,
new cmd heading: 9.931572 deg.
2025-08-20T02:40:19.747Z,1755657619.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004798
2025-08-20T02:40:19.955Z,1755657619.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.00 m.
2025-08-20T02:40:19.962Z,1755657619.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.000000 m,
nav range: 136.296417 m,
bearing: 8.612854 deg,
approach rate: -0.663637 m/s,
LOS rate: 0.030831 deg/s,
cmd heading: 9.931572 deg,
new cmd heading: 9.973453 deg.
2025-08-20T02:40:19.999Z,1755657619.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256753
2025-08-20T02:40:20.250Z,1755657620.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508351
2025-08-20T02:40:20.326Z,1755657620.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.00 m.
2025-08-20T02:40:20.328Z,1755657620.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.000000 m,
nav range: 136.044907 m,
bearing: 8.624516 deg,
approach rate: -0.679841 m/s,
LOS rate: 0.031582 deg/s,
cmd heading: 9.973453 deg,
new cmd heading: 10.008505 deg.
2025-08-20T02:40:20.502Z,1755657620.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760356
2025-08-20T02:40:20.702Z,1755657620.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.00 m.
2025-08-20T02:40:20.705Z,1755657620.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.000000 m,
nav range: 135.789749 m,
bearing: 8.636306 deg,
approach rate: -0.678590 m/s,
LOS rate: 0.031416 deg/s,
cmd heading: 10.008505 deg,
new cmd heading: 10.043943 deg.
2025-08-20T02:40:20.755Z,1755657620.755 [DAT](INFO): DAT read: Rx Time:02:40:18.7922
2025-08-20T02:40:20.756Z,1755657620.756 [DAT](INFO): Rx dataTimestamp_ set to:1755657620.755808
2025-08-20T02:40:20.757Z,1755657620.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014952
2025-08-20T02:40:21.006Z,1755657621.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264340
2025-08-20T02:40:21.174Z,1755657621.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:21.177Z,1755657621.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.00 m.
2025-08-20T02:40:21.190Z,1755657621.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.000000 m,
nav range: 135.489166 m,
bearing: 8.648367 deg,
approach rate: -0.632391 m/s,
LOS rate: 0.025431 deg/s,
cmd heading: 10.043943 deg,
new cmd heading: 10.080205 deg.
2025-08-20T02:40:21.259Z,1755657621.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516980
2025-08-20T02:40:21.517Z,1755657621.517 [DAT](INFO): DAT read: 02:40:18.7922 LVL= 31472, 32753, 26802, 32755, AGC= 63, IDX= 401,-0.22,-0.123,-1.705, 0.057,-0.477, PHS= 0.456,-1.183, 0.490, RAW= 151.0, 2.9, CAL= 150.0, 2.7, ROT= 0.0, -2.7
2025-08-20T02:40:21.522Z,1755657621.522 [DAT](INFO): got valid direction response:
02:40:18.7922 LVL= 31472, 32753, 26802, 32755, AGC= 63, IDX= 401,-0.22,-0.123,-1.705, 0.057,-0.477, PHS= 0.456,-1.183, 0.490, RAW= 151.0, 2.9, CAL= 150.0, 2.7, ROT= 0.0, -2.7
2025-08-20T02:40:21.523Z,1755657621.523 [DAT](INFO): DAT read: Bearing 171.1, 10.7 (Local)
2025-08-20T02:40:21.523Z,1755657621.523 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.1, 10.7 (Local)
2025-08-20T02:40:21.525Z,1755657621.525 [DAT](INFO): DAT read: Range 11 to 50 : 137.4 m (Round-trip 183.3 ms) speed 0.7 m/s
2025-08-20T02:40:21.530Z,1755657621.530 [DAT](INFO): DAT read: user:3222>
2025-08-20T02:40:21.530Z,1755657621.530 [DAT](INFO): DAT read: Tx time:02:40:19.9048
2025-08-20T02:40:21.531Z,1755657621.531 [DAT](INFO): Ping request sent.
2025-08-20T02:40:21.531Z,1755657621.531 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:21.531Z,1755657621.531 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:21.532Z,1755657621.532 [DAT](INFO): direction in FSK: [0.998890,0.000000,0.047106]
2025-08-20T02:40:21.532Z,1755657621.532 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:21.533Z,1755657621.533 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:21.540Z,1755657621.540 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:21.540Z,1755657621.540 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:21.719Z,1755657621.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 137.399994 m,
deltaT: 3.779970 s,
deltaX: -2.600006 m,
approachRate: -0.687838 m/s,
rangeRepo size: 4
2025-08-20T02:40:21.721Z,1755657621.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 137.399994 m,
bearing: 8.704470 deg,
lat: 36.779329 deg,
lon: -121.859393 deg,
deltaT: 3.779970 s,
deltaX: -2.600006 m,
approachRate: -0.687838 m/s,
posRepo size: 4
2025-08-20T02:40:21.726Z,1755657621.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-20T02:40:21.728Z,1755657621.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.399994 m,
nav range: 134.480896 m,
bearing: 8.704470 deg,
approach rate: -12261519100037901519039316759 m/s,
LOS rate: 0.025431 deg/s,
cmd heading: 10.080205 deg,
new cmd heading: 10.121514 deg.
2025-08-20T02:40:22.054Z,1755657622.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-20T02:40:22.059Z,1755657622.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.399994 m,
nav range: 134.244522 m,
bearing: 8.713866 deg,
approach rate: -0.703519 m/s,
LOS rate: 0.028012 deg/s,
cmd heading: 10.121514 deg,
new cmd heading: 10.149749 deg.
2025-08-20T02:40:22.436Z,1755657622.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-20T02:40:22.438Z,1755657622.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.399994 m,
nav range: 133.976669 m,
bearing: 8.724543 deg,
approach rate: -0.702029 m/s,
LOS rate: 0.028041 deg/s,
cmd heading: 10.149748 deg,
new cmd heading: 10.181844 deg.
2025-08-20T02:40:22.890Z,1755657622.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-20T02:40:22.910Z,1755657622.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.399994 m,
nav range: 133.699692 m,
bearing: 8.735593 deg,
approach rate: -0.618114 m/s,
LOS rate: 0.024710 deg/s,
cmd heading: 10.181844 deg,
new cmd heading: 10.215062 deg.
2025-08-20T02:40:23.323Z,1755657623.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:23.325Z,1755657623.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-20T02:40:23.328Z,1755657623.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.399994 m,
nav range: 133.373474 m,
bearing: 8.749846 deg,
approach rate: -0.739360 m/s,
LOS rate: 0.032383 deg/s,
cmd heading: 10.215062 deg,
new cmd heading: 10.257926 deg.
2025-08-20T02:40:23.530Z,1755657623.530 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:23.530Z,1755657623.530 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:23.531Z,1755657623.531 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:23.690Z,1755657623.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-20T02:40:23.692Z,1755657623.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.399994 m,
nav range: 133.128021 m,
bearing: 8.760616 deg,
approach rate: -0.673566 m/s,
LOS rate: 0.029610 deg/s,
cmd heading: 10.257926 deg,
new cmd heading: 10.290296 deg.
2025-08-20T02:40:23.784Z,1755657623.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252796
2025-08-20T02:40:24.034Z,1755657624.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503442
2025-08-20T02:40:24.124Z,1755657624.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-20T02:40:24.131Z,1755657624.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.399994 m,
nav range: 132.843948 m,
bearing: 8.775535 deg,
approach rate: -0.652929 m/s,
LOS rate: 0.034364 deg/s,
cmd heading: 10.290296 deg,
new cmd heading: 10.335149 deg.
2025-08-20T02:40:24.287Z,1755657624.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755546
2025-08-20T02:40:24.479Z,1755657624.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-20T02:40:24.482Z,1755657624.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.399994 m,
nav range: 132.592911 m,
bearing: 8.788616 deg,
approach rate: -0.708543 m/s,
LOS rate: 0.036990 deg/s,
cmd heading: 10.335149 deg,
new cmd heading: 10.374465 deg.
2025-08-20T02:40:24.540Z,1755657624.540 [DAT](INFO): DAT read: Rx Time:02:40:22.4888
2025-08-20T02:40:24.540Z,1755657624.540 [DAT](INFO): Rx dataTimestamp_ set to:1755657624.539712
2025-08-20T02:40:24.541Z,1755657624.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009666
2025-08-20T02:40:24.791Z,1755657624.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260140
2025-08-20T02:40:24.950Z,1755657624.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.40 m.
2025-08-20T02:40:24.953Z,1755657624.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 137.399994 m,
nav range: 132.316498 m,
bearing: 8.802956 deg,
approach rate: -0.592209 m/s,
LOS rate: 0.030788 deg/s,
cmd heading: 10.374465 deg,
new cmd heading: 10.417575 deg.
2025-08-20T02:40:25.048Z,1755657625.048 [DAT](INFO): DAT read: 02:40:22.4887 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 414, 0.38,-2.666, 2.121,-2.488,-3.017, PHS= 0.453,-1.100, 0.485, RAW= 151.0, 2.1, CAL= 149.9, 1.8, ROT= 0.1, -1.8
2025-08-20T02:40:25.049Z,1755657625.049 [DAT](INFO): got valid direction response:
02:40:22.4887 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 414, 0.38,-2.666, 2.121,-2.488,-3.017, PHS= 0.453,-1.100, 0.485, RAW= 151.0, 2.1, CAL= 149.9, 1.8, ROT= 0.1, -1.8
2025-08-20T02:40:25.051Z,1755657625.051 [DAT](INFO): DAT read: Bearing 170.3, 11.7 (Local)
2025-08-20T02:40:25.051Z,1755657625.051 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.3, 11.7 (Local)
2025-08-20T02:40:25.054Z,1755657625.054 [DAT](INFO): DAT read: Range 11 to 50 : 134.8 m (Round-trip 179.8 ms) speed 0.1 m/s
2025-08-20T02:40:25.055Z,1755657625.055 [DAT](INFO): DAT read: user:3223>
2025-08-20T02:40:25.056Z,1755657625.056 [DAT](INFO): DAT read: Tx time:02:40:23.6047
2025-08-20T02:40:25.056Z,1755657625.056 [DAT](INFO): Ping request sent.
2025-08-20T02:40:25.057Z,1755657625.057 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:25.058Z,1755657625.058 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:25.060Z,1755657625.060 [DAT](INFO): direction in FSK: [0.999505,0.001744,0.031411]
2025-08-20T02:40:25.060Z,1755657625.060 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:25.060Z,1755657625.060 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:25.065Z,1755657625.065 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:25.085Z,1755657625.085 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:25.392Z,1755657625.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 134.800003 m,
deltaT: 3.532179 s,
deltaX: -2.599991 m,
approachRate: -0.736087 m/s,
rangeRepo size: 4
2025-08-20T02:40:25.398Z,1755657625.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 134.800003 m,
bearing: 8.847886 deg,
lat: 36.779326 deg,
lon: -121.859393 deg,
deltaT: 3.532179 s,
deltaX: -2.599991 m,
approachRate: -0.736087 m/s,
posRepo size: 4
2025-08-20T02:40:25.399Z,1755657625.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m.
2025-08-20T02:40:25.405Z,1755657625.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.800003 m,
nav range: 131.620453 m,
bearing: 8.847886 deg,
approach rate: -17984278435174130122752.00000 m/s,
LOS rate: 0.030788 deg/s,
cmd heading: 10.417575 deg,
new cmd heading: 10.458717 deg.
2025-08-20T02:40:25.689Z,1755657625.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:25.691Z,1755657625.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m.
2025-08-20T02:40:25.694Z,1755657625.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.800003 m,
nav range: 131.410004 m,
bearing: 8.859267 deg,
approach rate: -0.700759 m/s,
LOS rate: 0.037960 deg/s,
cmd heading: 10.458717 deg,
new cmd heading: 10.492917 deg.
2025-08-20T02:40:25.799Z,1755657625.799 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:25.799Z,1755657625.799 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:25.799Z,1755657625.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:26.050Z,1755657626.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993812
2025-08-20T02:40:26.115Z,1755657626.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m.
2025-08-20T02:40:26.118Z,1755657626.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.800003 m,
nav range: 131.123978 m,
bearing: 8.875706 deg,
approach rate: -0.675313 m/s,
LOS rate: 0.038896 deg/s,
cmd heading: 10.492917 deg,
new cmd heading: 10.542340 deg.
2025-08-20T02:40:26.302Z,1755657626.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245763
2025-08-20T02:40:26.546Z,1755657626.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m.
2025-08-20T02:40:26.548Z,1755657626.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.800003 m,
nav range: 130.833313 m,
bearing: 8.892484 deg,
approach rate: -0.674963 m/s,
LOS rate: 0.039048 deg/s,
cmd heading: 10.542340 deg,
new cmd heading: 10.592786 deg.
2025-08-20T02:40:26.555Z,1755657626.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497915
2025-08-20T02:40:26.807Z,1755657626.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750099
2025-08-20T02:40:26.986Z,1755657626.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m.
2025-08-20T02:40:26.988Z,1755657626.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.800003 m,
nav range: 130.560410 m,
bearing: 8.908029 deg,
approach rate: -0.625907 m/s,
LOS rate: 0.035727 deg/s,
cmd heading: 10.592786 deg,
new cmd heading: 10.639519 deg.
2025-08-20T02:40:27.059Z,1755657627.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002761
2025-08-20T02:40:27.310Z,1755657627.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253729
2025-08-20T02:40:27.346Z,1755657627.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m.
2025-08-20T02:40:27.348Z,1755657627.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.800003 m,
nav range: 130.299301 m,
bearing: 8.925014 deg,
approach rate: -0.717627 m/s,
LOS rate: 0.046774 deg/s,
cmd heading: 10.639519 deg,
new cmd heading: 10.690575 deg.
2025-08-20T02:40:27.563Z,1755657627.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505942
2025-08-20T02:40:27.735Z,1755657627.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:27.737Z,1755657627.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m.
2025-08-20T02:40:27.740Z,1755657627.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.800003 m,
nav range: 130.040512 m,
bearing: 8.941891 deg,
approach rate: -0.660156 m/s,
LOS rate: 0.043139 deg/s,
cmd heading: 10.690575 deg,
new cmd heading: 10.741309 deg.
2025-08-20T02:40:27.815Z,1755657627.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758581
2025-08-20T02:40:28.066Z,1755657628.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009775
2025-08-20T02:40:28.191Z,1755657628.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m.
2025-08-20T02:40:28.198Z,1755657628.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.800003 m,
nav range: 129.757355 m,
bearing: 8.959056 deg,
approach rate: -0.624009 m/s,
LOS rate: 0.037910 deg/s,
cmd heading: 10.741309 deg,
new cmd heading: 10.792916 deg.
2025-08-20T02:40:28.319Z,1755657628.319 [DAT](INFO): DAT read: Rx Time:02:40:26.1854
2025-08-20T02:40:28.320Z,1755657628.320 [DAT](INFO): Rx dataTimestamp_ set to:1755657628.319253
2025-08-20T02:40:28.321Z,1755657628.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263773
2025-08-20T02:40:28.550Z,1755657628.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.80 m.
2025-08-20T02:40:28.553Z,1755657628.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.800003 m,
nav range: 129.514984 m,
bearing: 8.973734 deg,
approach rate: -0.675012 m/s,
LOS rate: 0.040955 deg/s,
cmd heading: 10.792916 deg,
new cmd heading: 10.837033 deg.
2025-08-20T02:40:28.571Z,1755657628.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514664
2025-08-20T02:40:28.828Z,1755657628.828 [DAT](INFO): DAT read: 02:40:26.1854 LVL= 31200, 32753, 29042, 32755, AGC= 63, IDX= 412, 0.24,-2.529, 2.191,-2.315,-2.858, PHS= 0.431,-1.190, 0.499, RAW= 152.0, 3.2, CAL= 151.0, 2.9, ROT= 359.0, -2.9
2025-08-20T02:40:28.829Z,1755657628.829 [DAT](INFO): got valid direction response:
02:40:26.1854 LVL= 31200, 32753, 29042, 32755, AGC= 63, IDX= 412, 0.24,-2.529, 2.191,-2.315,-2.858, PHS= 0.431,-1.190, 0.499, RAW= 152.0, 3.2, CAL= 151.0, 2.9, ROT= 359.0, -2.9
2025-08-20T02:40:28.830Z,1755657628.830 [DAT](INFO): DAT read: Bearing 171.9, 11.3 (Local)
2025-08-20T02:40:28.831Z,1755657628.831 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 11.3 (Local)
2025-08-20T02:40:28.832Z,1755657628.832 [DAT](INFO): DAT read: Range 11 to 50 : 132.3 m (Round-trip 176.5 ms) speed 0.5 m/s
2025-08-20T02:40:28.833Z,1755657628.833 [DAT](INFO): DAT read: user:3224>
2025-08-20T02:40:28.874Z,1755657628.874 [DAT](INFO): DAT read: Tx time:02:40:27.3047
2025-08-20T02:40:28.875Z,1755657628.875 [DAT](INFO): Ping request sent.
2025-08-20T02:40:28.875Z,1755657628.875 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:28.875Z,1755657628.875 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:28.876Z,1755657628.876 [DAT](INFO): direction in FSK: [0.998567,-0.017430,0.050593]
2025-08-20T02:40:28.876Z,1755657628.876 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:28.876Z,1755657628.876 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:28.879Z,1755657628.879 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:28.880Z,1755657628.880 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:29.045Z,1755657629.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 132.300003 m,
deltaT: 3.779807 s,
deltaX: -2.500000 m,
approachRate: -0.661409 m/s,
rangeRepo size: 4
2025-08-20T02:40:29.059Z,1755657629.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 132.300003 m,
bearing: 8.998904 deg,
lat: 36.779325 deg,
lon: -121.859393 deg,
deltaT: 3.779807 s,
deltaX: -2.500000 m,
approachRate: -0.661409 m/s,
posRepo size: 4
2025-08-20T02:40:29.060Z,1755657629.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:29.064Z,1755657629.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 129.079971 m,
bearing: 8.998904 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.040955 deg/s,
cmd heading: 10.837033 deg,
new cmd heading: 10.897751 deg.
2025-08-20T02:40:29.373Z,1755657629.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:29.376Z,1755657629.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 128.857483 m,
bearing: 9.012768 deg,
approach rate: -0.677969 m/s,
LOS rate: 0.042318 deg/s,
cmd heading: 10.897751 deg,
new cmd heading: 10.939413 deg.
2025-08-20T02:40:29.764Z,1755657629.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:29.768Z,1755657629.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:29.773Z,1755657629.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 128.605743 m,
bearing: 9.028431 deg,
approach rate: -0.637056 m/s,
LOS rate: 0.039715 deg/s,
cmd heading: 10.939414 deg,
new cmd heading: 10.986495 deg.
2025-08-20T02:40:29.831Z,1755657629.831 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:29.831Z,1755657629.831 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:29.832Z,1755657629.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:30.082Z,1755657630.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207745
2025-08-20T02:40:30.180Z,1755657630.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:30.200Z,1755657630.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 128.341293 m,
bearing: 9.044384 deg,
approach rate: -0.641931 m/s,
LOS rate: 0.038804 deg/s,
cmd heading: 10.986495 deg,
new cmd heading: 11.034452 deg.
2025-08-20T02:40:30.335Z,1755657630.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459903
2025-08-20T02:40:30.574Z,1755657630.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:30.576Z,1755657630.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 128.094864 m,
bearing: 9.059201 deg,
approach rate: -0.625888 m/s,
LOS rate: 0.037705 deg/s,
cmd heading: 11.034452 deg,
new cmd heading: 11.078989 deg.
2025-08-20T02:40:30.587Z,1755657630.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711931
2025-08-20T02:40:30.838Z,1755657630.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963754
2025-08-20T02:40:31.016Z,1755657631.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:31.037Z,1755657631.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 127.844200 m,
bearing: 9.074161 deg,
approach rate: -0.568601 m/s,
LOS rate: 0.034002 deg/s,
cmd heading: 11.078989 deg,
new cmd heading: 11.123957 deg.
2025-08-20T02:40:31.092Z,1755657631.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217238
2025-08-20T02:40:31.343Z,1755657631.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467913
2025-08-20T02:40:31.434Z,1755657631.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:31.436Z,1755657631.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 127.557297 m,
bearing: 9.090847 deg,
approach rate: -0.686447 m/s,
LOS rate: 0.040013 deg/s,
cmd heading: 11.123958 deg,
new cmd heading: 11.174128 deg.
2025-08-20T02:40:31.594Z,1755657631.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719685
2025-08-20T02:40:31.801Z,1755657631.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:31.804Z,1755657631.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:31.819Z,1755657631.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 127.313622 m,
bearing: 9.104791 deg,
approach rate: -0.655825 m/s,
LOS rate: 0.037602 deg/s,
cmd heading: 11.174128 deg,
new cmd heading: 11.216041 deg.
2025-08-20T02:40:31.847Z,1755657631.847 [DAT](INFO): DAT read: Rx Time:02:40:29.8820
2025-08-20T02:40:31.847Z,1755657631.847 [DAT](INFO): Rx dataTimestamp_ set to:1755657631.846806
2025-08-20T02:40:31.848Z,1755657631.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973010
2025-08-20T02:40:32.098Z,1755657632.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223813
2025-08-20T02:40:32.227Z,1755657632.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:32.230Z,1755657632.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 127.024467 m,
bearing: 9.118980 deg,
approach rate: -0.682355 m/s,
LOS rate: 0.033559 deg/s,
cmd heading: 11.216041 deg,
new cmd heading: 11.258704 deg.
2025-08-20T02:40:32.350Z,1755657632.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475754
2025-08-20T02:40:32.574Z,1755657632.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.30 m.
2025-08-20T02:40:32.577Z,1755657632.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.300003 m,
nav range: 126.796997 m,
bearing: 9.130040 deg,
approach rate: -0.655888 m/s,
LOS rate: 0.031947 deg/s,
cmd heading: 11.258705 deg,
new cmd heading: 11.291943 deg.
2025-08-20T02:40:32.608Z,1755657632.608 [DAT](INFO): DAT read: 02:40:29.8820 LVL= 30384, 32753, 29170, 32755, AGC= 63, IDX= 409, 0.43,-1.517,-3.004,-1.289,-1.849, PHS= 0.435,-1.110, 0.516, RAW= 152.5, 2.0, CAL= 151.4, 1.5, ROT= 358.6, -1.5
2025-08-20T02:40:32.610Z,1755657632.610 [DAT](INFO): got valid direction response:
02:40:29.8820 LVL= 30384, 32753, 29170, 32755, AGC= 63, IDX= 409, 0.43,-1.517,-3.004,-1.289,-1.849, PHS= 0.435,-1.110, 0.516, RAW= 152.5, 2.0, CAL= 151.4, 1.5, ROT= 358.6, -1.5
2025-08-20T02:40:32.611Z,1755657632.611 [DAT](INFO): DAT read: Bearing 171.2, 11.5 (Local)
2025-08-20T02:40:32.611Z,1755657632.611 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.2, 11.5 (Local)
2025-08-20T02:40:32.613Z,1755657632.613 [DAT](INFO): DAT read: Range 11 to 50 : 129.8 m (Round-trip 173.1 ms) speed 0.5 m/s
2025-08-20T02:40:32.614Z,1755657632.614 [DAT](INFO): DAT read: user:3225>
2025-08-20T02:40:32.615Z,1755657632.615 [DAT](INFO): DAT read: Tx time:02:40:31.0047
2025-08-20T02:40:32.615Z,1755657632.615 [DAT](INFO): Ping request sent.
2025-08-20T02:40:32.616Z,1755657632.616 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:32.616Z,1755657632.616 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:32.617Z,1755657632.617 [DAT](INFO): direction in FSK: [0.999359,-0.024424,0.026177]
2025-08-20T02:40:32.617Z,1755657632.617 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:32.618Z,1755657632.618 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:32.620Z,1755657632.620 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:32.621Z,1755657632.621 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:33.060Z,1755657633.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 129.800003 m,
deltaT: 3.780087 s,
deltaX: -2.500000 m,
approachRate: -0.661360 m/s,
rangeRepo size: 4
2025-08-20T02:40:33.068Z,1755657633.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 129.800003 m,
bearing: 8.885170 deg,
lat: 36.779324 deg,
lon: -121.859400 deg,
deltaT: 3.780087 s,
deltaX: -2.500000 m,
approachRate: -0.661360 m/s,
posRepo size: 4
2025-08-20T02:40:33.068Z,1755657633.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m.
2025-08-20T02:40:33.075Z,1755657633.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.800003 m,
nav range: 126.328491 m,
bearing: 8.885170 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.031947 deg/s,
cmd heading: 11.291944 deg,
new cmd heading: 11.337689 deg.
2025-08-20T02:40:33.416Z,1755657633.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m.
2025-08-20T02:40:33.419Z,1755657633.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.800003 m,
nav range: 126.050919 m,
bearing: 8.896679 deg,
approach rate: -0.762326 m/s,
LOS rate: 0.031679 deg/s,
cmd heading: 11.337690 deg,
new cmd heading: 11.372293 deg.
2025-08-20T02:40:33.797Z,1755657633.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m.
2025-08-20T02:40:33.799Z,1755657633.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.800003 m,
nav range: 125.795715 m,
bearing: 8.907246 deg,
approach rate: -0.670057 m/s,
LOS rate: 0.027800 deg/s,
cmd heading: 11.372293 deg,
new cmd heading: 11.404057 deg.
2025-08-20T02:40:34.226Z,1755657634.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:34.228Z,1755657634.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m.
2025-08-20T02:40:34.231Z,1755657634.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.800003 m,
nav range: 125.507751 m,
bearing: 8.916437 deg,
approach rate: -0.667840 m/s,
LOS rate: 0.021364 deg/s,
cmd heading: 11.404057 deg,
new cmd heading: 11.431693 deg.
2025-08-20T02:40:34.366Z,1755657634.366 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:34.366Z,1755657634.366 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:34.367Z,1755657634.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:34.618Z,1755657634.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002819
2025-08-20T02:40:34.647Z,1755657634.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m.
2025-08-20T02:40:34.650Z,1755657634.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.800003 m,
nav range: 125.227127 m,
bearing: 8.925318 deg,
approach rate: -0.669186 m/s,
LOS rate: 0.021227 deg/s,
cmd heading: 11.431693 deg,
new cmd heading: 11.458397 deg.
2025-08-20T02:40:34.872Z,1755657634.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255972
2025-08-20T02:40:35.123Z,1755657635.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507053
2025-08-20T02:40:35.212Z,1755657635.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m.
2025-08-20T02:40:35.215Z,1755657635.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.800003 m,
nav range: 124.857910 m,
bearing: 8.932748 deg,
approach rate: -0.653815 m/s,
LOS rate: 0.013196 deg/s,
cmd heading: 11.458397 deg,
new cmd heading: 11.480753 deg.
2025-08-20T02:40:35.374Z,1755657635.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758892
2025-08-20T02:40:35.626Z,1755657635.626 [DAT](INFO): DAT read: Rx Time:02:40:33.5787
2025-08-20T02:40:35.627Z,1755657635.627 [DAT](INFO): Rx dataTimestamp_ set to:1755657635.626668
2025-08-20T02:40:35.628Z,1755657635.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011977
2025-08-20T02:40:35.721Z,1755657635.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.80 m.
2025-08-20T02:40:35.724Z,1755657635.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 129.800003 m,
nav range: 124.517975 m,
bearing: 8.939273 deg,
approach rate: -0.672634 m/s,
LOS rate: 0.012946 deg/s,
cmd heading: 11.480752 deg,
new cmd heading: 11.500380 deg.
2025-08-20T02:40:35.878Z,1755657635.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262879
2025-08-20T02:40:36.136Z,1755657636.136 [DAT](INFO): DAT read: 02:40:33.5787 LVL= 29104, 29601, 27586, 32755, AGC= 62, IDX= 407, 0.11, 2.971, 1.427,-3.036, 2.607, PHS= 0.466,-1.135, 0.597, RAW= 153.9, 0.9, CAL= 152.5, -0.0, ROT= 357.5, 0.0
2025-08-20T02:40:36.138Z,1755657636.138 [DAT](INFO): got valid direction response:
02:40:33.5787 LVL= 29104, 29601, 27586, 32755, AGC= 62, IDX= 407, 0.11, 2.971, 1.427,-3.036, 2.607, PHS= 0.466,-1.135, 0.597, RAW= 153.9, 0.9, CAL= 152.5, -0.0, ROT= 357.5, 0.0
2025-08-20T02:40:36.139Z,1755657636.139 [DAT](INFO): DAT read: Bearing 170.1, 10.9 (Local)
2025-08-20T02:40:36.139Z,1755657636.139 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.1, 10.9 (Local)
2025-08-20T02:40:36.140Z,1755657636.140 [DAT](INFO): DAT read: Range 11 to 50 : 127.3 m (Round-trip 169.8 ms) speed 0.8 m/s
2025-08-20T02:40:36.141Z,1755657636.141 [DAT](INFO): DAT read: user:3226>
2025-08-20T02:40:36.142Z,1755657636.142 [DAT](INFO): DAT read: Tx time:02:40:34.7047
2025-08-20T02:40:36.142Z,1755657636.142 [DAT](INFO): Ping request sent.
2025-08-20T02:40:36.142Z,1755657636.142 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:36.143Z,1755657636.143 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:36.144Z,1755657636.144 [DAT](INFO): direction in FSK: [0.999048,-0.043619,-0.000000]
2025-08-20T02:40:36.144Z,1755657636.144 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:36.144Z,1755657636.144 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:36.148Z,1755657636.148 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:36.148Z,1755657636.148 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:36.328Z,1755657636.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 127.300003 m,
deltaT: 3.528227 s,
deltaX: -2.500000 m,
approachRate: -0.708571 m/s,
rangeRepo size: 4
2025-08-20T02:40:36.346Z,1755657636.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 127.300003 m,
bearing: 8.611846 deg,
lat: 36.779324 deg,
lon: -121.859408 deg,
deltaT: 3.528227 s,
deltaX: -2.500000 m,
approachRate: -0.708571 m/s,
posRepo size: 4
2025-08-20T02:40:36.346Z,1755657636.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m.
2025-08-20T02:40:36.349Z,1755657636.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.300003 m,
nav range: 123.988586 m,
bearing: 8.611846 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012946 deg/s,
cmd heading: 11.500380 deg,
new cmd heading: 11.524078 deg.
2025-08-20T02:40:36.690Z,1755657636.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:36.692Z,1755657636.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m.
2025-08-20T02:40:36.695Z,1755657636.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.300003 m,
nav range: 123.729324 m,
bearing: 8.616180 deg,
approach rate: -0.711042 m/s,
LOS rate: 0.011912 deg/s,
cmd heading: 11.524078 deg,
new cmd heading: 11.537108 deg.
2025-08-20T02:40:36.886Z,1755657636.886 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:36.886Z,1755657636.886 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:36.887Z,1755657636.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:37.139Z,1755657637.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997081
2025-08-20T02:40:37.147Z,1755657637.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m.
2025-08-20T02:40:37.154Z,1755657637.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.300003 m,
nav range: 123.437073 m,
bearing: 8.620796 deg,
approach rate: -0.642491 m/s,
LOS rate: 0.010173 deg/s,
cmd heading: 11.537108 deg,
new cmd heading: 11.550990 deg.
2025-08-20T02:40:37.390Z,1755657637.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248076
2025-08-20T02:40:37.508Z,1755657637.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m.
2025-08-20T02:40:37.511Z,1755657637.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.300003 m,
nav range: 123.170105 m,
bearing: 8.623476 deg,
approach rate: -0.739484 m/s,
LOS rate: 0.007439 deg/s,
cmd heading: 11.550990 deg,
new cmd heading: 11.559047 deg.
2025-08-20T02:40:37.642Z,1755657637.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500088
2025-08-20T02:40:37.895Z,1755657637.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752107
2025-08-20T02:40:37.895Z,1755657637.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m.
2025-08-20T02:40:37.909Z,1755657637.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.300003 m,
nav range: 122.917053 m,
bearing: 8.625770 deg,
approach rate: -0.662758 m/s,
LOS rate: 0.006020 deg/s,
cmd heading: 11.559047 deg,
new cmd heading: 11.565942 deg.
2025-08-20T02:40:38.151Z,1755657638.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007752
2025-08-20T02:40:38.328Z,1755657638.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m.
2025-08-20T02:40:38.330Z,1755657638.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.300003 m,
nav range: 122.609322 m,
bearing: 8.630546 deg,
approach rate: -0.702861 m/s,
LOS rate: 0.010936 deg/s,
cmd heading: 11.565942 deg,
new cmd heading: 11.580307 deg.
2025-08-20T02:40:38.399Z,1755657638.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256526
2025-08-20T02:40:38.650Z,1755657638.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508048
2025-08-20T02:40:38.700Z,1755657638.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:38.702Z,1755657638.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m.
2025-08-20T02:40:38.705Z,1755657638.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.300003 m,
nav range: 122.352524 m,
bearing: 8.634317 deg,
approach rate: -0.685222 m/s,
LOS rate: 0.010083 deg/s,
cmd heading: 11.580307 deg,
new cmd heading: 11.591643 deg.
2025-08-20T02:40:38.903Z,1755657638.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760158
2025-08-20T02:40:39.116Z,1755657639.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m.
2025-08-20T02:40:39.151Z,1755657639.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.300003 m,
nav range: 122.082291 m,
bearing: 8.638140 deg,
approach rate: -0.655432 m/s,
LOS rate: 0.009292 deg/s,
cmd heading: 11.591643 deg,
new cmd heading: 11.603136 deg.
2025-08-20T02:40:39.157Z,1755657639.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014075
2025-08-20T02:40:39.406Z,1755657639.406 [DAT](INFO): DAT read: Rx Time:02:40:37.2753
2025-08-20T02:40:39.407Z,1755657639.407 [DAT](INFO): Rx dataTimestamp_ set to:1755657639.406605
2025-08-20T02:40:39.407Z,1755657639.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265069
2025-08-20T02:40:39.534Z,1755657639.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.30 m.
2025-08-20T02:40:39.542Z,1755657639.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 127.300003 m,
nav range: 121.787643 m,
bearing: 8.646884 deg,
approach rate: -0.702242 m/s,
LOS rate: 0.020891 deg/s,
cmd heading: 11.603136 deg,
new cmd heading: 11.629432 deg.
2025-08-20T02:40:39.658Z,1755657639.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516059
2025-08-20T02:40:39.917Z,1755657639.917 [DAT](INFO): DAT read: 02:40:37.2753 LVL= 26768, 32529, 26994, 31395, AGC= 63, IDX= 405,-0.10,-0.229,-1.725, 0.078,-0.538, PHS= 0.411,-1.143, 0.572, RAW= 154.9, 2.0, CAL= 153.6, 1.1, ROT= 356.4, -1.1
2025-08-20T02:40:39.918Z,1755657639.918 [DAT](INFO): got valid direction response:
02:40:37.2753 LVL= 26768, 32529, 26994, 31395, AGC= 63, IDX= 405,-0.10,-0.229,-1.725, 0.078,-0.538, PHS= 0.411,-1.143, 0.572, RAW= 154.9, 2.0, CAL= 153.6, 1.1, ROT= 356.4, -1.1
2025-08-20T02:40:39.919Z,1755657639.919 [DAT](INFO): DAT read: Bearing 172.0, 9.6 (Local)
2025-08-20T02:40:39.919Z,1755657639.919 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.0, 9.6 (Local)
2025-08-20T02:40:39.921Z,1755657639.921 [DAT](INFO): DAT read: Range 11 to 50 : 124.8 m (Round-trip 166.5 ms) speed 0.5 m/s
2025-08-20T02:40:39.922Z,1755657639.922 [DAT](INFO): DAT read: user:3227>
2025-08-20T02:40:39.922Z,1755657639.922 [DAT](INFO): DAT read: Tx time:02:40:38.4047
2025-08-20T02:40:39.923Z,1755657639.923 [DAT](INFO): Ping request sent.
2025-08-20T02:40:39.923Z,1755657639.923 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:39.923Z,1755657639.923 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:39.924Z,1755657639.924 [DAT](INFO): direction in FSK: [0.997843,-0.062779,0.019197]
2025-08-20T02:40:39.924Z,1755657639.924 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:39.925Z,1755657639.925 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:39.928Z,1755657639.928 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:39.928Z,1755657639.928 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:39.956Z,1755657639.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 124.800003 m,
deltaT: 3.779761 s,
deltaX: -2.500000 m,
approachRate: -0.661417 m/s,
rangeRepo size: 4
2025-08-20T02:40:39.966Z,1755657639.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 124.800003 m,
bearing: 8.360463 deg,
lat: 36.779324 deg,
lon: -121.859415 deg,
deltaT: 3.779761 s,
deltaX: -2.500000 m,
approachRate: -0.661417 m/s,
posRepo size: 4
2025-08-20T02:40:39.967Z,1755657639.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:39.974Z,1755657639.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 121.440712 m,
bearing: 8.360463 deg,
approach rate: -0.000000 m/s,
LOS rate: 0.020891 deg/s,
cmd heading: 11.629433 deg,
new cmd heading: 11.655819 deg.
2025-08-20T02:40:40.382Z,1755657640.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:40.384Z,1755657640.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 121.137901 m,
bearing: 8.370826 deg,
approach rate: -0.717185 m/s,
LOS rate: 0.024604 deg/s,
cmd heading: 11.655819 deg,
new cmd heading: 11.686984 deg.
2025-08-20T02:40:40.704Z,1755657640.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:40.707Z,1755657640.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:40.709Z,1755657640.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 120.905800 m,
bearing: 8.378762 deg,
approach rate: -0.705171 m/s,
LOS rate: 0.024160 deg/s,
cmd heading: 11.686984 deg,
new cmd heading: 11.710840 deg.
2025-08-20T02:40:40.918Z,1755657640.918 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:40.918Z,1755657640.918 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:40.919Z,1755657640.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:41.116Z,1755657641.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:41.122Z,1755657641.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 120.630959 m,
bearing: 8.388298 deg,
approach rate: -0.670916 m/s,
LOS rate: 0.023331 deg/s,
cmd heading: 11.710840 deg,
new cmd heading: 11.739513 deg.
2025-08-20T02:40:41.175Z,1755657641.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251118
2025-08-20T02:40:41.246Z,1755657641.246 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:40:41.425Z,1755657641.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501625
2025-08-20T02:40:41.557Z,1755657641.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:41.560Z,1755657641.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 120.345314 m,
bearing: 8.402206 deg,
approach rate: -0.648414 m/s,
LOS rate: 0.031645 deg/s,
cmd heading: 11.739512 deg,
new cmd heading: 11.781334 deg.
2025-08-20T02:40:41.674Z,1755657641.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751502
2025-08-20T02:40:41.923Z,1755657641.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:41.927Z,1755657641.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003747
2025-08-20T02:40:41.928Z,1755657641.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 120.108253 m,
bearing: 8.413824 deg,
approach rate: -0.646477 m/s,
LOS rate: 0.031745 deg/s,
cmd heading: 11.781334 deg,
new cmd heading: 11.816257 deg.
2025-08-20T02:40:42.183Z,1755657642.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259352
2025-08-20T02:40:42.250Z,1755657642.250 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:40:42.366Z,1755657642.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:42.369Z,1755657642.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 119.826859 m,
bearing: 8.428369 deg,
approach rate: -0.635713 m/s,
LOS rate: 0.032938 deg/s,
cmd heading: 11.816257 deg,
new cmd heading: 11.859996 deg.
2025-08-20T02:40:42.431Z,1755657642.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508277
2025-08-20T02:40:42.683Z,1755657642.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759652
2025-08-20T02:40:42.769Z,1755657642.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:42.788Z,1755657642.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:42.797Z,1755657642.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 119.570099 m,
bearing: 8.441802 deg,
approach rate: -0.623986 m/s,
LOS rate: 0.032716 deg/s,
cmd heading: 11.859996 deg,
new cmd heading: 11.900382 deg.
2025-08-20T02:40:42.934Z,1755657642.934 [DAT](INFO): DAT read: Rx Time:02:40:40.9720
2025-08-20T02:40:42.935Z,1755657642.935 [DAT](INFO): Rx dataTimestamp_ set to:1755657642.934586
2025-08-20T02:40:42.935Z,1755657642.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012581
2025-08-20T02:40:43.164Z,1755657643.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:43.190Z,1755657643.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266332
2025-08-20T02:40:43.204Z,1755657643.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 119.317513 m,
bearing: 8.455163 deg,
approach rate: -0.655643 m/s,
LOS rate: 0.034754 deg/s,
cmd heading: 11.900382 deg,
new cmd heading: 11.940549 deg.
2025-08-20T02:40:43.438Z,1755657643.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515556
2025-08-20T02:40:43.612Z,1755657643.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.80 m.
2025-08-20T02:40:43.619Z,1755657643.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 124.800003 m,
nav range: 119.024681 m,
bearing: 8.470002 deg,
approach rate: -0.651953 m/s,
LOS rate: 0.033118 deg/s,
cmd heading: 11.940549 deg,
new cmd heading: 11.985175 deg.
2025-08-20T02:40:43.699Z,1755657643.699 [DAT](INFO): DAT read: 02:40:40.9720 LVL= 25408, 31281, 26450, 32755, AGC= 65, IDX= 403,-0.11,-2.256, 2.472,-1.943,-2.563, PHS= 0.409,-1.203, 0.576, RAW= 154.9, 2.6, CAL= 153.7, 1.9, ROT= 356.3, -1.9
2025-08-20T02:40:43.700Z,1755657643.700 [DAT](INFO): got valid direction response:
02:40:40.9720 LVL= 25408, 31281, 26450, 32755, AGC= 65, IDX= 403,-0.11,-2.256, 2.472,-1.943,-2.563, PHS= 0.409,-1.203, 0.576, RAW= 154.9, 2.6, CAL= 153.7, 1.9, ROT= 356.3, -1.9
2025-08-20T02:40:43.703Z,1755657643.703 [DAT](INFO): DAT read: Bearing 172.6, 9.2 (Local)
2025-08-20T02:40:43.703Z,1755657643.703 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.6, 9.2 (Local)
2025-08-20T02:40:43.705Z,1755657643.705 [DAT](INFO): DAT read: Range 11 to 50 : 122.3 m (Round-trip 163.1 ms) speed 0.8 m/s
2025-08-20T02:40:43.706Z,1755657643.706 [DAT](INFO): DAT read: user:3228>
2025-08-20T02:40:43.707Z,1755657643.707 [DAT](INFO): DAT read: Tx time:02:40:42.1047
2025-08-20T02:40:43.707Z,1755657643.707 [DAT](INFO): Ping request sent.
2025-08-20T02:40:43.707Z,1755657643.707 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:43.708Z,1755657643.708 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:43.708Z,1755657643.708 [DAT](INFO): direction in FSK: [0.997367,-0.064497,0.033155]
2025-08-20T02:40:43.709Z,1755657643.709 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:43.709Z,1755657643.709 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:43.749Z,1755657643.749 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:43.749Z,1755657643.749 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:43.976Z,1755657643.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 122.300003 m,
deltaT: 3.780349 s,
deltaX: -2.500000 m,
approachRate: -0.661315 m/s,
rangeRepo size: 4
2025-08-20T02:40:43.979Z,1755657643.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 122.300003 m,
bearing: 7.807748 deg,
lat: 36.779326 deg,
lon: -121.859431 deg,
deltaT: 3.780349 s,
deltaX: -2.500000 m,
approachRate: -0.661315 m/s,
posRepo size: 4
2025-08-20T02:40:43.979Z,1755657643.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.30 m.
2025-08-20T02:40:43.998Z,1755657643.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.300003 m,
nav range: 118.775269 m,
bearing: 7.807748 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.033118 deg/s,
cmd heading: 11.985175 deg,
new cmd heading: 12.021295 deg.
2025-08-20T02:40:44.397Z,1755657644.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.30 m.
2025-08-20T02:40:44.399Z,1755657644.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.300003 m,
nav range: 118.506813 m,
bearing: 7.819340 deg,
approach rate: -0.637721 m/s,
LOS rate: 0.027599 deg/s,
cmd heading: 12.021295 deg,
new cmd heading: 12.056150 deg.
2025-08-20T02:40:44.807Z,1755657644.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:44.813Z,1755657644.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.30 m.
2025-08-20T02:40:44.816Z,1755657644.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.300003 m,
nav range: 118.259308 m,
bearing: 7.830052 deg,
approach rate: -0.599661 m/s,
LOS rate: 0.026006 deg/s,
cmd heading: 12.056150 deg,
new cmd heading: 12.088351 deg.
2025-08-20T02:40:44.951Z,1755657644.951 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:44.951Z,1755657644.951 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:44.951Z,1755657644.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:45.206Z,1755657645.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497609
2025-08-20T02:40:45.267Z,1755657645.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.30 m.
2025-08-20T02:40:45.269Z,1755657645.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.300003 m,
nav range: 117.958763 m,
bearing: 7.843023 deg,
approach rate: -0.657142 m/s,
LOS rate: 0.028433 deg/s,
cmd heading: 12.088351 deg,
new cmd heading: 12.127363 deg.
2025-08-20T02:40:45.455Z,1755657645.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747876
2025-08-20T02:40:45.712Z,1755657645.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004843
2025-08-20T02:40:45.795Z,1755657645.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.30 m.
2025-08-20T02:40:45.798Z,1755657645.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.300003 m,
nav range: 117.619232 m,
bearing: 7.856248 deg,
approach rate: -0.642528 m/s,
LOS rate: 0.025100 deg/s,
cmd heading: 12.127363 deg,
new cmd heading: 12.167154 deg.
2025-08-20T02:40:45.964Z,1755657645.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256279
2025-08-20T02:40:46.217Z,1755657646.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509477
2025-08-20T02:40:46.332Z,1755657646.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.30 m.
2025-08-20T02:40:46.335Z,1755657646.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.300003 m,
nav range: 117.271400 m,
bearing: 7.866640 deg,
approach rate: -0.647800 m/s,
LOS rate: 0.019412 deg/s,
cmd heading: 12.167154 deg,
new cmd heading: 12.198423 deg.
2025-08-20T02:40:46.466Z,1755657646.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759183
2025-08-20T02:40:46.719Z,1755657646.719 [DAT](INFO): DAT read: Rx Time:02:40:44.6686
2025-08-20T02:40:46.720Z,1755657646.720 [DAT](INFO): Rx dataTimestamp_ set to:1755657646.719654
2025-08-20T02:40:46.721Z,1755657646.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013607
2025-08-20T02:40:46.726Z,1755657646.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.30 m.
2025-08-20T02:40:46.732Z,1755657646.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.300003 m,
nav range: 117.024361 m,
bearing: 7.873936 deg,
approach rate: -0.626164 m/s,
LOS rate: 0.018530 deg/s,
cmd heading: 12.198423 deg,
new cmd heading: 12.220356 deg.
2025-08-20T02:40:46.971Z,1755657646.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263928
2025-08-20T02:40:47.122Z,1755657647.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:47.124Z,1755657647.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.30 m.
2025-08-20T02:40:47.127Z,1755657647.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 122.300003 m,
nav range: 116.758171 m,
bearing: 7.881618 deg,
approach rate: -0.669045 m/s,
LOS rate: 0.019353 deg/s,
cmd heading: 12.220356 deg,
new cmd heading: 12.243456 deg.
2025-08-20T02:40:47.266Z,1755657647.266 [DAT](INFO): DAT read: 02:40:44.6686 LVL= 25584, 31217, 25810, 32755, AGC= 66, IDX= 401,-0.49,-1.022,-2.533,-0.705,-1.347, PHS= 0.427,-1.141, 0.597, RAW= 155.1, 1.4, CAL= 153.8, 0.4, ROT= 356.2, -0.4
2025-08-20T02:40:47.274Z,1755657647.274 [DAT](INFO): got valid direction response:
02:40:44.6686 LVL= 25584, 31217, 25810, 32755, AGC= 66, IDX= 401,-0.49,-1.022,-2.533,-0.705,-1.347, PHS= 0.427,-1.141, 0.597, RAW= 155.1, 1.4, CAL= 153.8, 0.4, ROT= 356.2, -0.4
2025-08-20T02:40:47.276Z,1755657647.276 [DAT](INFO): DAT read: Bearing 171.1, 9.2 (Local)
2025-08-20T02:40:47.276Z,1755657647.276 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.1, 9.2 (Local)
2025-08-20T02:40:47.282Z,1755657647.282 [DAT](INFO): DAT read: Range 11 to 50 : 119.7 m (Round-trip 159.7 ms) speed 0.6 m/s
2025-08-20T02:40:47.283Z,1755657647.283 [DAT](INFO): DAT read: user:3229>
2025-08-20T02:40:47.283Z,1755657647.283 [DAT](INFO): DAT read: Tx time:02:40:45.7563
2025-08-20T02:40:47.284Z,1755657647.284 [DAT](INFO): Ping request sent.
2025-08-20T02:40:47.284Z,1755657647.284 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:47.284Z,1755657647.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:47.285Z,1755657647.285 [DAT](INFO): direction in FSK: [0.997777,-0.066272,0.006981]
2025-08-20T02:40:47.290Z,1755657647.290 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:47.290Z,1755657647.290 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:47.294Z,1755657647.294 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:47.294Z,1755657647.294 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:47.571Z,1755657647.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 119.699997 m,
deltaT: 3.533652 s,
deltaX: -2.600006 m,
approachRate: -0.735784 m/s,
rangeRepo size: 4
2025-08-20T02:40:47.573Z,1755657647.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 119.699997 m,
bearing: 7.852874 deg,
lat: 36.779328 deg,
lon: -121.859431 deg,
deltaT: 3.533652 s,
deltaX: -2.600006 m,
approachRate: -0.735784 m/s,
posRepo size: 4
2025-08-20T02:40:47.578Z,1755657647.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.70 m.
2025-08-20T02:40:47.581Z,1755657647.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.699997 m,
nav range: 116.701080 m,
bearing: 7.852874 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.019353 deg/s,
cmd heading: 12.243456 deg,
new cmd heading: 12.269346 deg.
2025-08-20T02:40:47.942Z,1755657647.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.70 m.
2025-08-20T02:40:47.945Z,1755657647.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.699997 m,
nav range: 116.453239 m,
bearing: 7.856392 deg,
approach rate: -0.669878 m/s,
LOS rate: 0.009529 deg/s,
cmd heading: 12.269346 deg,
new cmd heading: 12.279923 deg.
2025-08-20T02:40:48.338Z,1755657648.338 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022506280591,35.0, +11.1, 0.0,10
2025-08-20T02:40:48.359Z,1755657648.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.70 m.
2025-08-20T02:40:48.362Z,1755657648.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.699997 m,
nav range: 116.178139 m,
bearing: 7.860237 deg,
approach rate: -0.656314 m/s,
LOS rate: 0.009197 deg/s,
cmd heading: 12.279923 deg,
new cmd heading: 12.291487 deg.
2025-08-20T02:40:48.920Z,1755657648.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.70 m.
2025-08-20T02:40:48.923Z,1755657648.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.699997 m,
nav range: 115.816444 m,
bearing: 7.864888 deg,
approach rate: -0.644611 m/s,
LOS rate: 0.008314 deg/s,
cmd heading: 12.291487 deg,
new cmd heading: 12.305483 deg.
2025-08-20T02:40:49.364Z,1755657649.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:49.367Z,1755657649.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.70 m.
2025-08-20T02:40:49.369Z,1755657649.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.699997 m,
nav range: 115.511024 m,
bearing: 7.867509 deg,
approach rate: -0.684740 m/s,
LOS rate: 0.005893 deg/s,
cmd heading: 12.305482 deg,
new cmd heading: 12.313367 deg.
2025-08-20T02:40:49.490Z,1755657649.490 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:49.490Z,1755657649.490 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:49.491Z,1755657649.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:49.742Z,1755657649.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458503
2025-08-20T02:40:49.839Z,1755657649.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.70 m.
2025-08-20T02:40:49.843Z,1755657649.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.699997 m,
nav range: 115.186371 m,
bearing: 7.870229 deg,
approach rate: -0.687428 m/s,
LOS rate: 0.005775 deg/s,
cmd heading: 12.313368 deg,
new cmd heading: 12.321550 deg.
2025-08-20T02:40:49.994Z,1755657649.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710556
2025-08-20T02:40:50.241Z,1755657650.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.70 m.
2025-08-20T02:40:50.244Z,1755657650.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.699997 m,
nav range: 114.910362 m,
bearing: 7.872464 deg,
approach rate: -0.686479 m/s,
LOS rate: 0.005573 deg/s,
cmd heading: 12.321550 deg,
new cmd heading: 12.328272 deg.
2025-08-20T02:40:50.247Z,1755657650.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962748
2025-08-20T02:40:50.498Z,1755657650.498 [DAT](INFO): DAT read: Rx Time:02:40:48.3170
2025-08-20T02:40:50.499Z,1755657650.499 [DAT](INFO): Rx dataTimestamp_ set to:1755657650.498601
2025-08-20T02:40:50.499Z,1755657650.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215584
2025-08-20T02:40:50.652Z,1755657650.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.70 m.
2025-08-20T02:40:50.655Z,1755657650.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.699997 m,
nav range: 114.628654 m,
bearing: 7.877751 deg,
approach rate: -0.684395 m/s,
LOS rate: 0.012874 deg/s,
cmd heading: 12.328272 deg,
new cmd heading: 12.344170 deg.
2025-08-20T02:40:50.754Z,1755657650.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469657
2025-08-20T02:40:51.008Z,1755657651.008 [DAT](INFO): DAT read: 02:40:48.3170 LVL= 26352, 31313, 24418, 32755, AGC= 64, IDX= 416,-0.21,-1.831, 2.965,-1.540,-2.127, PHS= 0.398,-1.147, 0.543, RAW= 154.4, 2.6, CAL= 153.3, 1.9, ROT= 356.7, -1.9
2025-08-20T02:40:51.019Z,1755657651.019 [DAT](INFO): got valid direction response:
02:40:48.3170 LVL= 26352, 31313, 24418, 32755, AGC= 64, IDX= 416,-0.21,-1.831, 2.965,-1.540,-2.127, PHS= 0.398,-1.147, 0.543, RAW= 154.4, 2.6, CAL= 153.3, 1.9, ROT= 356.7, -1.9
2025-08-20T02:40:51.020Z,1755657651.020 [DAT](INFO): DAT read: Bearing 172.9, 9.0 (Local)
2025-08-20T02:40:51.020Z,1755657651.020 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.9, 9.0 (Local)
2025-08-20T02:40:51.022Z,1755657651.022 [DAT](INFO): DAT read: Range 11 to 50 : 117.4 m (Round-trip 156.6 ms) speed 0.6 m/s
2025-08-20T02:40:51.023Z,1755657651.023 [DAT](INFO): DAT read: user:3230>
2025-08-20T02:40:51.023Z,1755657651.023 [DAT](INFO): DAT read: Tx time:02:40:49.4047
2025-08-20T02:40:51.024Z,1755657651.024 [DAT](INFO): Ping request sent.
2025-08-20T02:40:51.024Z,1755657651.024 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:51.024Z,1755657651.024 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:51.025Z,1755657651.025 [DAT](INFO): direction in FSK: [0.997793,-0.057532,0.033155]
2025-08-20T02:40:51.058Z,1755657651.058 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:51.058Z,1755657651.058 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:51.061Z,1755657651.061 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:51.061Z,1755657651.061 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:51.110Z,1755657651.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 117.400002 m,
deltaT: 3.778020 s,
deltaX: -2.299995 m,
approachRate: -0.608783 m/s,
rangeRepo size: 4
2025-08-20T02:40:51.112Z,1755657651.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 117.400002 m,
bearing: 7.895773 deg,
lat: 36.779326 deg,
lon: -121.859431 deg,
deltaT: 3.778020 s,
deltaX: -2.299995 m,
approachRate: -0.608783 m/s,
posRepo size: 4
2025-08-20T02:40:51.113Z,1755657651.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-08-20T02:40:51.120Z,1755657651.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.400002 m,
nav range: 114.152313 m,
bearing: 7.895773 deg,
approach rate: -27643030736693135870171617802 m/s,
LOS rate: 0.012874 deg/s,
cmd heading: 12.344170 deg,
new cmd heading: 12.361642 deg.
2025-08-20T02:40:51.456Z,1755657651.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:51.460Z,1755657651.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-08-20T02:40:51.463Z,1755657651.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.400002 m,
nav range: 113.889420 m,
bearing: 7.899106 deg,
approach rate: -0.740093 m/s,
LOS rate: 0.009405 deg/s,
cmd heading: 12.361642 deg,
new cmd heading: 12.371664 deg.
2025-08-20T02:40:51.511Z,1755657651.511 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:51.512Z,1755657651.512 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:51.512Z,1755657651.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:51.762Z,1755657651.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738659
2025-08-20T02:40:51.838Z,1755657651.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-08-20T02:40:51.841Z,1755657651.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.400002 m,
nav range: 113.624222 m,
bearing: 7.902381 deg,
approach rate: -0.702211 m/s,
LOS rate: 0.008691 deg/s,
cmd heading: 12.371664 deg,
new cmd heading: 12.381511 deg.
2025-08-20T02:40:52.014Z,1755657652.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990621
2025-08-20T02:40:52.240Z,1755657652.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-08-20T02:40:52.243Z,1755657652.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.400002 m,
nav range: 113.343628 m,
bearing: 7.905725 deg,
approach rate: -0.697637 m/s,
LOS rate: 0.008335 deg/s,
cmd heading: 12.381511 deg,
new cmd heading: 12.391568 deg.
2025-08-20T02:40:52.267Z,1755657652.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242809
2025-08-20T02:40:52.522Z,1755657652.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498505
2025-08-20T02:40:52.664Z,1755657652.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-08-20T02:40:52.667Z,1755657652.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.400002 m,
nav range: 113.052734 m,
bearing: 7.907885 deg,
approach rate: -0.685895 m/s,
LOS rate: 0.005107 deg/s,
cmd heading: 12.391567 deg,
new cmd heading: 12.398065 deg.
2025-08-20T02:40:52.771Z,1755657652.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746797
2025-08-20T02:40:53.023Z,1755657653.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998735
2025-08-20T02:40:53.052Z,1755657653.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-08-20T02:40:53.055Z,1755657653.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.400002 m,
nav range: 112.786133 m,
bearing: 7.909758 deg,
approach rate: -0.686373 m/s,
LOS rate: 0.004832 deg/s,
cmd heading: 12.398065 deg,
new cmd heading: 12.403695 deg.
2025-08-20T02:40:53.275Z,1755657653.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251328
2025-08-20T02:40:53.494Z,1755657653.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:53.496Z,1755657653.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-08-20T02:40:53.503Z,1755657653.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.400002 m,
nav range: 112.510490 m,
bearing: 7.912694 deg,
approach rate: -0.621557 m/s,
LOS rate: 0.006638 deg/s,
cmd heading: 12.403694 deg,
new cmd heading: 12.412526 deg.
2025-08-20T02:40:53.527Z,1755657653.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502749
2025-08-20T02:40:53.780Z,1755657653.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755800
2025-08-20T02:40:53.862Z,1755657653.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-08-20T02:40:53.864Z,1755657653.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.400002 m,
nav range: 112.241035 m,
bearing: 7.915597 deg,
approach rate: -0.737168 m/s,
LOS rate: 0.007959 deg/s,
cmd heading: 12.412526 deg,
new cmd heading: 12.421254 deg.
2025-08-20T02:40:54.030Z,1755657654.030 [DAT](INFO): DAT read: Rx Time:02:40:51.9622
2025-08-20T02:40:54.031Z,1755657654.031 [DAT](INFO): Rx dataTimestamp_ set to:1755657654.030669
2025-08-20T02:40:54.032Z,1755657654.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007773
2025-08-20T02:40:54.250Z,1755657654.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-08-20T02:40:54.253Z,1755657654.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.400002 m,
nav range: 111.979424 m,
bearing: 7.918408 deg,
approach rate: -0.672969 m/s,
LOS rate: 0.007248 deg/s,
cmd heading: 12.421254 deg,
new cmd heading: 12.429707 deg.
2025-08-20T02:40:54.282Z,1755657654.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258726
2025-08-20T02:40:54.540Z,1755657654.540 [DAT](INFO): DAT read: 02:40:51.9622 LVL= 25968, 30097, 24818, 32755, AGC= 64, IDX= 414, 0.12, 1.363,-0.171, 1.654, 1.056, PHS= 0.409,-1.181, 0.554, RAW= 154.3, 2.7, CAL= 153.2, 2.0, ROT= 356.8, -2.0
2025-08-20T02:40:54.541Z,1755657654.541 [DAT](INFO): got valid direction response:
02:40:51.9622 LVL= 25968, 30097, 24818, 32755, AGC= 64, IDX= 414, 0.12, 1.363,-0.171, 1.654, 1.056, PHS= 0.409,-1.181, 0.554, RAW= 154.3, 2.7, CAL= 153.2, 2.0, ROT= 356.8, -2.0
2025-08-20T02:40:54.542Z,1755657654.542 [DAT](INFO): DAT read: Bearing 173.2, 7.7 (Local)
2025-08-20T02:40:54.542Z,1755657654.542 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.2, 7.7 (Local)
2025-08-20T02:40:54.544Z,1755657654.544 [DAT](INFO): DAT read: Range 11 to 50 : 114.9 m (Round-trip 153.3 ms) speed 0.8 m/s
2025-08-20T02:40:54.545Z,1755657654.545 [DAT](INFO): DAT read: user:3231>
2025-08-20T02:40:54.545Z,1755657654.545 [DAT](INFO): DAT read: Tx time:02:40:53.0547
2025-08-20T02:40:54.546Z,1755657654.546 [DAT](INFO): Ping request sent.
2025-08-20T02:40:54.546Z,1755657654.546 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:54.546Z,1755657654.546 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:54.547Z,1755657654.547 [DAT](INFO): direction in FSK: [0.997833,-0.055788,0.034899]
2025-08-20T02:40:54.547Z,1755657654.547 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:54.548Z,1755657654.548 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:54.551Z,1755657654.551 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:54.551Z,1755657654.551 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:54.799Z,1755657654.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 114.900002 m,
deltaT: 3.531853 s,
deltaX: -2.500000 m,
approachRate: -0.707844 m/s,
rangeRepo size: 4
2025-08-20T02:40:54.806Z,1755657654.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 114.900002 m,
bearing: 7.922173 deg,
lat: 36.779328 deg,
lon: -121.859431 deg,
deltaT: 3.531853 s,
deltaX: -2.500000 m,
approachRate: -0.707844 m/s,
posRepo size: 4
2025-08-20T02:40:54.806Z,1755657654.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m.
2025-08-20T02:40:54.809Z,1755657654.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.900002 m,
nav range: 111.904640 m,
bearing: 7.922173 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007248 deg/s,
cmd heading: 12.429706 deg,
new cmd heading: 12.441634 deg.
2025-08-20T02:40:55.144Z,1755657655.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m.
2025-08-20T02:40:55.147Z,1755657655.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.900002 m,
nav range: 111.649002 m,
bearing: 7.925498 deg,
approach rate: -0.740023 m/s,
LOS rate: 0.009649 deg/s,
cmd heading: 12.441634 deg,
new cmd heading: 12.451633 deg.
2025-08-20T02:40:55.571Z,1755657655.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:55.574Z,1755657655.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m.
2025-08-20T02:40:55.576Z,1755657655.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.900002 m,
nav range: 111.360878 m,
bearing: 7.927886 deg,
approach rate: -0.671455 m/s,
LOS rate: 0.005578 deg/s,
cmd heading: 12.451633 deg,
new cmd heading: 12.458814 deg.
2025-08-20T02:40:55.796Z,1755657655.796 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:55.796Z,1755657655.796 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:55.796Z,1755657655.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:40:55.974Z,1755657655.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m.
2025-08-20T02:40:55.976Z,1755657655.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.900002 m,
nav range: 111.096329 m,
bearing: 7.930109 deg,
approach rate: -0.661142 m/s,
LOS rate: 0.005569 deg/s,
cmd heading: 12.458814 deg,
new cmd heading: 12.465499 deg.
2025-08-20T02:40:56.047Z,1755657656.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500682
2025-08-20T02:40:56.298Z,1755657656.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752632
2025-08-20T02:40:56.411Z,1755657656.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m.
2025-08-20T02:40:56.430Z,1755657656.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.900002 m,
nav range: 110.832199 m,
bearing: 7.932330 deg,
approach rate: -0.612486 m/s,
LOS rate: 0.005164 deg/s,
cmd heading: 12.465499 deg,
new cmd heading: 12.472180 deg.
2025-08-20T02:40:56.550Z,1755657656.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004481
2025-08-20T02:40:56.806Z,1755657656.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260541
2025-08-20T02:40:56.924Z,1755657656.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m.
2025-08-20T02:40:56.931Z,1755657656.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.900002 m,
nav range: 110.471176 m,
bearing: 7.936158 deg,
approach rate: -0.695319 m/s,
LOS rate: 0.007396 deg/s,
cmd heading: 12.472180 deg,
new cmd heading: 12.483701 deg.
2025-08-20T02:40:57.055Z,1755657657.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509255
2025-08-20T02:40:57.306Z,1755657657.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760502
2025-08-20T02:40:57.320Z,1755657657.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m.
2025-08-20T02:40:57.324Z,1755657657.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.900002 m,
nav range: 110.199936 m,
bearing: 7.939050 deg,
approach rate: -0.684544 m/s,
LOS rate: 0.007318 deg/s,
cmd heading: 12.483701 deg,
new cmd heading: 12.492399 deg.
2025-08-20T02:40:57.561Z,1755657657.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015216
2025-08-20T02:40:57.789Z,1755657657.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:57.803Z,1755657657.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m.
2025-08-20T02:40:57.811Z,1755657657.811 [DAT](INFO): DAT read: Rx Time:02:40:55.6088
2025-08-20T02:40:57.811Z,1755657657.811 [DAT](INFO): Rx dataTimestamp_ set to:1755657657.810820
2025-08-20T02:40:57.812Z,1755657657.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265826
2025-08-20T02:40:57.812Z,1755657657.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.900002 m,
nav range: 109.898071 m,
bearing: 7.945921 deg,
approach rate: -0.625279 m/s,
LOS rate: 0.014272 deg/s,
cmd heading: 12.492399 deg,
new cmd heading: 12.513069 deg.
2025-08-20T02:40:58.063Z,1755657658.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516953
2025-08-20T02:40:58.222Z,1755657658.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.90 m.
2025-08-20T02:40:58.225Z,1755657658.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.900002 m,
nav range: 109.600395 m,
bearing: 7.952786 deg,
approach rate: -0.710161 m/s,
LOS rate: 0.016421 deg/s,
cmd heading: 12.513069 deg,
new cmd heading: 12.533718 deg.
2025-08-20T02:40:58.321Z,1755657658.321 [DAT](INFO): DAT read: 02:40:55.6088 LVL= 28656, 31825, 25986, 32755, AGC= 65, IDX= 412, 0.06, 0.526,-1.038, 0.843, 0.240, PHS= 0.388,-1.233, 0.560, RAW= 155.0, 3.4, CAL= 153.9, 2.8, ROT= 356.1, -2.8
2025-08-20T02:40:58.322Z,1755657658.322 [DAT](INFO): got valid direction response:
02:40:55.6088 LVL= 28656, 31825, 25986, 32755, AGC= 65, IDX= 412, 0.06, 0.526,-1.038, 0.843, 0.240, PHS= 0.388,-1.233, 0.560, RAW= 155.0, 3.4, CAL= 153.9, 2.8, ROT= 356.1, -2.8
2025-08-20T02:40:58.323Z,1755657658.323 [DAT](INFO): DAT read: Bearing 174.1, 5.8 (Local)
2025-08-20T02:40:58.324Z,1755657658.324 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.1, 5.8 (Local)
2025-08-20T02:40:58.325Z,1755657658.325 [DAT](INFO): DAT read: Range 11 to 50 : 112.5 m (Round-trip 150.0 ms) speed 0.8 m/s
2025-08-20T02:40:58.327Z,1755657658.327 [DAT](INFO): DAT read: user:3232>
2025-08-20T02:40:58.328Z,1755657658.328 [DAT](INFO): DAT read: Tx time:02:40:56.7047
2025-08-20T02:40:58.328Z,1755657658.328 [DAT](INFO): Ping request sent.
2025-08-20T02:40:58.328Z,1755657658.328 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:40:58.328Z,1755657658.328 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:40:58.341Z,1755657658.341 [DAT](INFO): direction in FSK: [0.996493,-0.067934,0.048850]
2025-08-20T02:40:58.350Z,1755657658.350 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:58.351Z,1755657658.351 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:58.355Z,1755657658.355 [DAT](INFO): publishing transmit ping time
2025-08-20T02:40:58.356Z,1755657658.356 [DAT](INFO): publishing direction and range info
2025-08-20T02:40:58.647Z,1755657658.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 112.500000 m,
deltaT: 3.780558 s,
deltaX: -2.400002 m,
approachRate: -0.634827 m/s,
rangeRepo size: 4
2025-08-20T02:40:58.649Z,1755657658.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 112.500000 m,
bearing: 8.108254 deg,
lat: 36.779329 deg,
lon: -121.859428 deg,
deltaT: 3.780558 s,
deltaX: -2.400002 m,
approachRate: -0.634827 m/s,
posRepo size: 4
2025-08-20T02:40:58.658Z,1755657658.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-08-20T02:40:58.660Z,1755657658.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.500000 m,
nav range: 109.448425 m,
bearing: 8.108254 deg,
approach rate: -0.000000 m/s,
LOS rate: 0.016421 deg/s,
cmd heading: 12.533718 deg,
new cmd heading: 12.554609 deg.
2025-08-20T02:40:58.997Z,1755657658.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-08-20T02:40:58.999Z,1755657658.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.500000 m,
nav range: 109.197968 m,
bearing: 8.114818 deg,
approach rate: -0.714716 m/s,
LOS rate: 0.018774 deg/s,
cmd heading: 12.554609 deg,
new cmd heading: 12.574346 deg.
2025-08-20T02:40:59.457Z,1755657659.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-08-20T02:40:59.464Z,1755657659.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.500000 m,
nav range: 108.929070 m,
bearing: 8.121953 deg,
approach rate: -0.584430 m/s,
LOS rate: 0.015546 deg/s,
cmd heading: 12.574346 deg,
new cmd heading: 12.595804 deg.
2025-08-20T02:40:59.819Z,1755657659.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:40:59.821Z,1755657659.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-08-20T02:40:59.824Z,1755657659.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.500000 m,
nav range: 108.648979 m,
bearing: 8.130997 deg,
approach rate: -0.768529 m/s,
LOS rate: 0.024880 deg/s,
cmd heading: 12.595804 deg,
new cmd heading: 12.623006 deg.
2025-08-20T02:40:59.830Z,1755657659.830 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:40:59.830Z,1755657659.830 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:40:59.831Z,1755657659.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:00.082Z,1755657660.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754470
2025-08-20T02:41:00.224Z,1755657660.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-08-20T02:41:00.227Z,1755657660.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.500000 m,
nav range: 108.383842 m,
bearing: 8.139681 deg,
approach rate: -0.658486 m/s,
LOS rate: 0.021619 deg/s,
cmd heading: 12.623007 deg,
new cmd heading: 12.649122 deg.
2025-08-20T02:41:00.334Z,1755657660.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006421
2025-08-20T02:41:00.587Z,1755657660.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258574
2025-08-20T02:41:00.626Z,1755657660.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-08-20T02:41:00.628Z,1755657660.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.500000 m,
nav range: 108.122650 m,
bearing: 8.147716 deg,
approach rate: -0.650405 m/s,
LOS rate: 0.020058 deg/s,
cmd heading: 12.649122 deg,
new cmd heading: 12.673287 deg.
2025-08-20T02:41:00.838Z,1755657660.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510539
2025-08-20T02:41:01.023Z,1755657661.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-08-20T02:41:01.026Z,1755657661.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.500000 m,
nav range: 107.874756 m,
bearing: 8.155349 deg,
approach rate: -0.623105 m/s,
LOS rate: 0.019228 deg/s,
cmd heading: 12.673286 deg,
new cmd heading: 12.696236 deg.
2025-08-20T02:41:01.091Z,1755657661.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762634
2025-08-20T02:41:01.342Z,1755657661.342 [DAT](INFO): DAT read: Rx Time:02:40:59.2556
2025-08-20T02:41:01.343Z,1755657661.343 [DAT](INFO): Rx dataTimestamp_ set to:1755657661.342663
2025-08-20T02:41:01.343Z,1755657661.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015580
2025-08-20T02:41:01.474Z,1755657661.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.50 m.
2025-08-20T02:41:01.490Z,1755657661.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.500000 m,
nav range: 107.603432 m,
bearing: 8.163746 deg,
approach rate: -0.609651 m/s,
LOS rate: 0.018916 deg/s,
cmd heading: 12.696236 deg,
new cmd heading: 12.721492 deg.
2025-08-20T02:41:01.594Z,1755657661.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266488
2025-08-20T02:41:01.852Z,1755657661.852 [DAT](INFO): DAT read: 02:40:59.2556 LVL= 25568, 30001, 22658, 32067, AGC= 64, IDX= 411,-0.23, 1.501,-0.043, 1.773, 1.225, PHS= 0.378,-1.223, 0.504, RAW= 153.8, 4.1, CAL= 152.8, 3.8, ROT= 357.2, -3.8
2025-08-20T02:41:01.862Z,1755657661.862 [DAT](INFO): got valid direction response:
02:40:59.2556 LVL= 25568, 30001, 22658, 32067, AGC= 64, IDX= 411,-0.23, 1.501,-0.043, 1.773, 1.225, PHS= 0.378,-1.223, 0.504, RAW= 153.8, 4.1, CAL= 152.8, 3.8, ROT= 357.2, -3.8
2025-08-20T02:41:01.863Z,1755657661.863 [DAT](INFO): DAT read: Bearing 175.1, 5.4 (Local)
2025-08-20T02:41:01.863Z,1755657661.863 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.1, 5.4 (Local)
2025-08-20T02:41:01.865Z,1755657661.865 [DAT](INFO): DAT read: Range 11 to 50 : 110.0 m (Round-trip 146.7 ms) speed 0.7 m/s
2025-08-20T02:41:01.866Z,1755657661.866 [DAT](INFO): DAT read: user:3233>
2025-08-20T02:41:01.866Z,1755657661.866 [DAT](INFO): DAT read: Tx time:02:41:00.3547
2025-08-20T02:41:01.867Z,1755657661.867 [DAT](INFO): Ping request sent.
2025-08-20T02:41:01.867Z,1755657661.867 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:01.867Z,1755657661.867 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:01.868Z,1755657661.868 [DAT](INFO): direction in FSK: [0.996610,-0.048742,0.066274]
2025-08-20T02:41:01.868Z,1755657661.868 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:01.868Z,1755657661.868 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:01.888Z,1755657661.888 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:01.888Z,1755657661.888 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:01.914Z,1755657661.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 110.000000 m,
deltaT: 3.531578 s,
deltaX: -2.500000 m,
approachRate: -0.707899 m/s,
rangeRepo size: 4
2025-08-20T02:41:01.916Z,1755657661.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 110.000000 m,
bearing: 8.645398 deg,
lat: 36.779330 deg,
lon: -121.859417 deg,
deltaT: 3.531578 s,
deltaX: -2.500000 m,
approachRate: -0.707899 m/s,
posRepo size: 4
2025-08-20T02:41:01.917Z,1755657661.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-20T02:41:01.924Z,1755657661.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.000000 m,
nav range: 107.514877 m,
bearing: 8.645398 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018916 deg/s,
cmd heading: 12.721492 deg,
new cmd heading: 12.746494 deg.
2025-08-20T02:41:02.334Z,1755657662.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:02.336Z,1755657662.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-20T02:41:02.339Z,1755657662.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.000000 m,
nav range: 107.215904 m,
bearing: 8.657090 deg,
approach rate: -0.699531 m/s,
LOS rate: 0.027433 deg/s,
cmd heading: 12.746494 deg,
new cmd heading: 12.781667 deg.
2025-08-20T02:41:02.350Z,1755657662.350 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:02.350Z,1755657662.350 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:02.350Z,1755657662.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:02.604Z,1755657662.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.737136
2025-08-20T02:41:02.796Z,1755657662.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-20T02:41:02.803Z,1755657662.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.000000 m,
nav range: 106.922935 m,
bearing: 8.666776 deg,
approach rate: -0.637608 m/s,
LOS rate: 0.021137 deg/s,
cmd heading: 12.781668 deg,
new cmd heading: 12.810804 deg.
2025-08-20T02:41:02.855Z,1755657662.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988271
2025-08-20T02:41:03.106Z,1755657663.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239705
2025-08-20T02:41:03.152Z,1755657663.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-20T02:41:03.156Z,1755657663.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.000000 m,
nav range: 106.680046 m,
bearing: 8.674846 deg,
approach rate: -0.682208 m/s,
LOS rate: 0.022719 deg/s,
cmd heading: 12.810804 deg,
new cmd heading: 12.835070 deg.
2025-08-20T02:41:03.358Z,1755657663.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491641
2025-08-20T02:41:03.588Z,1755657663.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-20T02:41:03.591Z,1755657663.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.000000 m,
nav range: 106.388626 m,
bearing: 8.679923 deg,
approach rate: -0.668382 m/s,
LOS rate: 0.011675 deg/s,
cmd heading: 12.835070 deg,
new cmd heading: 12.850341 deg.
2025-08-20T02:41:03.611Z,1755657663.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743863
2025-08-20T02:41:03.863Z,1755657663.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995822
2025-08-20T02:41:03.931Z,1755657663.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-20T02:41:03.933Z,1755657663.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.000000 m,
nav range: 106.157242 m,
bearing: 8.683961 deg,
approach rate: -0.674975 m/s,
LOS rate: 0.011807 deg/s,
cmd heading: 12.850341 deg,
new cmd heading: 12.862483 deg.
2025-08-20T02:41:04.117Z,1755657664.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250534
2025-08-20T02:41:04.369Z,1755657664.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502018
2025-08-20T02:41:04.375Z,1755657664.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:04.377Z,1755657664.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-20T02:41:04.380Z,1755657664.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.000000 m,
nav range: 105.863052 m,
bearing: 8.689138 deg,
approach rate: -0.659080 m/s,
LOS rate: 0.011630 deg/s,
cmd heading: 12.862483 deg,
new cmd heading: 12.878058 deg.
2025-08-20T02:41:04.619Z,1755657664.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752429
2025-08-20T02:41:04.870Z,1755657664.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003581
2025-08-20T02:41:04.942Z,1755657664.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-20T02:41:04.944Z,1755657664.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.000000 m,
nav range: 105.471466 m,
bearing: 8.697963 deg,
approach rate: -0.693741 m/s,
LOS rate: 0.015692 deg/s,
cmd heading: 12.878058 deg,
new cmd heading: 12.904630 deg.
2025-08-20T02:41:05.122Z,1755657665.122 [DAT](INFO): DAT read: Rx Time:02:41:02.9007
2025-08-20T02:41:05.123Z,1755657665.123 [DAT](INFO): Rx dataTimestamp_ set to:1755657665.122666
2025-08-20T02:41:05.123Z,1755657665.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256805
2025-08-20T02:41:05.314Z,1755657665.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.00 m.
2025-08-20T02:41:05.316Z,1755657665.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.000000 m,
nav range: 105.216316 m,
bearing: 8.703706 deg,
approach rate: -0.685758 m/s,
LOS rate: 0.015472 deg/s,
cmd heading: 12.904630 deg,
new cmd heading: 12.921900 deg.
2025-08-20T02:41:05.378Z,1755657665.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510629
2025-08-20T02:41:05.632Z,1755657665.632 [DAT](INFO): DAT read: 02:41:02.9007 LVL= 29648, 32753, 28370, 32755, AGC= 67, IDX= 410, 0.26,-2.955, 1.756,-2.676, 3.061, PHS= 0.369,-1.260, 0.502, RAW= 153.9, 4.6, CAL= 153.0, 4.4, ROT= 357.0, -4.4
2025-08-20T02:41:05.633Z,1755657665.633 [DAT](INFO): got valid direction response:
02:41:02.9007 LVL= 29648, 32753, 28370, 32755, AGC= 67, IDX= 410, 0.26,-2.955, 1.756,-2.676, 3.061, PHS= 0.369,-1.260, 0.502, RAW= 153.9, 4.6, CAL= 153.0, 4.4, ROT= 357.0, -4.4
2025-08-20T02:41:05.634Z,1755657665.634 [DAT](INFO): DAT read: Bearing 175.7, 3.9 (Local)
2025-08-20T02:41:05.634Z,1755657665.634 [DAT](INFO): Local bearing/azimuth received:
Bearing 175.7, 3.9 (Local)
2025-08-20T02:41:05.636Z,1755657665.636 [DAT](INFO): DAT read: Range 11 to 50 : 107.6 m (Round-trip 143.5 ms) speed 0.8 m/s
2025-08-20T02:41:05.637Z,1755657665.637 [DAT](INFO): DAT read: user:3234>
2025-08-20T02:41:05.637Z,1755657665.637 [DAT](INFO): DAT read: Tx time:02:41:04.0031
2025-08-20T02:41:05.638Z,1755657665.638 [DAT](INFO): Ping request sent.
2025-08-20T02:41:05.638Z,1755657665.638 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:05.638Z,1755657665.638 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:05.639Z,1755657665.639 [DAT](INFO): direction in FSK: [0.995686,-0.052182,0.076719]
2025-08-20T02:41:05.639Z,1755657665.639 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:05.640Z,1755657665.640 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:05.643Z,1755657665.643 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:05.643Z,1755657665.643 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:05.875Z,1755657665.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 107.599998 m,
deltaT: 3.779869 s,
deltaX: -2.400002 m,
approachRate: -0.634943 m/s,
rangeRepo size: 4
2025-08-20T02:41:05.877Z,1755657665.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 107.599998 m,
bearing: 8.951149 deg,
lat: 36.779332 deg,
lon: -121.859412 deg,
deltaT: 3.779869 s,
deltaX: -2.400002 m,
approachRate: -0.634943 m/s,
posRepo size: 4
2025-08-20T02:41:05.882Z,1755657665.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-20T02:41:05.884Z,1755657665.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.599998 m,
nav range: 105.119522 m,
bearing: 8.951149 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.015472 deg/s,
cmd heading: 12.921899 deg,
new cmd heading: 12.947905 deg.
2025-08-20T02:41:06.233Z,1755657666.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-20T02:41:06.240Z,1755657666.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.599998 m,
nav range: 104.874542 m,
bearing: 8.956655 deg,
approach rate: -0.682028 m/s,
LOS rate: 0.015364 deg/s,
cmd heading: 12.947905 deg,
new cmd heading: 12.964461 deg.
2025-08-20T02:41:06.663Z,1755657666.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:06.667Z,1755657666.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-20T02:41:06.672Z,1755657666.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.599998 m,
nav range: 104.587395 m,
bearing: 8.963134 deg,
approach rate: -0.662311 m/s,
LOS rate: 0.014986 deg/s,
cmd heading: 12.964461 deg,
new cmd heading: 12.983953 deg.
2025-08-20T02:41:06.886Z,1755657666.886 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:06.886Z,1755657666.886 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:06.887Z,1755657666.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:07.029Z,1755657667.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-20T02:41:07.032Z,1755657667.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.599998 m,
nav range: 104.318230 m,
bearing: 8.969109 deg,
approach rate: -0.741976 m/s,
LOS rate: 0.016512 deg/s,
cmd heading: 12.983952 deg,
new cmd heading: 13.001922 deg.
2025-08-20T02:41:07.139Z,1755657667.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500963
2025-08-20T02:41:07.390Z,1755657667.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752564
2025-08-20T02:41:07.441Z,1755657667.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-20T02:41:07.444Z,1755657667.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.599998 m,
nav range: 104.036301 m,
bearing: 8.975201 deg,
approach rate: -0.685002 m/s,
LOS rate: 0.014842 deg/s,
cmd heading: 13.001922 deg,
new cmd heading: 13.020248 deg.
2025-08-20T02:41:07.643Z,1755657667.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004965
2025-08-20T02:41:07.858Z,1755657667.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-20T02:41:07.861Z,1755657667.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.599998 m,
nav range: 103.757698 m,
bearing: 8.983578 deg,
approach rate: -0.667288 m/s,
LOS rate: 0.020118 deg/s,
cmd heading: 13.020248 deg,
new cmd heading: 13.045447 deg.
2025-08-20T02:41:07.894Z,1755657667.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256615
2025-08-20T02:41:08.149Z,1755657668.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510427
2025-08-20T02:41:08.243Z,1755657668.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-20T02:41:08.247Z,1755657668.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.599998 m,
nav range: 103.503128 m,
bearing: 8.991165 deg,
approach rate: -0.661375 m/s,
LOS rate: 0.019760 deg/s,
cmd heading: 13.045447 deg,
new cmd heading: 13.068265 deg.
2025-08-20T02:41:08.398Z,1755657668.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760623
2025-08-20T02:41:08.652Z,1755657668.652 [DAT](INFO): DAT read: Rx Time:02:41:06.5490
2025-08-20T02:41:08.653Z,1755657668.653 [DAT](INFO): Rx dataTimestamp_ set to:1755657668.652105
2025-08-20T02:41:08.653Z,1755657668.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015409
2025-08-20T02:41:08.683Z,1755657668.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:08.685Z,1755657668.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-20T02:41:08.688Z,1755657668.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.599998 m,
nav range: 103.197922 m,
bearing: 9.000423 deg,
approach rate: -0.690839 m/s,
LOS rate: 0.021017 deg/s,
cmd heading: 13.068265 deg,
new cmd heading: 13.096120 deg.
2025-08-20T02:41:08.902Z,1755657668.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264603
2025-08-20T02:41:09.101Z,1755657669.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.60 m.
2025-08-20T02:41:09.104Z,1755657669.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.599998 m,
nav range: 102.911987 m,
bearing: 9.009059 deg,
approach rate: -0.687237 m/s,
LOS rate: 0.020815 deg/s,
cmd heading: 13.096120 deg,
new cmd heading: 13.122102 deg.
2025-08-20T02:41:09.166Z,1755657669.166 [DAT](INFO): DAT read: 02:41:06.5490 LVL= 25824, 31409, 25906, 32755, AGC= 64, IDX= 408, 0.19, 2.986, 1.374,-3.014, 2.743, PHS= 0.345,-1.323, 0.483, RAW= 153.9, 5.7, CAL= 153.2, 5.8, ROT= 356.8, -5.8
2025-08-20T02:41:09.172Z,1755657669.172 [DAT](INFO): got valid direction response:
02:41:06.5490 LVL= 25824, 31409, 25906, 32755, AGC= 64, IDX= 408, 0.19, 2.986, 1.374,-3.014, 2.743, PHS= 0.345,-1.323, 0.483, RAW= 153.9, 5.7, CAL= 153.2, 5.8, ROT= 356.8, -5.8
2025-08-20T02:41:09.174Z,1755657669.174 [DAT](INFO): DAT read: Bearing 177.2, 1.8 (Local)
2025-08-20T02:41:09.175Z,1755657669.175 [DAT](INFO): Local bearing/azimuth received:
Bearing 177.2, 1.8 (Local)
2025-08-20T02:41:09.177Z,1755657669.177 [DAT](INFO): DAT read: Range 11 to 50 : 105.1 m (Round-trip 140.2 ms) speed 0.5 m/s
2025-08-20T02:41:09.202Z,1755657669.202 [DAT](INFO): DAT read: user:3235>
2025-08-20T02:41:09.203Z,1755657669.203 [DAT](INFO): DAT read: Tx time:02:41:07.6546
2025-08-20T02:41:09.204Z,1755657669.204 [DAT](INFO): Ping request sent.
2025-08-20T02:41:09.204Z,1755657669.204 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:09.205Z,1755657669.205 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:09.210Z,1755657669.210 [DAT](INFO): direction in FSK: [0.993329,-0.055536,0.101056]
2025-08-20T02:41:09.211Z,1755657669.211 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:09.211Z,1755657669.211 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:09.218Z,1755657669.218 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:09.218Z,1755657669.218 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:09.486Z,1755657669.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 105.099998 m,
deltaT: 3.529304 s,
deltaX: -2.500000 m,
approachRate: -0.708355 m/s,
rangeRepo size: 4
2025-08-20T02:41:09.488Z,1755657669.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 105.099998 m,
bearing: 8.973447 deg,
lat: 36.779336 deg,
lon: -121.859412 deg,
deltaT: 3.529304 s,
deltaX: -2.500000 m,
approachRate: -0.708355 m/s,
posRepo size: 4
2025-08-20T02:41:09.489Z,1755657669.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.10 m.
2025-08-20T02:41:09.492Z,1755657669.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.099998 m,
nav range: 103.151802 m,
bearing: 8.973447 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.020815 deg/s,
cmd heading: 13.122102 deg,
new cmd heading: 13.146091 deg.
2025-08-20T02:41:09.890Z,1755657669.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.10 m.
2025-08-20T02:41:09.892Z,1755657669.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.099998 m,
nav range: 102.865570 m,
bearing: 8.982178 deg,
approach rate: -0.708155 m/s,
LOS rate: 0.021661 deg/s,
cmd heading: 13.146091 deg,
new cmd heading: 13.172356 deg.
2025-08-20T02:41:10.270Z,1755657670.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.10 m.
2025-08-20T02:41:10.272Z,1755657670.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.099998 m,
nav range: 102.608276 m,
bearing: 8.990039 deg,
approach rate: -0.676877 m/s,
LOS rate: 0.020732 deg/s,
cmd heading: 13.172356 deg,
new cmd heading: 13.195998 deg.
2025-08-20T02:41:10.707Z,1755657670.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:10.710Z,1755657670.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.10 m.
2025-08-20T02:41:10.712Z,1755657670.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.099998 m,
nav range: 102.314423 m,
bearing: 8.998482 deg,
approach rate: -0.667880 m/s,
LOS rate: 0.019245 deg/s,
cmd heading: 13.195998 deg,
new cmd heading: 13.221400 deg.
2025-08-20T02:41:10.919Z,1755657670.919 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:10.920Z,1755657670.920 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:10.920Z,1755657670.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:11.070Z,1755657671.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.10 m.
2025-08-20T02:41:11.072Z,1755657671.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.099998 m,
nav range: 102.073631 m,
bearing: 9.005434 deg,
approach rate: -0.668753 m/s,
LOS rate: 0.019354 deg/s,
cmd heading: 13.221400 deg,
new cmd heading: 13.242306 deg.
2025-08-20T02:41:11.176Z,1755657671.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971773
2025-08-20T02:41:11.423Z,1755657671.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218622
2025-08-20T02:41:11.475Z,1755657671.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.10 m.
2025-08-20T02:41:11.478Z,1755657671.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.099998 m,
nav range: 101.801849 m,
bearing: 9.013241 deg,
approach rate: -0.670003 m/s,
LOS rate: 0.019297 deg/s,
cmd heading: 13.242306 deg,
new cmd heading: 13.265788 deg.
2025-08-20T02:41:11.675Z,1755657671.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471091
2025-08-20T02:41:11.908Z,1755657671.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.10 m.
2025-08-20T02:41:11.911Z,1755657671.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.099998 m,
nav range: 101.509262 m,
bearing: 9.021717 deg,
approach rate: -0.676593 m/s,
LOS rate: 0.019657 deg/s,
cmd heading: 13.265788 deg,
new cmd heading: 13.291289 deg.
2025-08-20T02:41:11.926Z,1755657671.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722375
2025-08-20T02:41:12.179Z,1755657672.179 [DAT](INFO): DAT read: Rx Time:02:41:10.1956
2025-08-20T02:41:12.180Z,1755657672.180 [DAT](INFO): Rx dataTimestamp_ set to:1755657672.179377
2025-08-20T02:41:12.181Z,1755657672.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976647
2025-08-20T02:41:12.283Z,1755657672.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.10 m.
2025-08-20T02:41:12.285Z,1755657672.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.099998 m,
nav range: 101.254494 m,
bearing: 9.028878 deg,
approach rate: -0.679535 m/s,
LOS rate: 0.019147 deg/s,
cmd heading: 13.291289 deg,
new cmd heading: 13.312825 deg.
2025-08-20T02:41:12.394Z,1755657672.394 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:41:12.430Z,1755657672.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226519
2025-08-20T02:41:12.686Z,1755657672.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481193
2025-08-20T02:41:12.853Z,1755657672.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:12.859Z,1755657672.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.10 m.
2025-08-20T02:41:12.866Z,1755657672.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.099998 m,
nav range: 100.873787 m,
bearing: 9.041277 deg,
approach rate: -0.660379 m/s,
LOS rate: 0.021589 deg/s,
cmd heading: 13.312825 deg,
new cmd heading: 13.350163 deg.
2025-08-20T02:41:12.943Z,1755657672.943 [DAT](INFO): DAT read: 02:41:10.1956 LVL= 29168, 32753, 24226, 32755, AGC= 66, IDX= 406,-0.34, 1.996, 0.453, 2.323, 1.811, PHS= 0.287,-1.313, 0.468, RAW= 155.3, 6.6, CAL= 154.7, 6.7, ROT= 355.3, -6.7
2025-08-20T02:41:12.945Z,1755657672.945 [DAT](INFO): got valid direction response:
02:41:10.1956 LVL= 29168, 32753, 24226, 32755, AGC= 66, IDX= 406,-0.34, 1.996, 0.453, 2.323, 1.811, PHS= 0.287,-1.313, 0.468, RAW= 155.3, 6.6, CAL= 154.7, 6.7, ROT= 355.3, -6.7
2025-08-20T02:41:12.948Z,1755657672.948 [DAT](INFO): DAT read: Bearing 178.6, -1.6 (Local)
2025-08-20T02:41:12.948Z,1755657672.948 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.6, -1.6 (Local)
2025-08-20T02:41:12.956Z,1755657672.956 [DAT](INFO): DAT read: Range 11 to 50 : 102.6 m (Round-trip 136.8 ms) speed 0.8 m/s
2025-08-20T02:41:12.957Z,1755657672.957 [DAT](INFO): DAT read: user:3236>
2025-08-20T02:41:12.966Z,1755657672.966 [DAT](INFO): DAT read: Tx time:02:41:11.3046
2025-08-20T02:41:12.966Z,1755657672.966 [DAT](INFO): Ping request sent.
2025-08-20T02:41:12.966Z,1755657672.966 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:12.967Z,1755657672.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:12.968Z,1755657672.968 [DAT](INFO): direction in FSK: [0.989831,-0.081379,0.116671]
2025-08-20T02:41:12.968Z,1755657672.968 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:12.968Z,1755657672.968 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:12.971Z,1755657672.971 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:12.972Z,1755657672.972 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:13.214Z,1755657673.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 102.599998 m,
deltaT: 3.779468 s,
deltaX: -2.500000 m,
approachRate: -0.661469 m/s,
rangeRepo size: 4
2025-08-20T02:41:13.216Z,1755657673.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 102.599998 m,
bearing: 8.966365 deg,
lat: 36.779338 deg,
lon: -121.859413 deg,
deltaT: 3.779468 s,
deltaX: -2.500000 m,
approachRate: -0.661469 m/s,
posRepo size: 4
2025-08-20T02:41:13.217Z,1755657673.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m.
2025-08-20T02:41:13.224Z,1755657673.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.599998 m,
nav range: 100.845505 m,
bearing: 8.966365 deg,
approach rate: 41.354340 m/s,
LOS rate: 0.021589 deg/s,
cmd heading: 13.350163 deg,
new cmd heading: 13.372845 deg.
2025-08-20T02:41:13.398Z,1755657673.398 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:41:13.565Z,1755657673.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m.
2025-08-20T02:41:13.568Z,1755657673.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.599998 m,
nav range: 100.590271 m,
bearing: 8.974082 deg,
approach rate: -0.717138 m/s,
LOS rate: 0.021738 deg/s,
cmd heading: 13.372844 deg,
new cmd heading: 13.396054 deg.
2025-08-20T02:41:14.007Z,1755657674.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m.
2025-08-20T02:41:14.010Z,1755657674.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.599998 m,
nav range: 100.284981 m,
bearing: 8.981232 deg,
approach rate: -0.691378 m/s,
LOS rate: 0.016242 deg/s,
cmd heading: 13.396054 deg,
new cmd heading: 13.417570 deg.
2025-08-20T02:41:14.382Z,1755657674.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m.
2025-08-20T02:41:14.385Z,1755657674.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.599998 m,
nav range: 100.039436 m,
bearing: 8.986789 deg,
approach rate: -0.654986 m/s,
LOS rate: 0.014858 deg/s,
cmd heading: 13.417570 deg,
new cmd heading: 13.434281 deg.
2025-08-20T02:41:14.809Z,1755657674.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m.
2025-08-20T02:41:14.816Z,1755657674.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.599998 m,
nav range: 99.765289 m,
bearing: 8.993211 deg,
approach rate: -0.641530 m/s,
LOS rate: 0.015071 deg/s,
cmd heading: 13.434281 deg,
new cmd heading: 13.453602 deg.
2025-08-20T02:41:15.192Z,1755657675.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:15.194Z,1755657675.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m.
2025-08-20T02:41:15.196Z,1755657675.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.599998 m,
nav range: 99.496864 m,
bearing: 8.999297 deg,
approach rate: -0.697721 m/s,
LOS rate: 0.015861 deg/s,
cmd heading: 13.453602 deg,
new cmd heading: 13.471909 deg.
2025-08-20T02:41:15.210Z,1755657675.210 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:15.210Z,1755657675.210 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:15.211Z,1755657675.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:15.454Z,1755657675.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488179
2025-08-20T02:41:15.706Z,1755657675.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740046
2025-08-20T02:41:15.718Z,1755657675.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m.
2025-08-20T02:41:15.721Z,1755657675.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.599998 m,
nav range: 99.169792 m,
bearing: 9.006757 deg,
approach rate: -0.623629 m/s,
LOS rate: 0.014270 deg/s,
cmd heading: 13.471909 deg,
new cmd heading: 13.494362 deg.
2025-08-20T02:41:15.958Z,1755657675.958 [DAT](INFO): DAT read: Rx Time:02:41:13.8424
2025-08-20T02:41:15.959Z,1755657675.959 [DAT](INFO): Rx dataTimestamp_ set to:1755657675.958676
2025-08-20T02:41:15.960Z,1755657675.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993280
2025-08-20T02:41:16.103Z,1755657676.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.60 m.
2025-08-20T02:41:16.106Z,1755657676.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.599998 m,
nav range: 98.893349 m,
bearing: 9.013610 deg,
approach rate: -0.718799 m/s,
LOS rate: 0.017871 deg/s,
cmd heading: 13.494362 deg,
new cmd heading: 13.514981 deg.
2025-08-20T02:41:16.215Z,1755657676.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249072
2025-08-20T02:41:16.472Z,1755657676.472 [DAT](INFO): DAT read: 02:41:13.8424 LVL= 24880, 26449, 23026, 32755, AGC= 66, IDX= 405, 0.00, 2.509, 0.952, 2.901, 2.374, PHS= 0.237,-1.377, 0.483, RAW= 157.0, 7.6, CAL= 156.5, 7.8, ROT= 353.5, -7.8
2025-08-20T02:41:16.473Z,1755657676.473 [DAT](INFO): got valid direction response:
02:41:13.8424 LVL= 24880, 26449, 23026, 32755, AGC= 66, IDX= 405, 0.00, 2.509, 0.952, 2.901, 2.374, PHS= 0.237,-1.377, 0.483, RAW= 157.0, 7.6, CAL= 156.5, 7.8, ROT= 353.5, -7.8
2025-08-20T02:41:16.474Z,1755657676.474 [DAT](INFO): DAT read: Bearing 180.6, -4.8 (Local)
2025-08-20T02:41:16.474Z,1755657676.474 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.6, -4.8 (Local)
2025-08-20T02:41:16.476Z,1755657676.476 [DAT](INFO): DAT read: Range 11 to 50 : 100.2 m (Round-trip 133.6 ms) speed 0.5 m/s
2025-08-20T02:41:16.476Z,1755657676.476 [DAT](INFO): DAT read: user:3237>
2025-08-20T02:41:16.477Z,1755657676.477 [DAT](INFO): DAT read: Tx time:02:41:14.9562
2025-08-20T02:41:16.478Z,1755657676.478 [DAT](INFO): Ping request sent.
2025-08-20T02:41:16.478Z,1755657676.478 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:16.478Z,1755657676.478 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:16.479Z,1755657676.479 [DAT](INFO): direction in FSK: [0.984379,-0.112156,0.135716]
2025-08-20T02:41:16.479Z,1755657676.479 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:16.479Z,1755657676.479 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:16.483Z,1755657676.483 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:16.483Z,1755657676.483 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:16.559Z,1755657676.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 100.199997 m,
deltaT: 3.531128 s,
deltaX: -2.400002 m,
approachRate: -0.679670 m/s,
rangeRepo size: 4
2025-08-20T02:41:16.574Z,1755657676.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 100.199997 m,
bearing: 9.003156 deg,
lat: 36.779340 deg,
lon: -121.859413 deg,
deltaT: 3.531128 s,
deltaX: -2.400002 m,
approachRate: -0.679670 m/s,
posRepo size: 4
2025-08-20T02:41:16.586Z,1755657676.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:16.589Z,1755657676.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 98.807686 m,
bearing: 9.003156 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017871 deg/s,
cmd heading: 13.514981 deg,
new cmd heading: 13.539431 deg.
2025-08-20T02:41:16.971Z,1755657676.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:16.974Z,1755657676.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 98.504044 m,
bearing: 9.012544 deg,
approach rate: -0.735901 m/s,
LOS rate: 0.022823 deg/s,
cmd heading: 13.539431 deg,
new cmd heading: 13.567683 deg.
2025-08-20T02:41:17.336Z,1755657677.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:17.340Z,1755657677.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:17.347Z,1755657677.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 98.274567 m,
bearing: 9.019859 deg,
approach rate: -0.621877 m/s,
LOS rate: 0.019870 deg/s,
cmd heading: 13.567682 deg,
new cmd heading: 13.589678 deg.
2025-08-20T02:41:17.477Z,1755657677.477 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:17.477Z,1755657677.477 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:17.477Z,1755657677.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:17.731Z,1755657677.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252856
2025-08-20T02:41:17.780Z,1755657677.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:17.783Z,1755657677.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 97.955711 m,
bearing: 9.029132 deg,
approach rate: -0.724887 m/s,
LOS rate: 0.021151 deg/s,
cmd heading: 13.589678 deg,
new cmd heading: 13.617589 deg.
2025-08-20T02:41:17.983Z,1755657677.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505744
2025-08-20T02:41:18.169Z,1755657678.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:18.173Z,1755657678.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 97.704773 m,
bearing: 9.036572 deg,
approach rate: -0.646743 m/s,
LOS rate: 0.019222 deg/s,
cmd heading: 13.617589 deg,
new cmd heading: 13.639964 deg.
2025-08-20T02:41:18.237Z,1755657678.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759469
2025-08-20T02:41:18.487Z,1755657678.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008867
2025-08-20T02:41:18.558Z,1755657678.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:18.561Z,1755657678.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 97.427979 m,
bearing: 9.044798 deg,
approach rate: -0.711526 m/s,
LOS rate: 0.021208 deg/s,
cmd heading: 13.639964 deg,
new cmd heading: 13.664714 deg.
2025-08-20T02:41:18.744Z,1755657678.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265704
2025-08-20T02:41:18.991Z,1755657678.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512861
2025-08-20T02:41:19.014Z,1755657679.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:19.017Z,1755657679.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 97.116928 m,
bearing: 9.053387 deg,
approach rate: -0.680682 m/s,
LOS rate: 0.018855 deg/s,
cmd heading: 13.664714 deg,
new cmd heading: 13.690563 deg.
2025-08-20T02:41:19.242Z,1755657679.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764796
2025-08-20T02:41:19.399Z,1755657679.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:19.402Z,1755657679.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:19.404Z,1755657679.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 96.839363 m,
bearing: 9.061005 deg,
approach rate: -0.716800 m/s,
LOS rate: 0.019729 deg/s,
cmd heading: 13.690563 deg,
new cmd heading: 13.713482 deg.
2025-08-20T02:41:19.495Z,1755657679.495 [DAT](INFO): DAT read: Rx Time:02:41:17.4907
2025-08-20T02:41:19.495Z,1755657679.495 [DAT](INFO): Rx dataTimestamp_ set to:1755657679.494964
2025-08-20T02:41:19.496Z,1755657679.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018145
2025-08-20T02:41:19.750Z,1755657679.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271594
2025-08-20T02:41:19.837Z,1755657679.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:19.840Z,1755657679.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 96.548683 m,
bearing: 9.068634 deg,
approach rate: -0.667860 m/s,
LOS rate: 0.017582 deg/s,
cmd heading: 13.713482 deg,
new cmd heading: 13.736439 deg.
2025-08-20T02:41:20.001Z,1755657680.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522883
2025-08-20T02:41:20.192Z,1755657680.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.20 m.
2025-08-20T02:41:20.195Z,1755657680.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.199997 m,
nav range: 96.309387 m,
bearing: 9.074804 deg,
approach rate: -0.673449 m/s,
LOS rate: 0.017405 deg/s,
cmd heading: 13.736439 deg,
new cmd heading: 13.754993 deg.
2025-08-20T02:41:20.259Z,1755657680.259 [DAT](INFO): DAT read: 02:41:17.4907 LVL= 24976, 32753, 22706, 32755, AGC= 66, IDX= 403, 0.44,-0.041,-1.604, 0.369,-0.167, PHS= 0.228,-1.392, 0.492, RAW= 157.4, 7.7, CAL= 157.0, 7.9, ROT= 353.0, -7.9
2025-08-20T02:41:20.261Z,1755657680.261 [DAT](INFO): got valid direction response:
02:41:17.4907 LVL= 24976, 32753, 22706, 32755, AGC= 66, IDX= 403, 0.44,-0.041,-1.604, 0.369,-0.167, PHS= 0.228,-1.392, 0.492, RAW= 157.4, 7.7, CAL= 157.0, 7.9, ROT= 353.0, -7.9
2025-08-20T02:41:20.262Z,1755657680.262 [DAT](INFO): DAT read: Bearing 180.8, -7.0 (Local)
2025-08-20T02:41:20.263Z,1755657680.263 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.8, -7.0 (Local)
2025-08-20T02:41:20.265Z,1755657680.265 [DAT](INFO): DAT read: Range 11 to 50 : 97.7 m (Round-trip 130.3 ms) speed 0.6 m/s
2025-08-20T02:41:20.266Z,1755657680.266 [DAT](INFO): DAT read: user:3238>
2025-08-20T02:41:20.267Z,1755657680.267 [DAT](INFO): DAT read: Tx time:02:41:18.6046
2025-08-20T02:41:20.267Z,1755657680.267 [DAT](INFO): Ping request sent.
2025-08-20T02:41:20.268Z,1755657680.268 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:20.268Z,1755657680.268 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:20.278Z,1755657680.278 [DAT](INFO): direction in FSK: [0.983126,-0.120713,0.137445]
2025-08-20T02:41:20.278Z,1755657680.278 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:20.278Z,1755657680.278 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:20.281Z,1755657680.281 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:20.290Z,1755657680.290 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:20.600Z,1755657680.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 97.699997 m,
deltaT: 3.784934 s,
deltaX: -2.500000 m,
approachRate: -0.660514 m/s,
rangeRepo size: 4
2025-08-20T02:41:20.602Z,1755657680.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 97.699997 m,
bearing: 7.739605 deg,
lat: 36.779347 deg,
lon: -121.859438 deg,
deltaT: 3.784934 s,
deltaX: -2.500000 m,
approachRate: -0.660514 m/s,
posRepo size: 4
2025-08-20T02:41:20.603Z,1755657680.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.70 m.
2025-08-20T02:41:20.606Z,1755657680.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.699997 m,
nav range: 96.438568 m,
bearing: 7.739605 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.017405 deg/s,
cmd heading: 13.754994 deg,
new cmd heading: 13.776267 deg.
2025-08-20T02:41:21.015Z,1755657681.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.70 m.
2025-08-20T02:41:21.023Z,1755657681.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.699997 m,
nav range: 96.168755 m,
bearing: 7.740838 deg,
approach rate: -0.648626 m/s,
LOS rate: 0.002972 deg/s,
cmd heading: 13.776267 deg,
new cmd heading: 13.779976 deg.
2025-08-20T02:41:21.409Z,1755657681.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:21.416Z,1755657681.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.70 m.
2025-08-20T02:41:21.431Z,1755657681.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.699997 m,
nav range: 95.907379 m,
bearing: 7.741895 deg,
approach rate: -0.653040 m/s,
LOS rate: 0.002649 deg/s,
cmd heading: 13.779976 deg,
new cmd heading: 13.783157 deg.
2025-08-20T02:41:21.511Z,1755657681.511 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:21.511Z,1755657681.511 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:21.511Z,1755657681.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:21.765Z,1755657681.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496919
2025-08-20T02:41:21.851Z,1755657681.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.70 m.
2025-08-20T02:41:21.853Z,1755657681.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.699997 m,
nav range: 95.593681 m,
bearing: 7.741089 deg,
approach rate: -0.721272 m/s,
LOS rate: -0.001859 deg/s,
cmd heading: 13.783157 deg,
new cmd heading: 13.780731 deg.
2025-08-20T02:41:22.014Z,1755657682.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747009
2025-08-20T02:41:22.199Z,1755657682.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.70 m.
2025-08-20T02:41:22.234Z,1755657682.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.699997 m,
nav range: 95.351936 m,
bearing: 7.740313 deg,
approach rate: -0.693096 m/s,
LOS rate: -0.002231 deg/s,
cmd heading: 13.780731 deg,
new cmd heading: 13.778397 deg.
2025-08-20T02:41:22.267Z,1755657682.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999282
2025-08-20T02:41:22.518Z,1755657682.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250975
2025-08-20T02:41:22.600Z,1755657682.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.70 m.
2025-08-20T02:41:22.603Z,1755657682.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.699997 m,
nav range: 95.076622 m,
bearing: 7.739345 deg,
approach rate: -0.686854 m/s,
LOS rate: -0.002423 deg/s,
cmd heading: 13.778396 deg,
new cmd heading: 13.775483 deg.
2025-08-20T02:41:22.773Z,1755657682.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504994
2025-08-20T02:41:23.023Z,1755657683.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755145
2025-08-20T02:41:23.032Z,1755657683.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.70 m.
2025-08-20T02:41:23.059Z,1755657683.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.699997 m,
nav range: 94.787453 m,
bearing: 7.737775 deg,
approach rate: -0.669381 m/s,
LOS rate: -0.003645 deg/s,
cmd heading: 13.775483 deg,
new cmd heading: 13.770759 deg.
2025-08-20T02:41:23.275Z,1755657683.275 [DAT](INFO): DAT read: Rx Time:02:41:21.1358
2025-08-20T02:41:23.275Z,1755657683.275 [DAT](INFO): Rx dataTimestamp_ set to:1755657683.275201
2025-08-20T02:41:23.276Z,1755657683.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008633
2025-08-20T02:41:23.407Z,1755657683.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.70 m.
2025-08-20T02:41:23.430Z,1755657683.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 97.699997 m,
nav range: 94.536362 m,
bearing: 7.736449 deg,
approach rate: -0.669912 m/s,
LOS rate: -0.003547 deg/s,
cmd heading: 13.770759 deg,
new cmd heading: 13.766771 deg.
2025-08-20T02:41:23.527Z,1755657683.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259224
2025-08-20T02:41:23.801Z,1755657683.801 [DAT](INFO): DAT read: 02:41:21.1358 LVL= 27376, 32753, 21490, 32755, AGC= 66, IDX= 402,-0.06, 2.587, 1.081, 3.060, 2.525, PHS= 0.164,-1.399, 0.491, RAW= 159.3, 8.5, CAL= 159.0, 8.9, ROT= 351.0, -8.9
2025-08-20T02:41:23.807Z,1755657683.807 [DAT](INFO): got valid direction response:
02:41:21.1358 LVL= 27376, 32753, 21490, 32755, AGC= 66, IDX= 402,-0.06, 2.587, 1.081, 3.060, 2.525, PHS= 0.164,-1.399, 0.491, RAW= 159.3, 8.5, CAL= 159.0, 8.9, ROT= 351.0, -8.9
2025-08-20T02:41:23.821Z,1755657683.821 [DAT](INFO): DAT read: Bearing 182.6, -10.2 (Local)
2025-08-20T02:41:23.821Z,1755657683.821 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.6, -10.2 (Local)
2025-08-20T02:41:23.851Z,1755657683.851 [DAT](INFO): DAT read: Range 11 to 50 : 95.3 m (Round-trip 127.1 ms) speed 0.7 m/s
2025-08-20T02:41:23.852Z,1755657683.852 [DAT](INFO): DAT read: user:3239>
2025-08-20T02:41:23.852Z,1755657683.852 [DAT](INFO): DAT read: Tx time:02:41:22.2545
2025-08-20T02:41:23.853Z,1755657683.853 [DAT](INFO): Ping request sent.
2025-08-20T02:41:23.853Z,1755657683.853 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:23.853Z,1755657683.853 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:23.867Z,1755657683.867 [DAT](INFO): direction in FSK: [0.975796,-0.154551,0.154710]
2025-08-20T02:41:23.867Z,1755657683.867 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:23.867Z,1755657683.867 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:23.875Z,1755657683.875 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:23.875Z,1755657683.875 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:23.983Z,1755657683.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 95.300003 m,
deltaT: 3.528704 s,
deltaX: -2.399994 m,
approachRate: -0.680135 m/s,
rangeRepo size: 4
2025-08-20T02:41:23.991Z,1755657683.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 95.300003 m,
bearing: 6.420494 deg,
lat: 36.779349 deg,
lon: -121.859462 deg,
deltaT: 3.528704 s,
deltaX: -2.399994 m,
approachRate: -0.680135 m/s,
posRepo size: 4
2025-08-20T02:41:23.992Z,1755657683.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m.
2025-08-20T02:41:23.998Z,1755657683.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.300003 m,
nav range: 94.162582 m,
bearing: 6.420494 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003547 deg/s,
cmd heading: 13.766771 deg,
new cmd heading: 13.760656 deg.
2025-08-20T02:41:24.331Z,1755657684.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:24.333Z,1755657684.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m.
2025-08-20T02:41:24.336Z,1755657684.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.300003 m,
nav range: 93.921165 m,
bearing: 6.415603 deg,
approach rate: -0.687455 m/s,
LOS rate: -0.013963 deg/s,
cmd heading: 13.760657 deg,
new cmd heading: 13.745947 deg.
2025-08-20T02:41:24.534Z,1755657684.534 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:24.535Z,1755657684.535 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:24.535Z,1755657684.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:24.718Z,1755657684.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m.
2025-08-20T02:41:24.720Z,1755657684.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.300003 m,
nav range: 93.652122 m,
bearing: 6.410190 deg,
approach rate: -0.699562 m/s,
LOS rate: -0.014117 deg/s,
cmd heading: 13.745947 deg,
new cmd heading: 13.729659 deg.
2025-08-20T02:41:24.796Z,1755657684.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.942706
2025-08-20T02:41:25.046Z,1755657685.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.193679
2025-08-20T02:41:25.182Z,1755657685.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m.
2025-08-20T02:41:25.194Z,1755657685.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.300003 m,
nav range: 93.357635 m,
bearing: 6.405271 deg,
approach rate: -0.637357 m/s,
LOS rate: -0.010679 deg/s,
cmd heading: 13.729659 deg,
new cmd heading: 13.714856 deg.
2025-08-20T02:41:25.299Z,1755657685.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.446090
2025-08-20T02:41:25.543Z,1755657685.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m.
2025-08-20T02:41:25.551Z,1755657685.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.697892
2025-08-20T02:41:25.554Z,1755657685.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.300003 m,
nav range: 93.109062 m,
bearing: 6.401126 deg,
approach rate: -0.684157 m/s,
LOS rate: -0.011437 deg/s,
cmd heading: 13.714856 deg,
new cmd heading: 13.702390 deg.
2025-08-20T02:41:25.805Z,1755657685.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952126
2025-08-20T02:41:25.982Z,1755657685.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m.
2025-08-20T02:41:25.990Z,1755657685.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.300003 m,
nav range: 92.803635 m,
bearing: 6.394890 deg,
approach rate: -0.694774 m/s,
LOS rate: -0.014232 deg/s,
cmd heading: 13.702390 deg,
new cmd heading: 13.683620 deg.
2025-08-20T02:41:26.055Z,1755657686.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202491
2025-08-20T02:41:26.306Z,1755657686.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453710
2025-08-20T02:41:26.348Z,1755657686.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:26.350Z,1755657686.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m.
2025-08-20T02:41:26.352Z,1755657686.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.300003 m,
nav range: 92.537582 m,
bearing: 6.389462 deg,
approach rate: -0.724514 m/s,
LOS rate: -0.014826 deg/s,
cmd heading: 13.683620 deg,
new cmd heading: 13.667287 deg.
2025-08-20T02:41:26.561Z,1755657686.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708482
2025-08-20T02:41:26.742Z,1755657686.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m.
2025-08-20T02:41:26.745Z,1755657686.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.300003 m,
nav range: 92.264969 m,
bearing: 6.383799 deg,
approach rate: -0.694063 m/s,
LOS rate: -0.014459 deg/s,
cmd heading: 13.667287 deg,
new cmd heading: 13.650250 deg.
2025-08-20T02:41:26.815Z,1755657686.815 [DAT](INFO): DAT read: Rx Time:02:41:24.7825
2025-08-20T02:41:26.816Z,1755657686.816 [DAT](INFO): Rx dataTimestamp_ set to:1755657686.815160
2025-08-20T02:41:26.819Z,1755657686.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964433
2025-08-20T02:41:27.062Z,1755657687.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209706
2025-08-20T02:41:27.179Z,1755657687.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.30 m.
2025-08-20T02:41:27.199Z,1755657687.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 95.300003 m,
nav range: 91.969406 m,
bearing: 6.378438 deg,
approach rate: -0.676594 m/s,
LOS rate: -0.012312 deg/s,
cmd heading: 13.650250 deg,
new cmd heading: 13.634116 deg.
2025-08-20T02:41:27.324Z,1755657687.324 [DAT](INFO): DAT read: 02:41:24.7825 LVL= 32752, 32753, 29682, 32755, AGC= 67, IDX= 400, 0.17, 2.549, 1.062, 3.038, 2.491, PHS= 0.160,-1.383, 0.503, RAW= 159.8, 8.3, CAL= 159.5, 8.6, ROT= 350.5, -8.6
2025-08-20T02:41:27.325Z,1755657687.325 [DAT](INFO): got valid direction response:
02:41:24.7825 LVL= 32752, 32753, 29682, 32755, AGC= 67, IDX= 400, 0.17, 2.549, 1.062, 3.038, 2.491, PHS= 0.160,-1.383, 0.503, RAW= 159.8, 8.3, CAL= 159.5, 8.6, ROT= 350.5, -8.6
2025-08-20T02:41:27.326Z,1755657687.326 [DAT](INFO): DAT read: Bearing 182.1, -11.9 (Local)
2025-08-20T02:41:27.326Z,1755657687.326 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.1, -11.9 (Local)
2025-08-20T02:41:27.327Z,1755657687.327 [DAT](INFO): DAT read: Range 11 to 50 : 92.8 m (Round-trip 123.8 ms) speed 0.5 m/s
2025-08-20T02:41:27.328Z,1755657687.328 [DAT](INFO): DAT read: user:3240>
2025-08-20T02:41:27.329Z,1755657687.329 [DAT](INFO): DAT read: Tx time:02:41:25.9045
2025-08-20T02:41:27.329Z,1755657687.329 [DAT](INFO): Ping request sent.
2025-08-20T02:41:27.331Z,1755657687.331 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:27.331Z,1755657687.331 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:27.332Z,1755657687.332 [DAT](INFO): direction in FSK: [0.975196,-0.163192,0.149535]
2025-08-20T02:41:27.333Z,1755657687.333 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:27.333Z,1755657687.333 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:27.336Z,1755657687.336 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:27.336Z,1755657687.336 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:27.586Z,1755657687.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 92.800003 m,
deltaT: 3.534829 s,
deltaX: -2.500000 m,
approachRate: -0.707248 m/s,
rangeRepo size: 4
2025-08-20T02:41:27.596Z,1755657687.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.800003 m,
bearing: 6.008282 deg,
lat: 36.779355 deg,
lon: -121.859468 deg,
deltaT: 3.534829 s,
deltaX: -2.500000 m,
approachRate: -0.707248 m/s,
posRepo size: 4
2025-08-20T02:41:27.602Z,1755657687.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-08-20T02:41:27.611Z,1755657687.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.800003 m,
nav range: 92.278862 m,
bearing: 6.008282 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.012312 deg/s,
cmd heading: 13.634115 deg,
new cmd heading: 13.619266 deg.
2025-08-20T02:41:28.001Z,1755657688.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-08-20T02:41:28.004Z,1755657688.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.800003 m,
nav range: 91.979942 m,
bearing: 6.003152 deg,
approach rate: -0.711915 m/s,
LOS rate: -0.012257 deg/s,
cmd heading: 13.619266 deg,
new cmd heading: 13.603826 deg.
2025-08-20T02:41:28.376Z,1755657688.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:28.378Z,1755657688.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-08-20T02:41:28.381Z,1755657688.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.800003 m,
nav range: 91.718025 m,
bearing: 5.998526 deg,
approach rate: -0.694869 m/s,
LOS rate: -0.012309 deg/s,
cmd heading: 13.603826 deg,
new cmd heading: 13.589907 deg.
2025-08-20T02:41:28.577Z,1755657688.577 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:28.577Z,1755657688.577 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:28.577Z,1755657688.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:28.828Z,1755657688.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498574
2025-08-20T02:41:28.888Z,1755657688.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-08-20T02:41:28.908Z,1755657688.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.800003 m,
nav range: 91.398262 m,
bearing: 5.992566 deg,
approach rate: -0.628244 m/s,
LOS rate: -0.011750 deg/s,
cmd heading: 13.589907 deg,
new cmd heading: 13.571966 deg.
2025-08-20T02:41:29.078Z,1755657689.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749139
2025-08-20T02:41:29.287Z,1755657689.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-08-20T02:41:29.290Z,1755657689.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.800003 m,
nav range: 91.097710 m,
bearing: 5.988348 deg,
approach rate: -0.751259 m/s,
LOS rate: -0.010579 deg/s,
cmd heading: 13.571966 deg,
new cmd heading: 13.559269 deg.
2025-08-20T02:41:29.331Z,1755657689.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001837
2025-08-20T02:41:29.583Z,1755657689.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253388
2025-08-20T02:41:29.667Z,1755657689.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-08-20T02:41:29.670Z,1755657689.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.800003 m,
nav range: 90.842262 m,
bearing: 5.984485 deg,
approach rate: -0.673039 m/s,
LOS rate: -0.010206 deg/s,
cmd heading: 13.559269 deg,
new cmd heading: 13.547648 deg.
2025-08-20T02:41:29.835Z,1755657689.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505270
2025-08-20T02:41:30.085Z,1755657690.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-08-20T02:41:30.088Z,1755657690.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758540
2025-08-20T02:41:30.095Z,1755657690.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.800003 m,
nav range: 90.566544 m,
bearing: 5.980194 deg,
approach rate: -0.659927 m/s,
LOS rate: -0.010302 deg/s,
cmd heading: 13.547649 deg,
new cmd heading: 13.534736 deg.
2025-08-20T02:41:30.338Z,1755657690.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009148
2025-08-20T02:41:30.458Z,1755657690.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:30.460Z,1755657690.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-08-20T02:41:30.463Z,1755657690.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.800003 m,
nav range: 90.319038 m,
bearing: 5.976320 deg,
approach rate: -0.659463 m/s,
LOS rate: -0.010351 deg/s,
cmd heading: 13.534736 deg,
new cmd heading: 13.523082 deg.
2025-08-20T02:41:30.592Z,1755657690.592 [DAT](INFO): DAT read: Rx Time:02:41:28.4293
2025-08-20T02:41:30.593Z,1755657690.593 [DAT](INFO): Rx dataTimestamp_ set to:1755657690.592434
2025-08-20T02:41:30.595Z,1755657690.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265295
2025-08-20T02:41:30.832Z,1755657690.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.80 m.
2025-08-20T02:41:30.835Z,1755657690.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.800003 m,
nav range: 90.073059 m,
bearing: 5.972400 deg,
approach rate: -0.660326 m/s,
LOS rate: -0.010551 deg/s,
cmd heading: 13.523081 deg,
new cmd heading: 13.511290 deg.
2025-08-20T02:41:30.843Z,1755657690.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513224
2025-08-20T02:41:31.104Z,1755657691.104 [DAT](INFO): DAT read: 02:41:28.4293 LVL= 31888, 32753, 28530, 32755, AGC= 66, IDX= 416,-0.29,-2.369, 2.515,-1.818,-2.401, PHS= 0.134,-1.323, 0.538, RAW= 161.9, 7.7, CAL= 161.5, 7.8, ROT= 348.5, -7.8
2025-08-20T02:41:31.108Z,1755657691.108 [DAT](INFO): got valid direction response:
02:41:28.4293 LVL= 31888, 32753, 28530, 32755, AGC= 66, IDX= 416,-0.29,-2.369, 2.515,-1.818,-2.401, PHS= 0.134,-1.323, 0.538, RAW= 161.9, 7.7, CAL= 161.5, 7.8, ROT= 348.5, -7.8
2025-08-20T02:41:31.109Z,1755657691.109 [DAT](INFO): DAT read: Bearing 181.9, -14.4 (Local)
2025-08-20T02:41:31.110Z,1755657691.110 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.9, -14.4 (Local)
2025-08-20T02:41:31.112Z,1755657691.112 [DAT](INFO): DAT read: Range 11 to 50 : 90.5 m (Round-trip 120.7 ms) speed 0.7 m/s
2025-08-20T02:41:31.114Z,1755657691.114 [DAT](INFO): DAT read: user:3241>
2025-08-20T02:41:31.115Z,1755657691.115 [DAT](INFO): DAT read: Tx time:02:41:29.5545
2025-08-20T02:41:31.115Z,1755657691.115 [DAT](INFO): Ping request sent.
2025-08-20T02:41:31.116Z,1755657691.116 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:31.116Z,1755657691.116 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:31.117Z,1755657691.117 [DAT](INFO): direction in FSK: [0.970858,-0.197523,0.135716]
2025-08-20T02:41:31.134Z,1755657691.134 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:31.134Z,1755657691.134 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:31.137Z,1755657691.137 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:31.137Z,1755657691.137 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:31.320Z,1755657691.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 90.500000 m,
deltaT: 3.780593 s,
deltaX: -2.300003 m,
approachRate: -0.608371 m/s,
rangeRepo size: 4
2025-08-20T02:41:31.326Z,1755657691.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 90.500000 m,
bearing: 4.181263 deg,
lat: 36.779357 deg,
lon: -121.859499 deg,
deltaT: 3.780593 s,
deltaX: -2.300003 m,
approachRate: -0.608371 m/s,
posRepo size: 4
2025-08-20T02:41:31.327Z,1755657691.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m.
2025-08-20T02:41:31.329Z,1755657691.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.500000 m,
nav range: 89.747543 m,
bearing: 4.181263 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010551 deg/s,
cmd heading: 13.511290 deg,
new cmd heading: 13.495891 deg.
2025-08-20T02:41:31.662Z,1755657691.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m.
2025-08-20T02:41:31.665Z,1755657691.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.500000 m,
nav range: 89.513229 m,
bearing: 4.172147 deg,
approach rate: -0.682071 m/s,
LOS rate: -0.026606 deg/s,
cmd heading: 13.495891 deg,
new cmd heading: 13.468471 deg.
2025-08-20T02:41:32.096Z,1755657692.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m.
2025-08-20T02:41:32.101Z,1755657692.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.500000 m,
nav range: 89.232178 m,
bearing: 4.162901 deg,
approach rate: -0.648542 m/s,
LOS rate: -0.021404 deg/s,
cmd heading: 13.468471 deg,
new cmd heading: 13.440644 deg.
2025-08-20T02:41:32.466Z,1755657692.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:32.468Z,1755657692.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m.
2025-08-20T02:41:32.471Z,1755657692.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.500000 m,
nav range: 88.980728 m,
bearing: 4.154580 deg,
approach rate: -0.676023 m/s,
LOS rate: -0.022434 deg/s,
cmd heading: 13.440644 deg,
new cmd heading: 13.415611 deg.
2025-08-20T02:41:32.607Z,1755657692.607 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:32.607Z,1755657692.607 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:32.608Z,1755657692.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:32.858Z,1755657692.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742863
2025-08-20T02:41:33.048Z,1755657693.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m.
2025-08-20T02:41:33.051Z,1755657693.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.500000 m,
nav range: 88.612648 m,
bearing: 4.141035 deg,
approach rate: -0.636970 m/s,
LOS rate: -0.023536 deg/s,
cmd heading: 13.415611 deg,
new cmd heading: 13.374809 deg.
2025-08-20T02:41:33.111Z,1755657693.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995192
2025-08-20T02:41:33.335Z,1755657693.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m.
2025-08-20T02:41:33.338Z,1755657693.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.500000 m,
nav range: 88.412506 m,
bearing: 4.133709 deg,
approach rate: -0.690919 m/s,
LOS rate: -0.025349 deg/s,
cmd heading: 13.374809 deg,
new cmd heading: 13.352780 deg.
2025-08-20T02:41:33.363Z,1755657693.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246992
2025-08-20T02:41:33.615Z,1755657693.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498867
2025-08-20T02:41:33.730Z,1755657693.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m.
2025-08-20T02:41:33.732Z,1755657693.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.500000 m,
nav range: 88.154305 m,
bearing: 4.124512 deg,
approach rate: -0.654502 m/s,
LOS rate: -0.023381 deg/s,
cmd heading: 13.352780 deg,
new cmd heading: 13.325108 deg.
2025-08-20T02:41:33.866Z,1755657693.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750794
2025-08-20T02:41:34.118Z,1755657694.118 [DAT](INFO): DAT read: Rx Time:02:41:32.0760
2025-08-20T02:41:34.119Z,1755657694.119 [DAT](INFO): Rx dataTimestamp_ set to:1755657694.118652
2025-08-20T02:41:34.119Z,1755657694.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003883
2025-08-20T02:41:34.208Z,1755657694.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.50 m.
2025-08-20T02:41:34.211Z,1755657694.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 90.500000 m,
nav range: 87.833664 m,
bearing: 4.113353 deg,
approach rate: -0.670530 m/s,
LOS rate: -0.023420 deg/s,
cmd heading: 13.325108 deg,
new cmd heading: 13.291510 deg.
2025-08-20T02:41:34.370Z,1755657694.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254808
2025-08-20T02:41:34.630Z,1755657694.630 [DAT](INFO): DAT read: 02:41:32.0760 LVL= 29536, 32753, 21170, 32755, AGC= 67, IDX= 414,-0.01,-2.462, 2.387,-1.902,-2.482, PHS= 0.122,-1.369, 0.536, RAW= 161.9, 8.2, CAL= 161.6, 8.5, ROT= 348.4, -8.5
2025-08-20T02:41:34.632Z,1755657694.632 [DAT](INFO): got valid direction response:
02:41:32.0760 LVL= 29536, 32753, 21170, 32755, AGC= 67, IDX= 414,-0.01,-2.462, 2.387,-1.902,-2.482, PHS= 0.122,-1.369, 0.536, RAW= 161.9, 8.2, CAL= 161.6, 8.5, ROT= 348.4, -8.5
2025-08-20T02:41:34.632Z,1755657694.632 [DAT](INFO): DAT read: Bearing 182.2, -15.3 (Local)
2025-08-20T02:41:34.633Z,1755657694.633 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.2, -15.3 (Local)
2025-08-20T02:41:34.634Z,1755657694.634 [DAT](INFO): DAT read: Range 11 to 50 : 87.9 m (Round-trip 117.3 ms) speed 0.5 m/s
2025-08-20T02:41:34.635Z,1755657694.635 [DAT](INFO): DAT read: user:3242>
2025-08-20T02:41:34.636Z,1755657694.636 [DAT](INFO): DAT read: Tx time:02:41:33.2045
2025-08-20T02:41:34.636Z,1755657694.636 [DAT](INFO): Ping request sent.
2025-08-20T02:41:34.636Z,1755657694.636 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:34.636Z,1755657694.636 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:34.637Z,1755657694.637 [DAT](INFO): direction in FSK: [0.968815,-0.198869,0.147809]
2025-08-20T02:41:34.638Z,1755657694.638 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:34.638Z,1755657694.638 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:34.641Z,1755657694.641 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:34.641Z,1755657694.641 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:34.736Z,1755657694.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 87.900002 m,
deltaT: 3.528485 s,
deltaX: -2.599998 m,
approachRate: -0.736860 m/s,
rangeRepo size: 4
2025-08-20T02:41:34.742Z,1755657694.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 87.900002 m,
bearing: 3.792837 deg,
lat: 36.779359 deg,
lon: -121.859504 deg,
deltaT: 3.528485 s,
deltaX: -2.599998 m,
approachRate: -0.736860 m/s,
posRepo size: 4
2025-08-20T02:41:34.743Z,1755657694.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-20T02:41:34.766Z,1755657694.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.900002 m,
nav range: 87.664177 m,
bearing: 3.792837 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.023420 deg/s,
cmd heading: 13.291510 deg,
new cmd heading: 13.254471 deg.
2025-08-20T02:41:35.270Z,1755657695.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:35.272Z,1755657695.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-20T02:41:35.275Z,1755657695.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.900002 m,
nav range: 87.291649 m,
bearing: 3.778056 deg,
approach rate: -0.694034 m/s,
LOS rate: -0.027655 deg/s,
cmd heading: 13.254471 deg,
new cmd heading: 13.209940 deg.
2025-08-20T02:41:35.378Z,1755657695.378 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:35.378Z,1755657695.378 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:35.379Z,1755657695.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:35.630Z,1755657695.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994340
2025-08-20T02:41:35.678Z,1755657695.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-20T02:41:35.680Z,1755657695.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.900002 m,
nav range: 87.025764 m,
bearing: 3.767488 deg,
approach rate: -0.655530 m/s,
LOS rate: -0.026135 deg/s,
cmd heading: 13.209940 deg,
new cmd heading: 13.178139 deg.
2025-08-20T02:41:35.882Z,1755657695.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246323
2025-08-20T02:41:36.112Z,1755657696.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-20T02:41:36.115Z,1755657696.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.900002 m,
nav range: 86.729401 m,
bearing: 3.755055 deg,
approach rate: -0.681606 m/s,
LOS rate: -0.028693 deg/s,
cmd heading: 13.178139 deg,
new cmd heading: 13.140712 deg.
2025-08-20T02:41:36.134Z,1755657696.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498229
2025-08-20T02:41:36.386Z,1755657696.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750293
2025-08-20T02:41:36.481Z,1755657696.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-20T02:41:36.484Z,1755657696.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.900002 m,
nav range: 86.477318 m,
bearing: 3.744378 deg,
approach rate: -0.683548 m/s,
LOS rate: -0.029035 deg/s,
cmd heading: 13.140712 deg,
new cmd heading: 13.108589 deg.
2025-08-20T02:41:36.639Z,1755657696.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002436
2025-08-20T02:41:36.875Z,1755657696.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-20T02:41:36.878Z,1755657696.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.900002 m,
nav range: 86.208755 m,
bearing: 3.732951 deg,
approach rate: -0.682067 m/s,
LOS rate: -0.029113 deg/s,
cmd heading: 13.108590 deg,
new cmd heading: 13.074200 deg.
2025-08-20T02:41:36.890Z,1755657696.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254328
2025-08-20T02:41:37.142Z,1755657697.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506231
2025-08-20T02:41:37.317Z,1755657697.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:37.319Z,1755657697.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-20T02:41:37.322Z,1755657697.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.900002 m,
nav range: 85.910965 m,
bearing: 3.720573 deg,
approach rate: -0.670112 m/s,
LOS rate: -0.027950 deg/s,
cmd heading: 13.074200 deg,
new cmd heading: 13.036938 deg.
2025-08-20T02:41:37.396Z,1755657697.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759673
2025-08-20T02:41:37.646Z,1755657697.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010248
2025-08-20T02:41:37.699Z,1755657697.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-20T02:41:37.706Z,1755657697.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.900002 m,
nav range: 85.664360 m,
bearing: 3.710048 deg,
approach rate: -0.649201 m/s,
LOS rate: -0.027788 deg/s,
cmd heading: 13.036937 deg,
new cmd heading: 13.005271 deg.
2025-08-20T02:41:37.903Z,1755657697.903 [DAT](INFO): DAT read: Rx Time:02:41:35.7228
2025-08-20T02:41:37.904Z,1755657697.904 [DAT](INFO): Rx dataTimestamp_ set to:1755657697.903442
2025-08-20T02:41:37.904Z,1755657697.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268165
2025-08-20T02:41:38.135Z,1755657698.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.90 m.
2025-08-20T02:41:38.142Z,1755657698.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.900002 m,
nav range: 85.372231 m,
bearing: 3.694573 deg,
approach rate: -0.670294 m/s,
LOS rate: -0.035629 deg/s,
cmd heading: 13.005271 deg,
new cmd heading: 12.958687 deg.
2025-08-20T02:41:38.155Z,1755657698.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518408
2025-08-20T02:41:38.412Z,1755657698.412 [DAT](INFO): DAT read: 02:41:35.7228 LVL= 29280, 25969, 22130, 31587, AGC= 67, IDX= 413,-0.42, 0.697,-0.756, 1.291, 0.703, PHS= 0.096,-1.414, 0.543, RAW= 162.6, 8.8, CAL= 162.3, 9.2, ROT= 347.7, -9.2
2025-08-20T02:41:38.413Z,1755657698.413 [DAT](INFO): got valid direction response:
02:41:35.7228 LVL= 29280, 25969, 22130, 31587, AGC= 67, IDX= 413,-0.42, 0.697,-0.756, 1.291, 0.703, PHS= 0.096,-1.414, 0.543, RAW= 162.6, 8.8, CAL= 162.3, 9.2, ROT= 347.7, -9.2
2025-08-20T02:41:38.414Z,1755657698.414 [DAT](INFO): DAT read: Bearing 182.8, -16.3 (Local)
2025-08-20T02:41:38.415Z,1755657698.415 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.8, -16.3 (Local)
2025-08-20T02:41:38.416Z,1755657698.416 [DAT](INFO): DAT read: Range 11 to 50 : 85.5 m (Round-trip 114.1 ms) speed 0.7 m/s
2025-08-20T02:41:38.417Z,1755657698.417 [DAT](INFO): DAT read: user:3243>
2025-08-20T02:41:38.418Z,1755657698.418 [DAT](INFO): DAT read: Tx time:02:41:36.8045
2025-08-20T02:41:38.418Z,1755657698.418 [DAT](INFO): Ping request sent.
2025-08-20T02:41:38.418Z,1755657698.418 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:38.418Z,1755657698.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:38.419Z,1755657698.419 [DAT](INFO): direction in FSK: [0.964477,-0.210290,0.159881]
2025-08-20T02:41:38.420Z,1755657698.420 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:38.420Z,1755657698.420 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:38.423Z,1755657698.423 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:38.423Z,1755657698.423 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:38.553Z,1755657698.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 85.500000 m,
deltaT: 3.782628 s,
deltaX: -2.400002 m,
approachRate: -0.634480 m/s,
rangeRepo size: 4
2025-08-20T02:41:38.559Z,1755657698.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 85.500000 m,
bearing: 1.861538 deg,
lat: 36.779360 deg,
lon: -121.859534 deg,
deltaT: 3.782628 s,
deltaX: -2.400002 m,
approachRate: -0.634480 m/s,
posRepo size: 4
2025-08-20T02:41:38.560Z,1755657698.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.50 m.
2025-08-20T02:41:38.568Z,1755657698.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.500000 m,
nav range: 85.162453 m,
bearing: 1.861538 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035629 deg/s,
cmd heading: 12.958687 deg,
new cmd heading: 12.914093 deg.
2025-08-20T02:41:38.912Z,1755657698.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.50 m.
2025-08-20T02:41:38.916Z,1755657698.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.500000 m,
nav range: 84.925255 m,
bearing: 1.843416 deg,
approach rate: -0.658632 m/s,
LOS rate: -0.050463 deg/s,
cmd heading: 12.914093 deg,
new cmd heading: 12.859573 deg.
2025-08-20T02:41:39.332Z,1755657699.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:39.338Z,1755657699.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.50 m.
2025-08-20T02:41:39.341Z,1755657699.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.500000 m,
nav range: 84.636040 m,
bearing: 1.824256 deg,
approach rate: -0.678964 m/s,
LOS rate: -0.045133 deg/s,
cmd heading: 12.859573 deg,
new cmd heading: 12.801897 deg.
2025-08-20T02:41:39.415Z,1755657699.415 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:39.415Z,1755657699.415 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:39.415Z,1755657699.415 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:39.666Z,1755657699.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248469
2025-08-20T02:41:39.724Z,1755657699.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.50 m.
2025-08-20T02:41:39.727Z,1755657699.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.500000 m,
nav range: 84.356712 m,
bearing: 1.805625 deg,
approach rate: -0.723292 m/s,
LOS rate: -0.048402 deg/s,
cmd heading: 12.801897 deg,
new cmd heading: 12.745821 deg.
2025-08-20T02:41:39.919Z,1755657699.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500526
2025-08-20T02:41:40.171Z,1755657700.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752867
2025-08-20T02:41:40.180Z,1755657700.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.50 m.
2025-08-20T02:41:40.184Z,1755657700.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.500000 m,
nav range: 84.049614 m,
bearing: 1.786165 deg,
approach rate: -0.674667 m/s,
LOS rate: -0.042908 deg/s,
cmd heading: 12.745820 deg,
new cmd heading: 12.687227 deg.
2025-08-20T02:41:40.423Z,1755657700.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004701
2025-08-20T02:41:40.521Z,1755657700.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.50 m.
2025-08-20T02:41:40.524Z,1755657700.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.500000 m,
nav range: 83.813660 m,
bearing: 1.771207 deg,
approach rate: -0.691366 m/s,
LOS rate: -0.043951 deg/s,
cmd heading: 12.687227 deg,
new cmd heading: 12.642227 deg.
2025-08-20T02:41:40.674Z,1755657700.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256431
2025-08-20T02:41:40.919Z,1755657700.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.50 m.
2025-08-20T02:41:40.922Z,1755657700.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.500000 m,
nav range: 83.538727 m,
bearing: 1.753739 deg,
approach rate: -0.690939 m/s,
LOS rate: -0.044045 deg/s,
cmd heading: 12.642227 deg,
new cmd heading: 12.589649 deg.
2025-08-20T02:41:40.927Z,1755657700.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508545
2025-08-20T02:41:41.179Z,1755657701.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761058
2025-08-20T02:41:41.347Z,1755657701.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:41.350Z,1755657701.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.50 m.
2025-08-20T02:41:41.352Z,1755657701.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.500000 m,
nav range: 83.244835 m,
bearing: 1.733295 deg,
approach rate: -0.682227 m/s,
LOS rate: -0.047625 deg/s,
cmd heading: 12.589649 deg,
new cmd heading: 12.528100 deg.
2025-08-20T02:41:41.431Z,1755657701.431 [DAT](INFO): DAT read: Rx Time:02:41:39.3196
2025-08-20T02:41:41.431Z,1755657701.431 [DAT](INFO): Rx dataTimestamp_ set to:1755657701.430792
2025-08-20T02:41:41.432Z,1755657701.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013658
2025-08-20T02:41:41.682Z,1755657701.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264435
2025-08-20T02:41:41.734Z,1755657701.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.50 m.
2025-08-20T02:41:41.737Z,1755657701.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.500000 m,
nav range: 82.981819 m,
bearing: 1.714824 deg,
approach rate: -0.683627 m/s,
LOS rate: -0.048162 deg/s,
cmd heading: 12.528100 deg,
new cmd heading: 12.472512 deg.
2025-08-20T02:41:41.941Z,1755657701.941 [DAT](INFO): DAT read: 02:41:39.3196 LVL= 32752, 32753, 25298, 32755, AGC= 66, IDX= 412, 0.18, 0.697,-0.696, 1.324, 0.724, PHS= 0.076,-1.375, 0.556, RAW= 163.8, 8.6, CAL= 163.5, 9.0, ROT= 346.5, -9.0
2025-08-20T02:41:41.942Z,1755657701.942 [DAT](INFO): got valid direction response:
02:41:39.3196 LVL= 32752, 32753, 25298, 32755, AGC= 66, IDX= 412, 0.18, 0.697,-0.696, 1.324, 0.724, PHS= 0.076,-1.375, 0.556, RAW= 163.8, 8.6, CAL= 163.5, 9.0, ROT= 346.5, -9.0
2025-08-20T02:41:41.943Z,1755657701.943 [DAT](INFO): DAT read: Bearing 183.0, -17.4 (Local)
2025-08-20T02:41:41.943Z,1755657701.943 [DAT](INFO): Local bearing/azimuth received:
Bearing 183.0, -17.4 (Local)
2025-08-20T02:41:41.945Z,1755657701.945 [DAT](INFO): DAT read: Range 11 to 50 : 83.1 m (Round-trip 110.9 ms) speed 1.0 m/s
2025-08-20T02:41:41.946Z,1755657701.946 [DAT](INFO): DAT read: user:3244>
2025-08-20T02:41:41.946Z,1755657701.946 [DAT](INFO): DAT read: Tx time:02:41:40.4045
2025-08-20T02:41:41.947Z,1755657701.947 [DAT](INFO): Ping request sent.
2025-08-20T02:41:41.947Z,1755657701.947 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:41.947Z,1755657701.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:41.948Z,1755657701.948 [DAT](INFO): direction in FSK: [0.960398,-0.230571,0.156434]
2025-08-20T02:41:41.948Z,1755657701.948 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:41.948Z,1755657701.948 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:41.956Z,1755657701.956 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:41.957Z,1755657701.957 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:42.296Z,1755657702.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 83.099998 m,
deltaT: 3.528645 s,
deltaX: -2.400002 m,
approachRate: -0.680148 m/s,
rangeRepo size: 4
2025-08-20T02:41:42.314Z,1755657702.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 83.099998 m,
bearing: 1.384222 deg,
lat: 36.779362 deg,
lon: -121.859539 deg,
deltaT: 3.528645 s,
deltaX: -2.400002 m,
approachRate: -0.680148 m/s,
posRepo size: 4
2025-08-20T02:41:42.318Z,1755657702.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m.
2025-08-20T02:41:42.320Z,1755657702.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.099998 m,
nav range: 82.732719 m,
bearing: 1.384222 deg,
approach rate: -215047161790406051160391680.0 m/s,
LOS rate: -0.048162 deg/s,
cmd heading: 12.472512 deg,
new cmd heading: 12.391428 deg.
2025-08-20T02:41:42.712Z,1755657702.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m.
2025-08-20T02:41:42.715Z,1755657702.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.099998 m,
nav range: 82.445534 m,
bearing: 1.362442 deg,
approach rate: -0.689851 m/s,
LOS rate: -0.052501 deg/s,
cmd heading: 12.391428 deg,
new cmd heading: 12.325860 deg.
2025-08-20T02:41:43.199Z,1755657703.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m.
2025-08-20T02:41:43.201Z,1755657703.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.099998 m,
nav range: 82.120361 m,
bearing: 1.335676 deg,
approach rate: -0.667970 m/s,
LOS rate: -0.055199 deg/s,
cmd heading: 12.325860 deg,
new cmd heading: 12.245246 deg.
2025-08-20T02:41:43.526Z,1755657703.526 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:41:43.617Z,1755657703.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:43.619Z,1755657703.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m.
2025-08-20T02:41:43.622Z,1755657703.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.099998 m,
nav range: 81.843887 m,
bearing: 1.312793 deg,
approach rate: -0.657415 m/s,
LOS rate: -0.054596 deg/s,
cmd heading: 12.245247 deg,
new cmd heading: 12.176366 deg.
2025-08-20T02:41:43.698Z,1755657703.698 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:43.699Z,1755657703.699 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:43.699Z,1755657703.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:43.951Z,1755657703.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003866
2025-08-20T02:41:43.964Z,1755657703.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m.
2025-08-20T02:41:43.967Z,1755657703.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.099998 m,
nav range: 81.606415 m,
bearing: 1.293230 deg,
approach rate: -0.688109 m/s,
LOS rate: -0.056852 deg/s,
cmd heading: 12.176366 deg,
new cmd heading: 12.117506 deg.
2025-08-20T02:41:44.203Z,1755657704.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256078
2025-08-20T02:41:44.419Z,1755657704.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m.
2025-08-20T02:41:44.425Z,1755657704.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.099998 m,
nav range: 81.306648 m,
bearing: 1.267940 deg,
approach rate: -0.659365 m/s,
LOS rate: -0.055834 deg/s,
cmd heading: 12.117506 deg,
new cmd heading: 12.041356 deg.
2025-08-20T02:41:44.454Z,1755657704.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507613
2025-08-20T02:41:44.530Z,1755657704.530 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:41:44.706Z,1755657704.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759677
2025-08-20T02:41:44.779Z,1755657704.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m.
2025-08-20T02:41:44.782Z,1755657704.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.099998 m,
nav range: 81.065567 m,
bearing: 1.247739 deg,
approach rate: -0.669696 m/s,
LOS rate: -0.056283 deg/s,
cmd heading: 12.041355 deg,
new cmd heading: 11.980572 deg.
2025-08-20T02:41:44.958Z,1755657704.958 [DAT](INFO): DAT read: Rx Time:02:41:42.9163
2025-08-20T02:41:44.959Z,1755657704.959 [DAT](INFO): Rx dataTimestamp_ set to:1755657704.958631
2025-08-20T02:41:44.959Z,1755657704.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012804
2025-08-20T02:41:45.212Z,1755657705.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265302
2025-08-20T02:41:45.229Z,1755657705.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.10 m.
2025-08-20T02:41:45.236Z,1755657705.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.099998 m,
nav range: 80.786331 m,
bearing: 1.221204 deg,
approach rate: -0.620186 m/s,
LOS rate: -0.059138 deg/s,
cmd heading: 11.980572 deg,
new cmd heading: 11.900693 deg.
2025-08-20T02:41:45.471Z,1755657705.471 [DAT](INFO): DAT read: 02:41:42.9163 LVL= 28208, 32753, 23218, 32755, AGC= 65, IDX= 410, 0.19,-1.904, 3.036,-1.285,-1.871, PHS= 0.069,-1.331, 0.542, RAW= 164.1, 8.6, CAL= 163.8, 9.0, ROT= 346.2, -9.0
2025-08-20T02:41:45.473Z,1755657705.473 [DAT](INFO): got valid direction response:
02:41:42.9163 LVL= 28208, 32753, 23218, 32755, AGC= 65, IDX= 410, 0.19,-1.904, 3.036,-1.285,-1.871, PHS= 0.069,-1.331, 0.542, RAW= 164.1, 8.6, CAL= 163.8, 9.0, ROT= 346.2, -9.0
2025-08-20T02:41:45.475Z,1755657705.475 [DAT](INFO): DAT read: Bearing 182.7, -18.1 (Local)
2025-08-20T02:41:45.476Z,1755657705.476 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.7, -18.1 (Local)
2025-08-20T02:41:45.478Z,1755657705.478 [DAT](INFO): DAT read: Range 11 to 50 : 80.7 m (Round-trip 107.6 ms) speed 0.6 m/s
2025-08-20T02:41:45.479Z,1755657705.479 [DAT](INFO): DAT read: user:3245>
2025-08-20T02:41:45.480Z,1755657705.480 [DAT](INFO): DAT read: Tx time:02:41:44.0045
2025-08-20T02:41:45.480Z,1755657705.480 [DAT](INFO): Ping request sent.
2025-08-20T02:41:45.480Z,1755657705.480 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:45.480Z,1755657705.480 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:45.481Z,1755657705.481 [DAT](INFO): direction in FSK: [0.959178,-0.235596,0.156434]
2025-08-20T02:41:45.482Z,1755657705.482 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:45.482Z,1755657705.482 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:45.485Z,1755657705.485 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:45.485Z,1755657705.485 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:45.660Z,1755657705.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 80.699997 m,
deltaT: 3.528674 s,
deltaX: -2.400002 m,
approachRate: -0.680143 m/s,
rangeRepo size: 4
2025-08-20T02:41:45.670Z,1755657705.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 80.699997 m,
bearing: 0.729441 deg,
lat: 36.779362 deg,
lon: -121.859547 deg,
deltaT: 3.528674 s,
deltaX: -2.400002 m,
approachRate: -0.680143 m/s,
posRepo size: 4
2025-08-20T02:41:45.671Z,1755657705.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m.
2025-08-20T02:41:45.682Z,1755657705.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.699997 m,
nav range: 80.539955 m,
bearing: 0.729441 deg,
approach rate: 294251164386459648.000000 m/s,
LOS rate: -0.059138 deg/s,
cmd heading: 11.900693 deg,
new cmd heading: 11.824404 deg.
2025-08-20T02:41:45.989Z,1755657705.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:45.991Z,1755657705.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m.
2025-08-20T02:41:45.994Z,1755657705.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.699997 m,
nav range: 80.305168 m,
bearing: 0.705431 deg,
approach rate: -0.706483 m/s,
LOS rate: -0.072459 deg/s,
cmd heading: 11.824404 deg,
new cmd heading: 11.752163 deg.
2025-08-20T02:41:46.219Z,1755657706.219 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:46.219Z,1755657706.219 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:46.219Z,1755657706.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:46.411Z,1755657706.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m.
2025-08-20T02:41:46.435Z,1755657706.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.699997 m,
nav range: 80.035347 m,
bearing: 0.678544 deg,
approach rate: -0.647796 m/s,
LOS rate: -0.064768 deg/s,
cmd heading: 11.752163 deg,
new cmd heading: 11.671231 deg.
2025-08-20T02:41:46.473Z,1755657706.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992940
2025-08-20T02:41:46.726Z,1755657706.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246438
2025-08-20T02:41:46.790Z,1755657706.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m.
2025-08-20T02:41:46.793Z,1755657706.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.699997 m,
nav range: 79.789322 m,
bearing: 0.653994 deg,
approach rate: -0.643186 m/s,
LOS rate: -0.064380 deg/s,
cmd heading: 11.671231 deg,
new cmd heading: 11.597354 deg.
2025-08-20T02:41:46.978Z,1755657706.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498401
2025-08-20T02:41:47.230Z,1755657707.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750521
2025-08-20T02:41:47.311Z,1755657707.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m.
2025-08-20T02:41:47.313Z,1755657707.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.699997 m,
nav range: 79.453163 m,
bearing: 0.618958 deg,
approach rate: -0.646316 m/s,
LOS rate: -0.067647 deg/s,
cmd heading: 11.597354 deg,
new cmd heading: 11.491801 deg.
2025-08-20T02:41:47.482Z,1755657707.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002361
2025-08-20T02:41:47.659Z,1755657707.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m.
2025-08-20T02:41:47.674Z,1755657707.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.699997 m,
nav range: 79.228821 m,
bearing: 0.595480 deg,
approach rate: -0.643071 m/s,
LOS rate: -0.067488 deg/s,
cmd heading: 11.491801 deg,
new cmd heading: 11.421170 deg.
2025-08-20T02:41:47.735Z,1755657707.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255396
2025-08-20T02:41:47.987Z,1755657707.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506546
2025-08-20T02:41:48.088Z,1755657708.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:48.097Z,1755657708.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m.
2025-08-20T02:41:48.103Z,1755657708.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.699997 m,
nav range: 78.958145 m,
bearing: 0.567098 deg,
approach rate: -0.620844 m/s,
LOS rate: -0.065323 deg/s,
cmd heading: 11.421170 deg,
new cmd heading: 11.335731 deg.
2025-08-20T02:41:48.243Z,1755657708.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763161
2025-08-20T02:41:48.494Z,1755657708.494 [DAT](INFO): DAT read: Rx Time:02:41:46.5130
2025-08-20T02:41:48.495Z,1755657708.495 [DAT](INFO): Rx dataTimestamp_ set to:1755657708.494622
2025-08-20T02:41:48.495Z,1755657708.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015509
2025-08-20T02:41:48.577Z,1755657708.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m.
2025-08-20T02:41:48.580Z,1755657708.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.699997 m,
nav range: 78.636757 m,
bearing: 0.535834 deg,
approach rate: -0.667394 m/s,
LOS rate: -0.065188 deg/s,
cmd heading: 11.335731 deg,
new cmd heading: 11.241556 deg.
2025-08-20T02:41:48.747Z,1755657708.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267003
2025-08-20T02:41:48.906Z,1755657708.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.70 m.
2025-08-20T02:41:48.909Z,1755657708.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.699997 m,
nav range: 78.424873 m,
bearing: 0.515454 deg,
approach rate: -0.643106 m/s,
LOS rate: -0.062027 deg/s,
cmd heading: 11.241556 deg,
new cmd heading: 11.180249 deg.
2025-08-20T02:41:49.002Z,1755657709.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520952
2025-08-20T02:41:49.256Z,1755657709.256 [DAT](INFO): DAT read: 02:41:46.5129 LVL= 30320, 32753, 23474, 32755, AGC= 65, IDX= 409, 0.07, 1.078,-0.318, 1.708, 1.087, PHS= 0.093,-1.360, 0.577, RAW= 163.9, 8.0, CAL= 163.5, 8.1, ROT= 346.5, -8.1
2025-08-20T02:41:49.257Z,1755657709.257 [DAT](INFO): got valid direction response:
02:41:46.5129 LVL= 30320, 32753, 23474, 32755, AGC= 65, IDX= 409, 0.07, 1.078,-0.318, 1.708, 1.087, PHS= 0.093,-1.360, 0.577, RAW= 163.9, 8.0, CAL= 163.5, 8.1, ROT= 346.5, -8.1
2025-08-20T02:41:49.258Z,1755657709.258 [DAT](INFO): DAT read: Bearing 181.5, -17.7 (Local)
2025-08-20T02:41:49.259Z,1755657709.259 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.5, -17.7 (Local)
2025-08-20T02:41:49.260Z,1755657709.260 [DAT](INFO): DAT read: Range 11 to 50 : 78.2 m (Round-trip 104.3 ms) speed 0.5 m/s
2025-08-20T02:41:49.261Z,1755657709.261 [DAT](INFO): DAT read: user:3246>
2025-08-20T02:41:49.262Z,1755657709.262 [DAT](INFO): DAT read: Tx time:02:41:47.6044
2025-08-20T02:41:49.262Z,1755657709.262 [DAT](INFO): Ping request sent.
2025-08-20T02:41:49.262Z,1755657709.262 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:49.263Z,1755657709.263 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:49.264Z,1755657709.264 [DAT](INFO): direction in FSK: [0.962669,-0.231116,0.140901]
2025-08-20T02:41:49.264Z,1755657709.264 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:49.264Z,1755657709.264 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:49.267Z,1755657709.267 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:49.268Z,1755657709.268 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:49.412Z,1755657709.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 78.199997 m,
deltaT: 3.786763 s,
deltaX: -2.500000 m,
approachRate: -0.660194 m/s,
rangeRepo size: 4
2025-08-20T02:41:49.418Z,1755657709.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.199997 m,
bearing: 359.434100 deg,
lat: 36.779362 deg,
lon: -121.859563 deg,
deltaT: 3.786763 s,
deltaX: -2.500000 m,
approachRate: -0.660194 m/s,
posRepo size: 4
2025-08-20T02:41:49.419Z,1755657709.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-08-20T02:41:49.430Z,1755657709.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.199997 m,
nav range: 78.093231 m,
bearing: 359.434100 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.062027 deg/s,
cmd heading: 11.180249 deg,
new cmd heading: 11.086337 deg.
2025-08-20T02:41:49.752Z,1755657709.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-08-20T02:41:49.756Z,1755657709.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.199997 m,
nav range: 77.860771 m,
bearing: 359.409664 deg,
approach rate: -0.681483 m/s,
LOS rate: -0.071853 deg/s,
cmd heading: 11.086337 deg,
new cmd heading: 11.012808 deg.
2025-08-20T02:41:50.211Z,1755657710.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:50.213Z,1755657710.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-08-20T02:41:50.220Z,1755657710.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.199997 m,
nav range: 77.579361 m,
bearing: 359.380593 deg,
approach rate: -0.610816 m/s,
LOS rate: -0.063327 deg/s,
cmd heading: 11.012807 deg,
new cmd heading: 10.925280 deg.
2025-08-20T02:41:50.258Z,1755657710.258 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:50.259Z,1755657710.259 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:50.259Z,1755657710.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:50.510Z,1755657710.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248212
2025-08-20T02:41:50.619Z,1755657710.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-08-20T02:41:50.622Z,1755657710.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.199997 m,
nav range: 77.291199 m,
bearing: 359.351082 deg,
approach rate: -0.710118 m/s,
LOS rate: -0.072995 deg/s,
cmd heading: 10.925280 deg,
new cmd heading: 10.836418 deg.
2025-08-20T02:41:50.763Z,1755657710.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500630
2025-08-20T02:41:51.015Z,1755657711.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752779
2025-08-20T02:41:51.092Z,1755657711.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-08-20T02:41:51.095Z,1755657711.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.199997 m,
nav range: 76.976822 m,
bearing: 359.319700 deg,
approach rate: -0.664000 m/s,
LOS rate: -0.066554 deg/s,
cmd heading: 10.836418 deg,
new cmd heading: 10.741886 deg.
2025-08-20T02:41:51.266Z,1755657711.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004124
2025-08-20T02:41:51.519Z,1755657711.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256278
2025-08-20T02:41:51.522Z,1755657711.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-08-20T02:41:51.525Z,1755657711.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.199997 m,
nav range: 76.696716 m,
bearing: 359.295688 deg,
approach rate: -0.651552 m/s,
LOS rate: -0.056057 deg/s,
cmd heading: 10.741885 deg,
new cmd heading: 10.669588 deg.
2025-08-20T02:41:51.770Z,1755657711.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508229
2025-08-20T02:41:51.989Z,1755657711.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-08-20T02:41:51.992Z,1755657711.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.199997 m,
nav range: 76.389168 m,
bearing: 359.270627 deg,
approach rate: -0.658609 m/s,
LOS rate: -0.053885 deg/s,
cmd heading: 10.669588 deg,
new cmd heading: 10.594100 deg.
2025-08-20T02:41:52.023Z,1755657712.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760739
2025-08-20T02:41:52.274Z,1755657712.274 [DAT](INFO): DAT read: Rx Time:02:41:50.1098
2025-08-20T02:41:52.275Z,1755657712.275 [DAT](INFO): Rx dataTimestamp_ set to:1755657712.274627
2025-08-20T02:41:52.275Z,1755657712.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013219
2025-08-20T02:41:52.405Z,1755657712.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:52.423Z,1755657712.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.20 m.
2025-08-20T02:41:52.430Z,1755657712.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.199997 m,
nav range: 76.109230 m,
bearing: 359.250378 deg,
approach rate: -0.644523 m/s,
LOS rate: -0.046791 deg/s,
cmd heading: 10.594101 deg,
new cmd heading: 10.533132 deg.
2025-08-20T02:41:52.528Z,1755657712.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265213
2025-08-20T02:41:52.784Z,1755657712.784 [DAT](INFO): DAT read: 02:41:50.1098 LVL= 31632, 32753, 24194, 32755, AGC= 65, IDX= 409, 0.31, 1.219,-0.212, 1.812, 1.190, PHS= 0.131,-1.357, 0.578, RAW= 162.7, 7.4, CAL= 162.3, 7.4, ROT= 347.7, -7.4
2025-08-20T02:41:52.786Z,1755657712.786 [DAT](INFO): got valid direction response:
02:41:50.1098 LVL= 31632, 32753, 24194, 32755, AGC= 65, IDX= 409, 0.31, 1.219,-0.212, 1.812, 1.190, PHS= 0.131,-1.357, 0.578, RAW= 162.7, 7.4, CAL= 162.3, 7.4, ROT= 347.7, -7.4
2025-08-20T02:41:52.787Z,1755657712.787 [DAT](INFO): DAT read: Bearing 178.7, -16.6 (Local)
2025-08-20T02:41:52.787Z,1755657712.787 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.7, -16.6 (Local)
2025-08-20T02:41:52.789Z,1755657712.789 [DAT](INFO): DAT read: Range 11 to 50 : 75.9 m (Round-trip 101.2 ms) speed 0.6 m/s
2025-08-20T02:41:52.790Z,1755657712.790 [DAT](INFO): DAT read: user:3247>
2025-08-20T02:41:52.791Z,1755657712.791 [DAT](INFO): DAT read: Tx time:02:41:51.2044
2025-08-20T02:41:52.791Z,1755657712.791 [DAT](INFO): Ping request sent.
2025-08-20T02:41:52.791Z,1755657712.791 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:52.791Z,1755657712.791 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:52.792Z,1755657712.792 [DAT](INFO): direction in FSK: [0.968908,-0.211256,0.128796]
2025-08-20T02:41:52.793Z,1755657712.793 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:52.793Z,1755657712.793 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:52.796Z,1755657712.796 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:52.796Z,1755657712.796 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:52.866Z,1755657712.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 75.900002 m,
deltaT: 3.527966 s,
deltaX: -2.299995 m,
approachRate: -0.651932 m/s,
rangeRepo size: 4
2025-08-20T02:41:52.868Z,1755657712.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 75.900002 m,
bearing: 359.195641 deg,
lat: 36.779362 deg,
lon: -121.859563 deg,
deltaT: 3.527966 s,
deltaX: -2.299995 m,
approachRate: -0.651932 m/s,
posRepo size: 4
2025-08-20T02:41:52.868Z,1755657712.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:52.875Z,1755657712.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 75.834991 m,
bearing: 359.195641 deg,
approach rate: -0.000000 m/s,
LOS rate: -0.046791 deg/s,
cmd heading: 10.533133 deg,
new cmd heading: 10.471757 deg.
2025-08-20T02:41:53.268Z,1755657713.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:53.275Z,1755657713.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 75.571701 m,
bearing: 359.177401 deg,
approach rate: -0.646373 m/s,
LOS rate: -0.044936 deg/s,
cmd heading: 10.471757 deg,
new cmd heading: 10.416846 deg.
2025-08-20T02:41:53.644Z,1755657713.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:53.650Z,1755657713.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 75.287674 m,
bearing: 359.159580 deg,
approach rate: -0.756153 m/s,
LOS rate: -0.047624 deg/s,
cmd heading: 10.416846 deg,
new cmd heading: 10.363180 deg.
2025-08-20T02:41:54.012Z,1755657714.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:54.020Z,1755657714.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 75.024773 m,
bearing: 359.143001 deg,
approach rate: -0.713063 m/s,
LOS rate: -0.045122 deg/s,
cmd heading: 10.363181 deg,
new cmd heading: 10.313272 deg.
2025-08-20T02:41:54.437Z,1755657714.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:54.439Z,1755657714.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:54.442Z,1755657714.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 74.727486 m,
bearing: 359.122956 deg,
approach rate: -0.696697 m/s,
LOS rate: -0.047164 deg/s,
cmd heading: 10.313272 deg,
new cmd heading: 10.252896 deg.
2025-08-20T02:41:54.543Z,1755657714.543 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:54.543Z,1755657714.543 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:54.543Z,1755657714.543 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:54.795Z,1755657714.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003575
2025-08-20T02:41:54.844Z,1755657714.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:54.851Z,1755657714.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 74.456795 m,
bearing: 359.104518 deg,
approach rate: -0.668097 m/s,
LOS rate: -0.045672 deg/s,
cmd heading: 10.252896 deg,
new cmd heading: 10.197381 deg.
2025-08-20T02:41:55.047Z,1755657715.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256035
2025-08-20T02:41:55.291Z,1755657715.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:55.299Z,1755657715.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507572
2025-08-20T02:41:55.301Z,1755657715.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 74.194908 m,
bearing: 359.086502 deg,
approach rate: -0.594218 m/s,
LOS rate: -0.041022 deg/s,
cmd heading: 10.197381 deg,
new cmd heading: 10.143142 deg.
2025-08-20T02:41:55.551Z,1755657715.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760112
2025-08-20T02:41:55.790Z,1755657715.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:55.793Z,1755657715.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 73.815094 m,
bearing: 359.055466 deg,
approach rate: -0.752016 m/s,
LOS rate: -0.061767 deg/s,
cmd heading: 10.143143 deg,
new cmd heading: 10.049555 deg.
2025-08-20T02:41:55.802Z,1755657715.802 [DAT](INFO): DAT read: Rx Time:02:41:53.7066
2025-08-20T02:41:55.803Z,1755657715.803 [DAT](INFO): Rx dataTimestamp_ set to:1755657715.802592
2025-08-20T02:41:55.803Z,1755657715.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012451
2025-08-20T02:41:56.056Z,1755657716.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264492
2025-08-20T02:41:56.312Z,1755657716.312 [DAT](INFO): DAT read: 02:41:53.7066 LVL= 31968, 32753, 26354, 32755, AGC= 68, IDX= 408,-0.06, 2.882, 1.540,-2.799, 2.881, PHS= 0.103,-1.296, 0.560, RAW= 163.7, 7.6, CAL= 163.2, 7.6, ROT= 346.8, -7.6
2025-08-20T02:41:56.313Z,1755657716.313 [DAT](INFO): got valid direction response:
02:41:53.7066 LVL= 31968, 32753, 26354, 32755, AGC= 68, IDX= 408,-0.06, 2.882, 1.540,-2.799, 2.881, PHS= 0.103,-1.296, 0.560, RAW= 163.7, 7.6, CAL= 163.2, 7.6, ROT= 346.8, -7.6
2025-08-20T02:41:56.314Z,1755657716.314 [DAT](INFO): DAT read: Bearing 178.7, -17.5 (Local)
2025-08-20T02:41:56.315Z,1755657716.315 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.7, -17.5 (Local)
2025-08-20T02:41:56.316Z,1755657716.316 [DAT](INFO): DAT read: Range 11 to 50 : 73.5 m (Round-trip 98.0 ms) speed 0.7 m/s
2025-08-20T02:41:56.317Z,1755657716.317 [DAT](INFO): DAT read: user:3248>
2025-08-20T02:41:56.318Z,1755657716.318 [DAT](INFO): DAT read: Tx time:02:41:54.8044
2025-08-20T02:41:56.318Z,1755657716.318 [DAT](INFO): Ping request sent.
2025-08-20T02:41:56.318Z,1755657716.318 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:56.318Z,1755657716.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:56.319Z,1755657716.319 [DAT](INFO): direction in FSK: [0.965026,-0.226345,0.132256]
2025-08-20T02:41:56.320Z,1755657716.320 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:56.320Z,1755657716.320 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:56.323Z,1755657716.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 73.500000 m,
deltaT: 3.528025 s,
deltaX: -2.400002 m,
approachRate: -0.680268 m/s,
rangeRepo size: 4
2025-08-20T02:41:56.324Z,1755657716.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:56.328Z,1755657716.328 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:56.328Z,1755657716.328 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:56.335Z,1755657716.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 73.470421 m,
bearing: 359.026739 deg,
approach rate: -0.647135 m/s,
LOS rate: -0.054189 deg/s,
cmd heading: 10.049554 deg,
new cmd heading: 9.962969 deg.
2025-08-20T02:41:56.674Z,1755657716.674 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022506291390,35.0, +10.9, 0.0,1493.1RA, 0.00, 85.63, 86.65, 82.23, 90.39
2025-08-20T02:41:56.693Z,1755657716.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:56.696Z,1755657716.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 73.194305 m,
bearing: 359.003350 deg,
approach rate: -0.745367 m/s,
LOS rate: -0.063376 deg/s,
cmd heading: 9.962969 deg,
new cmd heading: 9.892538 deg.
2025-08-20T02:41:57.096Z,1755657717.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:57.098Z,1755657717.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:57.101Z,1755657717.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 72.915802 m,
bearing: 358.979276 deg,
approach rate: -0.686762 m/s,
LOS rate: -0.059591 deg/s,
cmd heading: 9.892538 deg,
new cmd heading: 9.820039 deg.
2025-08-20T02:41:57.316Z,1755657717.316 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:41:57.317Z,1755657717.317 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:41:57.318Z,1755657717.318 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:41:57.489Z,1755657717.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:57.492Z,1755657717.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 72.655899 m,
bearing: 358.953294 deg,
approach rate: -0.666011 m/s,
LOS rate: -0.066818 deg/s,
cmd heading: 9.820040 deg,
new cmd heading: 9.741815 deg.
2025-08-20T02:41:57.568Z,1755657717.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249180
2025-08-20T02:41:57.818Z,1755657717.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500360
2025-08-20T02:41:57.878Z,1755657717.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:57.881Z,1755657717.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 72.396690 m,
bearing: 358.927112 deg,
approach rate: -0.665687 m/s,
LOS rate: -0.067479 deg/s,
cmd heading: 9.741814 deg,
new cmd heading: 9.662988 deg.
2025-08-20T02:41:58.075Z,1755657718.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756687
2025-08-20T02:41:58.325Z,1755657718.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006608
2025-08-20T02:41:58.364Z,1755657718.364 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -44, -5,A
2025-08-20T02:41:58.380Z,1755657718.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:58.383Z,1755657718.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 72.062851 m,
bearing: 358.893095 deg,
approach rate: -0.665174 m/s,
LOS rate: -0.068093 deg/s,
cmd heading: 9.662989 deg,
new cmd heading: 9.560464 deg.
2025-08-20T02:41:58.578Z,1755657718.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260356
2025-08-20T02:41:58.702Z,1755657718.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:58.704Z,1755657718.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 71.862236 m,
bearing: 358.872558 deg,
approach rate: -0.631727 m/s,
LOS rate: -0.064850 deg/s,
cmd heading: 9.560464 deg,
new cmd heading: 9.498682 deg.
2025-08-20T02:41:58.830Z,1755657718.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512252
2025-08-20T02:41:59.083Z,1755657719.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764404
2025-08-20T02:41:59.090Z,1755657719.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:59.092Z,1755657719.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 71.591568 m,
bearing: 358.844874 deg,
approach rate: -0.690245 m/s,
LOS rate: -0.070867 deg/s,
cmd heading: 9.498682 deg,
new cmd heading: 9.415314 deg.
2025-08-20T02:41:59.337Z,1755657719.337 [DAT](INFO): DAT read: Rx Time:02:41:57.3033
2025-08-20T02:41:59.339Z,1755657719.339 [DAT](INFO): Rx dataTimestamp_ set to:1755657719.337883
2025-08-20T02:41:59.341Z,1755657719.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022016
2025-08-20T02:41:59.521Z,1755657719.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:41:59.528Z,1755657719.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.90 m.
2025-08-20T02:41:59.540Z,1755657719.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 75.900002 m,
nav range: 71.313286 m,
bearing: 358.812019 deg,
approach rate: -0.639554 m/s,
LOS rate: -0.075802 deg/s,
cmd heading: 9.415314 deg,
new cmd heading: 9.316366 deg.
2025-08-20T02:41:59.587Z,1755657719.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268878
2025-08-20T02:41:59.846Z,1755657719.846 [DAT](INFO): DAT read: 02:41:57.3033 LVL= 28272, 32753, 25890, 32755, AGC= 67, IDX= 406,-0.13, 1.910, 0.489, 2.504, 1.894, PHS= 0.118,-1.360, 0.567, RAW= 162.9, 7.8, CAL= 162.4, 7.9, ROT= 347.6, -7.9
2025-08-20T02:41:59.847Z,1755657719.847 [DAT](INFO): got valid direction response:
02:41:57.3033 LVL= 28272, 32753, 25890, 32755, AGC= 67, IDX= 406,-0.13, 1.910, 0.489, 2.504, 1.894, PHS= 0.118,-1.360, 0.567, RAW= 162.9, 7.8, CAL= 162.4, 7.9, ROT= 347.6, -7.9
2025-08-20T02:41:59.848Z,1755657719.848 [DAT](INFO): DAT read: Bearing 178.9, -15.9 (Local)
2025-08-20T02:41:59.848Z,1755657719.848 [DAT](INFO): Local bearing/azimuth received:
Bearing 178.9, -15.9 (Local)
2025-08-20T02:41:59.854Z,1755657719.854 [DAT](INFO): DAT read: Range 11 to 50 : 71.0 m (Round-trip 94.7 ms) speed 0.6 m/s
2025-08-20T02:41:59.855Z,1755657719.855 [DAT](INFO): DAT read: user:3249>
2025-08-20T02:41:59.856Z,1755657719.856 [DAT](INFO): DAT read: Tx time:02:41:58.4044
2025-08-20T02:41:59.856Z,1755657719.856 [DAT](INFO): Ping request sent.
2025-08-20T02:41:59.856Z,1755657719.856 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:41:59.856Z,1755657719.856 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:41:59.858Z,1755657719.858 [DAT](INFO): direction in FSK: [0.967403,-0.212697,0.137445]
2025-08-20T02:41:59.858Z,1755657719.858 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:59.859Z,1755657719.859 [DAT](INFO): publishing direction and range info
2025-08-20T02:41:59.862Z,1755657719.862 [DAT](INFO): publishing transmit ping time
2025-08-20T02:41:59.862Z,1755657719.862 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:00.037Z,1755657720.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 71.000000 m,
deltaT: 3.533571 s,
deltaX: -2.500000 m,
approachRate: -0.707500 m/s,
rangeRepo size: 4
2025-08-20T02:42:00.040Z,1755657720.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 71.000000 m,
bearing: 358.718096 deg,
lat: 36.779362 deg,
lon: -121.859564 deg,
deltaT: 7.061596 s,
deltaX: -4.900002 m,
approachRate: -0.693894 m/s,
posRepo size: 4
2025-08-20T02:42:00.040Z,1755657720.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-20T02:42:00.043Z,1755657720.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.000000 m,
nav range: 71.002487 m,
bearing: 358.718096 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.075802 deg/s,
cmd heading: 9.316366 deg,
new cmd heading: 9.200194 deg.
2025-08-20T02:42:00.429Z,1755657720.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-20T02:42:00.436Z,1755657720.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.000000 m,
nav range: 70.727905 m,
bearing: 358.683674 deg,
approach rate: -0.698282 m/s,
LOS rate: -0.087878 deg/s,
cmd heading: 9.200194 deg,
new cmd heading: 9.096527 deg.
2025-08-20T02:42:00.789Z,1755657720.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-20T02:42:00.792Z,1755657720.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.000000 m,
nav range: 70.484337 m,
bearing: 358.653381 deg,
approach rate: -0.676865 m/s,
LOS rate: -0.084475 deg/s,
cmd heading: 9.096527 deg,
new cmd heading: 9.005333 deg.
2025-08-20T02:42:01.216Z,1755657721.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-20T02:42:01.229Z,1755657721.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.000000 m,
nav range: 70.221954 m,
bearing: 358.620938 deg,
approach rate: -0.613704 m/s,
LOS rate: -0.076167 deg/s,
cmd heading: 9.005333 deg,
new cmd heading: 8.907640 deg.
2025-08-20T02:42:01.681Z,1755657721.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:01.683Z,1755657721.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-20T02:42:01.686Z,1755657721.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.000000 m,
nav range: 69.900627 m,
bearing: 358.579331 deg,
approach rate: -0.688589 m/s,
LOS rate: -0.089571 deg/s,
cmd heading: 8.907640 deg,
new cmd heading: 8.782247 deg.
2025-08-20T02:42:01.854Z,1755657721.854 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:01.854Z,1755657721.854 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:01.855Z,1755657721.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:02.034Z,1755657722.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-20T02:42:02.037Z,1755657722.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.000000 m,
nav range: 69.685883 m,
bearing: 358.551735 deg,
approach rate: -0.617393 m/s,
LOS rate: -0.079585 deg/s,
cmd heading: 8.782247 deg,
new cmd heading: 8.699202 deg.
2025-08-20T02:42:02.108Z,1755657722.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251609
2025-08-20T02:42:02.361Z,1755657722.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504633
2025-08-20T02:42:02.465Z,1755657722.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-20T02:42:02.468Z,1755657722.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.000000 m,
nav range: 69.396202 m,
bearing: 358.519272 deg,
approach rate: -0.667053 m/s,
LOS rate: -0.075064 deg/s,
cmd heading: 8.699202 deg,
new cmd heading: 8.601409 deg.
2025-08-20T02:42:02.610Z,1755657722.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754413
2025-08-20T02:42:02.821Z,1755657722.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-20T02:42:02.824Z,1755657722.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.000000 m,
nav range: 69.172150 m,
bearing: 358.494453 deg,
approach rate: -0.629112 m/s,
LOS rate: -0.069915 deg/s,
cmd heading: 8.601409 deg,
new cmd heading: 8.526711 deg.
2025-08-20T02:42:02.863Z,1755657722.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006551
2025-08-20T02:42:03.115Z,1755657723.115 [DAT](INFO): DAT read: Rx Time:02:42:00.9000
2025-08-20T02:42:03.115Z,1755657723.115 [DAT](INFO): Rx dataTimestamp_ set to:1755657723.114710
2025-08-20T02:42:03.116Z,1755657723.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259577
2025-08-20T02:42:03.242Z,1755657723.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-20T02:42:03.244Z,1755657723.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 71.000000 m,
nav range: 68.923073 m,
bearing: 358.467086 deg,
approach rate: -0.598614 m/s,
LOS rate: -0.066010 deg/s,
cmd heading: 8.526711 deg,
new cmd heading: 8.444312 deg.
2025-08-20T02:42:03.370Z,1755657723.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513560
2025-08-20T02:42:03.624Z,1755657723.624 [DAT](INFO): DAT read: 02:42:00.9000 LVL= 24224, 28801, 20226, 29731, AGC= 66, IDX= 405,-0.28,-1.364,-2.791,-0.808,-1.420, PHS= 0.158,-1.326, 0.568, RAW= 161.9, 7.0, CAL= 161.3, 6.8, ROT= 348.7, -6.8
2025-08-20T02:42:03.625Z,1755657723.625 [DAT](INFO): got valid direction response:
02:42:00.9000 LVL= 24224, 28801, 20226, 29731, AGC= 66, IDX= 405,-0.28,-1.364,-2.791,-0.808,-1.420, PHS= 0.158,-1.326, 0.568, RAW= 161.9, 7.0, CAL= 161.3, 6.8, ROT= 348.7, -6.8
2025-08-20T02:42:03.632Z,1755657723.632 [DAT](INFO): DAT read: Bearing 176.1, -14.6 (Local)
2025-08-20T02:42:03.664Z,1755657723.664 [DAT](INFO): Local bearing/azimuth received:
Bearing 176.1, -14.6 (Local)
2025-08-20T02:42:03.673Z,1755657723.673 [DAT](INFO): DAT read: Range 11 to 50 : 68.6 m (Round-trip 91.5 ms) speed 0.5 m/s
2025-08-20T02:42:03.683Z,1755657723.683 [DAT](INFO): DAT read: user:3250>
2025-08-20T02:42:03.683Z,1755657723.683 [DAT](INFO): DAT read: Tx time:02:42:02.0044
2025-08-20T02:42:03.684Z,1755657723.684 [DAT](INFO): Ping request sent.
2025-08-20T02:42:03.684Z,1755657723.684 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:03.684Z,1755657723.684 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:03.686Z,1755657723.686 [DAT](INFO): direction in FSK: [0.973717,-0.194568,0.118404]
2025-08-20T02:42:03.686Z,1755657723.686 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:03.686Z,1755657723.686 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:03.702Z,1755657723.702 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:03.703Z,1755657723.703 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:03.859Z,1755657723.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.599998 m,
deltaT: 3.778324 s,
deltaX: -2.400002 m,
approachRate: -0.635203 m/s,
rangeRepo size: 4
2025-08-20T02:42:03.866Z,1755657723.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.599998 m,
bearing: 358.488582 deg,
lat: 36.779362 deg,
lon: -121.859563 deg,
deltaT: 3.778324 s,
deltaX: -2.400002 m,
approachRate: -0.635203 m/s,
posRepo size: 4
2025-08-20T02:42:03.866Z,1755657723.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.60 m.
2025-08-20T02:42:03.869Z,1755657723.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.599998 m,
nav range: 68.510246 m,
bearing: 358.488582 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.066010 deg/s,
cmd heading: 8.444312 deg,
new cmd heading: 8.321256 deg.
2025-08-20T02:42:04.320Z,1755657724.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:04.322Z,1755657724.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.60 m.
2025-08-20T02:42:04.325Z,1755657724.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.599998 m,
nav range: 68.203400 m,
bearing: 358.460645 deg,
approach rate: -0.661948 m/s,
LOS rate: -0.060539 deg/s,
cmd heading: 8.321256 deg,
new cmd heading: 8.237068 deg.
2025-08-20T02:42:04.377Z,1755657724.377 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:04.377Z,1755657724.377 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:04.378Z,1755657724.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:04.626Z,1755657724.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.942515
2025-08-20T02:42:04.845Z,1755657724.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.60 m.
2025-08-20T02:42:04.848Z,1755657724.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.599998 m,
nav range: 67.855606 m,
bearing: 358.430814 deg,
approach rate: -0.665385 m/s,
LOS rate: -0.057363 deg/s,
cmd heading: 8.237068 deg,
new cmd heading: 8.147118 deg.
2025-08-20T02:42:04.879Z,1755657724.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195154
2025-08-20T02:42:05.130Z,1755657725.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.446593
2025-08-20T02:42:05.215Z,1755657725.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.60 m.
2025-08-20T02:42:05.218Z,1755657725.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.599998 m,
nav range: 67.609253 m,
bearing: 358.409872 deg,
approach rate: -0.665571 m/s,
LOS rate: -0.056786 deg/s,
cmd heading: 8.147118 deg,
new cmd heading: 8.084062 deg.
2025-08-20T02:42:05.385Z,1755657725.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700496
2025-08-20T02:42:05.635Z,1755657725.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.950700
2025-08-20T02:42:05.651Z,1755657725.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.60 m.
2025-08-20T02:42:05.674Z,1755657725.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.599998 m,
nav range: 67.324501 m,
bearing: 358.387977 deg,
approach rate: -0.653273 m/s,
LOS rate: -0.050444 deg/s,
cmd heading: 8.084062 deg,
new cmd heading: 8.018099 deg.
2025-08-20T02:42:05.890Z,1755657725.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205868
2025-08-20T02:42:06.039Z,1755657726.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.60 m.
2025-08-20T02:42:06.064Z,1755657726.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.599998 m,
nav range: 67.073883 m,
bearing: 358.368970 deg,
approach rate: -0.646191 m/s,
LOS rate: -0.049190 deg/s,
cmd heading: 8.018099 deg,
new cmd heading: 7.960865 deg.
2025-08-20T02:42:06.139Z,1755657726.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454683
2025-08-20T02:42:06.393Z,1755657726.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708137
2025-08-20T02:42:06.536Z,1755657726.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:06.539Z,1755657726.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.60 m.
2025-08-20T02:42:06.543Z,1755657726.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.599998 m,
nav range: 66.745766 m,
bearing: 358.342056 deg,
approach rate: -0.656220 m/s,
LOS rate: -0.054091 deg/s,
cmd heading: 7.960866 deg,
new cmd heading: 7.879728 deg.
2025-08-20T02:42:06.643Z,1755657726.643 [DAT](INFO): DAT read: Rx Time:02:42:04.4969
2025-08-20T02:42:06.643Z,1755657726.643 [DAT](INFO): Rx dataTimestamp_ set to:1755657726.642745
2025-08-20T02:42:06.644Z,1755657726.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959701
2025-08-20T02:42:06.855Z,1755657726.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.60 m.
2025-08-20T02:42:06.858Z,1755657726.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.599998 m,
nav range: 66.518913 m,
bearing: 358.323293 deg,
approach rate: -0.716285 m/s,
LOS rate: -0.059449 deg/s,
cmd heading: 7.879728 deg,
new cmd heading: 7.823245 deg.
2025-08-20T02:42:06.895Z,1755657726.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211368
2025-08-20T02:42:07.156Z,1755657727.156 [DAT](INFO): DAT read: 02:42:04.4969 LVL= 29104, 28657, 25522, 32083, AGC= 66, IDX= 405,-0.17,-2.289, 2.550,-1.772,-2.378, PHS= 0.191,-1.310, 0.562, RAW= 160.8, 6.5, CAL= 160.1, 6.3, ROT= 349.9, -6.3
2025-08-20T02:42:07.158Z,1755657727.158 [DAT](INFO): got valid direction response:
02:42:04.4969 LVL= 29104, 28657, 25522, 32083, AGC= 66, IDX= 405,-0.17,-2.289, 2.550,-1.772,-2.378, PHS= 0.191,-1.310, 0.562, RAW= 160.8, 6.5, CAL= 160.1, 6.3, ROT= 349.9, -6.3
2025-08-20T02:42:07.159Z,1755657727.159 [DAT](INFO): DAT read: Bearing 174.4, -13.1 (Local)
2025-08-20T02:42:07.160Z,1755657727.160 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.4, -13.1 (Local)
2025-08-20T02:42:07.162Z,1755657727.162 [DAT](INFO): DAT read: Range 11 to 50 : 66.2 m (Round-trip 88.3 ms) speed 0.5 m/s
2025-08-20T02:42:07.163Z,1755657727.163 [DAT](INFO): DAT read: user:3251>
2025-08-20T02:42:07.164Z,1755657727.164 [DAT](INFO): DAT read: Tx time:02:42:05.6044
2025-08-20T02:42:07.164Z,1755657727.164 [DAT](INFO): Ping request sent.
2025-08-20T02:42:07.165Z,1755657727.165 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:07.165Z,1755657727.165 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:07.168Z,1755657727.168 [DAT](INFO): direction in FSK: [0.978558,-0.174308,0.109734]
2025-08-20T02:42:07.168Z,1755657727.168 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:07.168Z,1755657727.168 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:07.173Z,1755657727.173 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:07.173Z,1755657727.173 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:07.308Z,1755657727.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.199997 m,
deltaT: 3.529754 s,
deltaX: -2.400002 m,
approachRate: -0.679935 m/s,
rangeRepo size: 4
2025-08-20T02:42:07.314Z,1755657727.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 66.199997 m,
bearing: 358.320922 deg,
lat: 36.779362 deg,
lon: -121.859563 deg,
deltaT: 3.529754 s,
deltaX: -2.400002 m,
approachRate: -0.679935 m/s,
posRepo size: 4
2025-08-20T02:42:07.315Z,1755657727.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.20 m.
2025-08-20T02:42:07.334Z,1755657727.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.199997 m,
nav range: 66.221870 m,
bearing: 358.320922 deg,
approach rate: 469432926208.000000 m/s,
LOS rate: -0.059449 deg/s,
cmd heading: 7.823245 deg,
new cmd heading: 7.742709 deg.
2025-08-20T02:42:07.681Z,1755657727.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.20 m.
2025-08-20T02:42:07.684Z,1755657727.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.199997 m,
nav range: 65.954140 m,
bearing: 358.299716 deg,
approach rate: -0.715653 m/s,
LOS rate: -0.056916 deg/s,
cmd heading: 7.742708 deg,
new cmd heading: 7.678831 deg.
2025-08-20T02:42:08.056Z,1755657728.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.20 m.
2025-08-20T02:42:08.059Z,1755657728.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.199997 m,
nav range: 65.699455 m,
bearing: 358.280289 deg,
approach rate: -0.679617 m/s,
LOS rate: -0.052041 deg/s,
cmd heading: 7.678831 deg,
new cmd heading: 7.620324 deg.
2025-08-20T02:42:08.538Z,1755657728.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.20 m.
2025-08-20T02:42:08.541Z,1755657728.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.199997 m,
nav range: 65.375732 m,
bearing: 358.253685 deg,
approach rate: -0.671454 m/s,
LOS rate: -0.055454 deg/s,
cmd heading: 7.620323 deg,
new cmd heading: 7.540117 deg.
2025-08-20T02:42:08.918Z,1755657728.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:08.920Z,1755657728.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.20 m.
2025-08-20T02:42:08.922Z,1755657728.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.199997 m,
nav range: 65.119263 m,
bearing: 358.232776 deg,
approach rate: -0.672075 m/s,
LOS rate: -0.055008 deg/s,
cmd heading: 7.540117 deg,
new cmd heading: 7.477143 deg.
2025-08-20T02:42:09.163Z,1755657729.163 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:09.163Z,1755657729.163 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:09.163Z,1755657729.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:09.279Z,1755657729.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.20 m.
2025-08-20T02:42:09.281Z,1755657729.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.199997 m,
nav range: 64.877663 m,
bearing: 358.213201 deg,
approach rate: -0.673014 m/s,
LOS rate: -0.054732 deg/s,
cmd heading: 7.477143 deg,
new cmd heading: 7.418200 deg.
2025-08-20T02:42:09.414Z,1755657729.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250060
2025-08-20T02:42:09.666Z,1755657729.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502107
2025-08-20T02:42:09.721Z,1755657729.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.20 m.
2025-08-20T02:42:09.728Z,1755657729.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.199997 m,
nav range: 64.588554 m,
bearing: 358.188344 deg,
approach rate: -0.653624 m/s,
LOS rate: -0.056450 deg/s,
cmd heading: 7.418200 deg,
new cmd heading: 7.343294 deg.
2025-08-20T02:42:09.922Z,1755657729.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757412
2025-08-20T02:42:10.094Z,1755657730.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.20 m.
2025-08-20T02:42:10.097Z,1755657730.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.199997 m,
nav range: 64.324974 m,
bearing: 358.165874 deg,
approach rate: -0.707826 m/s,
LOS rate: -0.060589 deg/s,
cmd heading: 7.343294 deg,
new cmd heading: 7.275608 deg.
2025-08-20T02:42:10.172Z,1755657730.172 [DAT](INFO): DAT read: Rx Time:02:42:08.0937
2025-08-20T02:42:10.172Z,1755657730.172 [DAT](INFO): Rx dataTimestamp_ set to:1755657730.171964
2025-08-20T02:42:10.173Z,1755657730.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008872
2025-08-20T02:42:10.426Z,1755657730.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261484
2025-08-20T02:42:10.547Z,1755657730.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.20 m.
2025-08-20T02:42:10.550Z,1755657730.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.199997 m,
nav range: 64.016396 m,
bearing: 358.138211 deg,
approach rate: -0.679727 m/s,
LOS rate: -0.061228 deg/s,
cmd heading: 7.275608 deg,
new cmd heading: 7.192220 deg.
2025-08-20T02:42:10.683Z,1755657730.683 [DAT](INFO): DAT read: 02:42:08.0937 LVL= 26176, 32753, 21570, 32755, AGC= 64, IDX= 404, 0.40,-1.789, 2.997,-1.366,-1.951, PHS= 0.264,-1.290, 0.541, RAW= 158.1, 5.7, CAL= 157.3, 5.4, ROT= 352.7, -5.4
2025-08-20T02:42:10.685Z,1755657730.685 [DAT](INFO): got valid direction response:
02:42:08.0937 LVL= 26176, 32753, 21570, 32755, AGC= 64, IDX= 404, 0.40,-1.789, 2.997,-1.366,-1.951, PHS= 0.264,-1.290, 0.541, RAW= 158.1, 5.7, CAL= 157.3, 5.4, ROT= 352.7, -5.4
2025-08-20T02:42:10.697Z,1755657730.697 [DAT](INFO): DAT read: Bearing 172.5, -9.3 (Local)
2025-08-20T02:42:10.698Z,1755657730.698 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.5, -9.3 (Local)
2025-08-20T02:42:10.699Z,1755657730.699 [DAT](INFO): DAT read: Range 11 to 50 : 63.8 m (Round-trip 85.1 ms) speed 0.6 m/s
2025-08-20T02:42:10.700Z,1755657730.700 [DAT](INFO): DAT read: user:3252>
2025-08-20T02:42:10.701Z,1755657730.701 [DAT](INFO): DAT read: Tx time:02:42:09.2044
2025-08-20T02:42:10.701Z,1755657730.701 [DAT](INFO): Ping request sent.
2025-08-20T02:42:10.701Z,1755657730.701 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:10.719Z,1755657730.719 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:10.720Z,1755657730.720 [DAT](INFO): direction in FSK: [0.987492,-0.126500,0.094108]
2025-08-20T02:42:10.721Z,1755657730.721 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:10.725Z,1755657730.725 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:10.729Z,1755657730.729 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:10.729Z,1755657730.729 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:10.953Z,1755657730.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 63.799999 m,
deltaT: 3.527097 s,
deltaX: -2.399998 m,
approachRate: -0.680446 m/s,
rangeRepo size: 4
2025-08-20T02:42:10.955Z,1755657730.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 63.799999 m,
bearing: 358.353423 deg,
lat: 36.779362 deg,
lon: -121.859560 deg,
deltaT: 3.527097 s,
deltaX: -2.399998 m,
approachRate: -0.680446 m/s,
posRepo size: 4
2025-08-20T02:42:10.956Z,1755657730.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-20T02:42:10.959Z,1755657730.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.799999 m,
nav range: 63.728848 m,
bearing: 358.353423 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.061228 deg/s,
cmd heading: 7.192220 deg,
new cmd heading: 7.117861 deg.
2025-08-20T02:42:11.348Z,1755657731.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:11.350Z,1755657731.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-20T02:42:11.353Z,1755657731.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.799999 m,
nav range: 63.456154 m,
bearing: 358.330609 deg,
approach rate: -0.684869 m/s,
LOS rate: -0.057545 deg/s,
cmd heading: 7.117861 deg,
new cmd heading: 7.049123 deg.
2025-08-20T02:42:11.431Z,1755657731.431 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:11.431Z,1755657731.431 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:11.431Z,1755657731.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:11.682Z,1755657731.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981452
2025-08-20T02:42:11.772Z,1755657731.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-20T02:42:11.774Z,1755657731.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.799999 m,
nav range: 63.164120 m,
bearing: 358.307261 deg,
approach rate: -0.693248 m/s,
LOS rate: -0.055681 deg/s,
cmd heading: 7.049123 deg,
new cmd heading: 6.978755 deg.
2025-08-20T02:42:11.935Z,1755657731.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233832
2025-08-20T02:42:12.160Z,1755657732.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-20T02:42:12.164Z,1755657732.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.799999 m,
nav range: 62.898006 m,
bearing: 358.286022 deg,
approach rate: -0.686492 m/s,
LOS rate: -0.055021 deg/s,
cmd heading: 6.978755 deg,
new cmd heading: 6.914770 deg.
2025-08-20T02:42:12.187Z,1755657732.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485981
2025-08-20T02:42:12.441Z,1755657732.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740086
2025-08-20T02:42:12.587Z,1755657732.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-20T02:42:12.590Z,1755657732.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.799999 m,
nav range: 62.600407 m,
bearing: 358.264116 deg,
approach rate: -0.695228 m/s,
LOS rate: -0.051420 deg/s,
cmd heading: 6.914770 deg,
new cmd heading: 6.848738 deg.
2025-08-20T02:42:12.691Z,1755657732.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989552
2025-08-20T02:42:12.943Z,1755657732.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241622
2025-08-20T02:42:12.966Z,1755657732.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-20T02:42:12.969Z,1755657732.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.799999 m,
nav range: 62.338383 m,
bearing: 358.244821 deg,
approach rate: -0.692685 m/s,
LOS rate: -0.051223 deg/s,
cmd heading: 6.848738 deg,
new cmd heading: 6.790610 deg.
2025-08-20T02:42:13.195Z,1755657733.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493933
2025-08-20T02:42:13.388Z,1755657733.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:13.390Z,1755657733.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-20T02:42:13.393Z,1755657733.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.799999 m,
nav range: 62.045338 m,
bearing: 358.223177 deg,
approach rate: -0.690102 m/s,
LOS rate: -0.051210 deg/s,
cmd heading: 6.790610 deg,
new cmd heading: 6.725372 deg.
2025-08-20T02:42:13.448Z,1755657733.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746876
2025-08-20T02:42:13.698Z,1755657733.698 [DAT](INFO): DAT read: Rx Time:02:42:11.6904
2025-08-20T02:42:13.699Z,1755657733.699 [DAT](INFO): Rx dataTimestamp_ set to:1755657733.698663
2025-08-20T02:42:13.700Z,1755657733.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998577
2025-08-20T02:42:13.811Z,1755657733.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.80 m.
2025-08-20T02:42:13.814Z,1755657733.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 63.799999 m,
nav range: 61.759235 m,
bearing: 358.201689 deg,
approach rate: -0.680236 m/s,
LOS rate: -0.051325 deg/s,
cmd heading: 6.725372 deg,
new cmd heading: 6.660611 deg.
2025-08-20T02:42:13.950Z,1755657733.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249404
2025-08-20T02:42:14.227Z,1755657734.227 [DAT](INFO): DAT read: 02:42:11.6904 LVL= 23184, 31729, 23090, 31603, AGC= 64, IDX= 403, 0.02,-0.101,-1.551, 0.261,-0.278, PHS= 0.280,-1.228, 0.495, RAW= 156.6, 5.6, CAL= 155.8, 5.4, ROT= 354.2, -5.4
2025-08-20T02:42:14.228Z,1755657734.228 [DAT](INFO): got valid direction response:
02:42:11.6904 LVL= 23184, 31729, 23090, 31603, AGC= 64, IDX= 403, 0.02,-0.101,-1.551, 0.261,-0.278, PHS= 0.280,-1.228, 0.495, RAW= 156.6, 5.6, CAL= 155.8, 5.4, ROT= 354.2, -5.4
2025-08-20T02:42:14.234Z,1755657734.234 [DAT](INFO): DAT read: Bearing 171.9, -7.3 (Local)
2025-08-20T02:42:14.235Z,1755657734.235 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, -7.3 (Local)
2025-08-20T02:42:14.236Z,1755657734.236 [DAT](INFO): DAT read: Range 11 to 50 : 61.4 m (Round-trip 81.9 ms) speed 0.5 m/s
2025-08-20T02:42:14.237Z,1755657734.237 [DAT](INFO): DAT read: user:3253>
2025-08-20T02:42:14.246Z,1755657734.246 [DAT](INFO): DAT read: Tx time:02:42:12.8043
2025-08-20T02:42:14.246Z,1755657734.246 [DAT](INFO): Ping request sent.
2025-08-20T02:42:14.246Z,1755657734.246 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:14.247Z,1755657734.247 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:14.248Z,1755657734.248 [DAT](INFO): direction in FSK: [0.990465,-0.100608,0.094108]
2025-08-20T02:42:14.248Z,1755657734.248 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:14.248Z,1755657734.248 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:14.255Z,1755657734.255 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:14.256Z,1755657734.256 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:14.263Z,1755657734.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 61.400002 m,
deltaT: 3.528863 s,
deltaX: -2.399998 m,
approachRate: -0.680105 m/s,
rangeRepo size: 4
2025-08-20T02:42:14.271Z,1755657734.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 61.400002 m,
bearing: 358.379458 deg,
lat: 36.779361 deg,
lon: -121.859558 deg,
deltaT: 3.528863 s,
deltaX: -2.399998 m,
approachRate: -0.680105 m/s,
posRepo size: 4
2025-08-20T02:42:14.272Z,1755657734.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-20T02:42:14.279Z,1755657734.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.400002 m,
nav range: 61.359642 m,
bearing: 358.379458 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.051325 deg/s,
cmd heading: 6.660611 deg,
new cmd heading: 6.591043 deg.
2025-08-20T02:42:14.650Z,1755657734.650 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:42:14.698Z,1755657734.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-20T02:42:14.700Z,1755657734.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.400002 m,
nav range: 61.057915 m,
bearing: 358.359815 deg,
approach rate: -0.700296 m/s,
LOS rate: -0.045817 deg/s,
cmd heading: 6.591043 deg,
new cmd heading: 6.531822 deg.
2025-08-20T02:42:15.033Z,1755657735.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-20T02:42:15.052Z,1755657735.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.400002 m,
nav range: 60.817738 m,
bearing: 358.344154 deg,
approach rate: -0.707119 m/s,
LOS rate: -0.046289 deg/s,
cmd heading: 6.531822 deg,
new cmd heading: 6.484655 deg.
2025-08-20T02:42:15.450Z,1755657735.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:15.452Z,1755657735.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-20T02:42:15.459Z,1755657735.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.400002 m,
nav range: 60.540081 m,
bearing: 358.326038 deg,
approach rate: -0.662828 m/s,
LOS rate: -0.043446 deg/s,
cmd heading: 6.484655 deg,
new cmd heading: 6.430056 deg.
2025-08-20T02:42:15.463Z,1755657735.463 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:15.464Z,1755657735.464 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:15.464Z,1755657735.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:15.654Z,1755657735.654 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:42:15.715Z,1755657735.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468768
2025-08-20T02:42:15.956Z,1755657735.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-20T02:42:15.968Z,1755657735.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721640
2025-08-20T02:42:15.981Z,1755657735.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.400002 m,
nav range: 60.211136 m,
bearing: 358.307775 deg,
approach rate: -0.652406 m/s,
LOS rate: -0.036420 deg/s,
cmd heading: 6.430056 deg,
new cmd heading: 6.374967 deg.
2025-08-20T02:42:16.218Z,1755657736.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972038
2025-08-20T02:42:16.348Z,1755657736.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-20T02:42:16.351Z,1755657736.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.400002 m,
nav range: 59.930679 m,
bearing: 358.292394 deg,
approach rate: -0.715503 m/s,
LOS rate: -0.039423 deg/s,
cmd heading: 6.374967 deg,
new cmd heading: 6.328609 deg.
2025-08-20T02:42:16.472Z,1755657736.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225356
2025-08-20T02:42:16.722Z,1755657736.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476131
2025-08-20T02:42:16.796Z,1755657736.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-20T02:42:16.799Z,1755657736.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.400002 m,
nav range: 59.636299 m,
bearing: 358.276182 deg,
approach rate: -0.657900 m/s,
LOS rate: -0.036410 deg/s,
cmd heading: 6.328609 deg,
new cmd heading: 6.279734 deg.
2025-08-20T02:42:16.978Z,1755657736.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730988
2025-08-20T02:42:17.173Z,1755657737.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-20T02:42:17.178Z,1755657737.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.400002 m,
nav range: 59.392109 m,
bearing: 358.263817 deg,
approach rate: -0.647563 m/s,
LOS rate: -0.032925 deg/s,
cmd heading: 6.279734 deg,
new cmd heading: 6.242486 deg.
2025-08-20T02:42:17.227Z,1755657737.227 [DAT](INFO): DAT read: Rx Time:02:42:15.2871
2025-08-20T02:42:17.227Z,1755657737.227 [DAT](INFO): Rx dataTimestamp_ set to:1755657737.226742
2025-08-20T02:42:17.228Z,1755657737.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981290
2025-08-20T02:42:17.480Z,1755657737.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233460
2025-08-20T02:42:17.547Z,1755657737.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:17.550Z,1755657737.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.40 m.
2025-08-20T02:42:17.552Z,1755657737.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 61.400002 m,
nav range: 59.145416 m,
bearing: 358.251641 deg,
approach rate: -0.654812 m/s,
LOS rate: -0.032454 deg/s,
cmd heading: 6.242486 deg,
new cmd heading: 6.205806 deg.
2025-08-20T02:42:17.731Z,1755657737.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484690
2025-08-20T02:42:17.991Z,1755657737.991 [DAT](INFO): DAT read: 02:42:15.2871 LVL= 25952, 32753, 20082, 32755, AGC= 63, IDX= 401, 0.26,-1.949, 2.836,-1.645,-2.167, PHS= 0.320,-1.235, 0.478, RAW= 154.8, 5.4, CAL= 154.0, 5.2, ROT= 356.0, -5.2
2025-08-20T02:42:17.992Z,1755657737.992 [DAT](INFO): got valid direction response:
02:42:15.2871 LVL= 25952, 32753, 20082, 32755, AGC= 63, IDX= 401, 0.26,-1.949, 2.836,-1.645,-2.167, PHS= 0.320,-1.235, 0.478, RAW= 154.8, 5.4, CAL= 154.0, 5.2, ROT= 356.0, -5.2
2025-08-20T02:42:17.993Z,1755657737.993 [DAT](INFO): DAT read: Bearing 171.1, -5.0 (Local)
2025-08-20T02:42:17.993Z,1755657737.993 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.1, -5.0 (Local)
2025-08-20T02:42:17.995Z,1755657737.995 [DAT](INFO): DAT read: Range 11 to 50 : 58.9 m (Round-trip 78.6 ms) speed 0.5 m/s
2025-08-20T02:42:17.995Z,1755657737.995 [DAT](INFO): DAT read: user:3254>
2025-08-20T02:42:17.996Z,1755657737.996 [DAT](INFO): DAT read: Tx time:02:42:16.4043
2025-08-20T02:42:17.996Z,1755657737.996 [DAT](INFO): Ping request sent.
2025-08-20T02:42:17.996Z,1755657737.996 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:17.997Z,1755657737.997 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:18.006Z,1755657738.006 [DAT](INFO): direction in FSK: [0.993458,-0.069469,0.090633]
2025-08-20T02:42:18.006Z,1755657738.006 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:18.007Z,1755657738.007 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:18.018Z,1755657738.018 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:18.018Z,1755657738.018 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:18.029Z,1755657738.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.900002 m,
deltaT: 3.779239 s,
deltaX: -2.500000 m,
approachRate: -0.661509 m/s,
rangeRepo size: 4
2025-08-20T02:42:18.035Z,1755657738.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 58.900002 m,
bearing: 1.507756 deg,
lat: 36.779361 deg,
lon: -121.859520 deg,
deltaT: 3.779239 s,
deltaX: -2.500000 m,
approachRate: -0.661509 m/s,
posRepo size: 4
2025-08-20T02:42:18.036Z,1755657738.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.90 m.
2025-08-20T02:42:18.036Z,1755657738.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-20T02:42:18.055Z,1755657738.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.900002 m,
nav range: 58.834812 m,
bearing: 1.507756 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.032454 deg/s,
cmd heading: 6.205806 deg,
new cmd heading: 6.159209 deg.
2025-08-20T02:42:18.122Z,1755657738.122 [DockingStepper](INFO): Changing to mode: 2
2025-08-20T02:42:18.507Z,1755657738.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.90 m.
2025-08-20T02:42:18.507Z,1755657738.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-20T02:42:18.510Z,1755657738.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.900002 m,
nav range: 58.530659 m,
bearing: 1.508256 deg,
approach rate: -0.634979 m/s,
LOS rate: 0.001050 deg/s,
cmd heading: 6.159209 deg,
new cmd heading: 6.160718 deg.
2025-08-20T02:42:18.897Z,1755657738.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.90 m.
2025-08-20T02:42:18.914Z,1755657738.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-20T02:42:18.916Z,1755657738.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.900002 m,
nav range: 58.258427 m,
bearing: 1.503548 deg,
approach rate: -0.698470 m/s,
LOS rate: -0.012136 deg/s,
cmd heading: 6.160718 deg,
new cmd heading: 6.146527 deg.
2025-08-20T02:42:19.282Z,1755657739.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.90 m.
2025-08-20T02:42:19.283Z,1755657739.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-20T02:42:19.285Z,1755657739.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.900002 m,
nav range: 58.008045 m,
bearing: 1.499189 deg,
approach rate: -0.649786 m/s,
LOS rate: -0.011363 deg/s,
cmd heading: 6.146527 deg,
new cmd heading: 6.133391 deg.
2025-08-20T02:42:19.722Z,1755657739.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:19.724Z,1755657739.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.90 m.
2025-08-20T02:42:19.725Z,1755657739.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-20T02:42:19.732Z,1755657739.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.900002 m,
nav range: 57.736286 m,
bearing: 1.497942 deg,
approach rate: -0.614379 m/s,
LOS rate: -0.002832 deg/s,
cmd heading: 6.133391 deg,
new cmd heading: 6.129633 deg.
2025-08-20T02:42:19.746Z,1755657739.746 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:19.746Z,1755657739.746 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:19.747Z,1755657739.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:19.000Z,1755657740.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002782
2025-08-20T02:42:20.085Z,1755657740.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.90 m.
2025-08-20T02:42:20.085Z,1755657740.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-20T02:42:20.088Z,1755657740.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.900002 m,
nav range: 57.491100 m,
bearing: 1.496727 deg,
approach rate: -0.680790 m/s,
LOS rate: -0.003387 deg/s,
cmd heading: 6.129633 deg,
new cmd heading: 6.125974 deg.
2025-08-20T02:42:20.251Z,1755657740.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254022
2025-08-20T02:42:20.496Z,1755657740.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.90 m.
2025-08-20T02:42:20.496Z,1755657740.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-20T02:42:20.503Z,1755657740.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506085
2025-08-20T02:42:20.515Z,1755657740.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.900002 m,
nav range: 57.226074 m,
bearing: 1.495348 deg,
approach rate: -0.644552 m/s,
LOS rate: -0.003370 deg/s,
cmd heading: 6.125974 deg,
new cmd heading: 6.121817 deg.
2025-08-20T02:42:20.755Z,1755657740.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758775
2025-08-20T02:42:20.916Z,1755657740.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.90 m.
2025-08-20T02:42:20.916Z,1755657740.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-20T02:42:20.919Z,1755657740.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.900002 m,
nav range: 56.954918 m,
bearing: 1.486805 deg,
approach rate: -0.645575 m/s,
LOS rate: -0.020437 deg/s,
cmd heading: 6.121817 deg,
new cmd heading: 6.096065 deg.
2025-08-20T02:42:21.007Z,1755657741.007 [DAT](INFO): DAT read: Rx Time:02:42:18.8838
2025-08-20T02:42:21.008Z,1755657741.008 [DAT](INFO): Rx dataTimestamp_ set to:1755657741.007514
2025-08-20T02:42:21.009Z,1755657741.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012244
2025-08-20T02:42:21.259Z,1755657741.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262145
2025-08-20T02:42:21.286Z,1755657741.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.90 m.
2025-08-20T02:42:21.286Z,1755657741.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.90 m.
2025-08-20T02:42:21.289Z,1755657741.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 58.900002 m,
nav range: 56.716022 m,
bearing: 1.479256 deg,
approach rate: -0.646058 m/s,
LOS rate: -0.020501 deg/s,
cmd heading: 6.096065 deg,
new cmd heading: 6.073323 deg.
2025-08-20T02:42:21.517Z,1755657741.517 [DAT](INFO): DAT read: 02:42:18.8838 LVL= 20080, 27953, 22178, 28995, AGC= 63, IDX= 416, 0.17,-2.039, 2.703,-1.724,-2.294, PHS= 0.357,-1.242, 0.525, RAW= 154.9, 4.3, CAL= 154.0, 3.9, ROT= 356.0, -3.9
2025-08-20T02:42:21.519Z,1755657741.519 [DAT](INFO): got valid direction response:
02:42:18.8838 LVL= 20080, 27953, 22178, 28995, AGC= 63, IDX= 416, 0.17,-2.039, 2.703,-1.724,-2.294, PHS= 0.357,-1.242, 0.525, RAW= 154.9, 4.3, CAL= 154.0, 3.9, ROT= 356.0, -3.9
2025-08-20T02:42:21.520Z,1755657741.520 [DAT](INFO): DAT read: Bearing 169.3, -4.6 (Local)
2025-08-20T02:42:21.521Z,1755657741.521 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.3, -4.6 (Local)
2025-08-20T02:42:21.522Z,1755657741.522 [DAT](INFO): DAT read: Range 11 to 50 : 56.4 m (Round-trip 75.3 ms) speed 0.5 m/s
2025-08-20T02:42:21.523Z,1755657741.523 [DAT](INFO): DAT read: user:3255>
2025-08-20T02:42:21.524Z,1755657741.524 [DAT](INFO): DAT read: Tx time:02:42:20.0043
2025-08-20T02:42:21.524Z,1755657741.524 [DAT](INFO): Ping request sent.
2025-08-20T02:42:21.524Z,1755657741.524 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:21.524Z,1755657741.524 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:21.561Z,1755657741.561 [DAT](INFO): direction in FSK: [0.995254,-0.069595,0.068015]
2025-08-20T02:42:21.562Z,1755657741.562 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:21.562Z,1755657741.562 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:21.565Z,1755657741.565 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:21.565Z,1755657741.565 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:21.868Z,1755657741.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 56.400002 m,
deltaT: 3.527151 s,
deltaX: -2.500000 m,
approachRate: -0.708787 m/s,
rangeRepo size: 4
2025-08-20T02:42:21.870Z,1755657741.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.400002 m,
bearing: 2.414339 deg,
lat: 36.779360 deg,
lon: -121.859509 deg,
deltaT: 3.527151 s,
deltaX: -2.500000 m,
approachRate: -0.708787 m/s,
posRepo size: 4
2025-08-20T02:42:21.871Z,1755657741.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-20T02:42:21.871Z,1755657741.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-20T02:42:21.877Z,1755657741.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.400002 m,
nav range: 56.329231 m,
bearing: 2.414339 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.020501 deg/s,
cmd heading: 6.073323 deg,
new cmd heading: 6.037548 deg.
2025-08-20T02:42:22.235Z,1755657742.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:22.237Z,1755657742.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-20T02:42:22.238Z,1755657742.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-20T02:42:22.240Z,1755657742.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.400002 m,
nav range: 56.074421 m,
bearing: 2.409782 deg,
approach rate: -0.689252 m/s,
LOS rate: -0.012382 deg/s,
cmd heading: 6.037547 deg,
new cmd heading: 6.023815 deg.
2025-08-20T02:42:22.266Z,1755657742.266 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:22.266Z,1755657742.266 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:22.267Z,1755657742.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:22.520Z,1755657742.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995682
2025-08-20T02:42:22.624Z,1755657742.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-20T02:42:22.626Z,1755657742.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-20T02:42:22.656Z,1755657742.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.400002 m,
nav range: 55.824360 m,
bearing: 2.405446 deg,
approach rate: -0.647929 m/s,
LOS rate: -0.011284 deg/s,
cmd heading: 6.023814 deg,
new cmd heading: 6.010750 deg.
2025-08-20T02:42:22.771Z,1755657742.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247421
2025-08-20T02:42:23.022Z,1755657743.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498502
2025-08-20T02:42:23.050Z,1755657743.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-20T02:42:23.051Z,1755657743.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-20T02:42:23.054Z,1755657743.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.400002 m,
nav range: 55.532478 m,
bearing: 2.402139 deg,
approach rate: -0.682727 m/s,
LOS rate: -0.007777 deg/s,
cmd heading: 6.010750 deg,
new cmd heading: 6.000776 deg.
2025-08-20T02:42:23.275Z,1755657743.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750904
2025-08-20T02:42:23.438Z,1755657743.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-20T02:42:23.439Z,1755657743.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-20T02:42:23.449Z,1755657743.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.400002 m,
nav range: 55.282280 m,
bearing: 2.399328 deg,
approach rate: -0.645269 m/s,
LOS rate: -0.007282 deg/s,
cmd heading: 6.000775 deg,
new cmd heading: 5.992305 deg.
2025-08-20T02:42:23.528Z,1755657743.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003559
2025-08-20T02:42:23.778Z,1755657743.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254422
2025-08-20T02:42:23.870Z,1755657743.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-20T02:42:23.871Z,1755657743.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m.
2025-08-20T02:42:23.871Z,1755657743.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.40 m.
2025-08-20T02:42:23.871Z,1755657743.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-20T02:42:23.874Z,1755657743.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.400002 m,
nav range: 54.986828 m,
bearing: 2.400630 deg,
approach rate: -0.684123 m/s,
LOS rate: 0.003031 deg/s,
cmd heading: 5.992305 deg,
new cmd heading: 5.996232 deg.
2025-08-20T02:42:24.031Z,1755657744.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506544
2025-08-20T02:42:24.238Z,1755657744.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:24.240Z,1755657744.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-20T02:42:24.243Z,1755657744.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.400002 m,
nav range: 54.742920 m,
bearing: 2.402726 deg,
approach rate: -0.658575 m/s,
LOS rate: 0.005685 deg/s,
cmd heading: 5.996232 deg,
new cmd heading: 6.002548 deg.
2025-08-20T02:42:24.244Z,1755657744.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104764 target range: 56.400002 and range: 56.40 m.
2025-08-20T02:42:24.283Z,1755657744.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759140
2025-08-20T02:42:24.534Z,1755657744.534 [DAT](INFO): DAT read: Rx Time:02:42:22.4809
2025-08-20T02:42:24.535Z,1755657744.535 [DAT](INFO): Rx dataTimestamp_ set to:1755657744.534585
2025-08-20T02:42:24.535Z,1755657744.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011485
2025-08-20T02:42:24.642Z,1755657744.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.40 m.
2025-08-20T02:42:24.644Z,1755657744.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.400002 m,
nav range: 54.481106 m,
bearing: 2.405608 deg,
approach rate: -0.652488 m/s,
LOS rate: 0.007217 deg/s,
cmd heading: 6.002548 deg,
new cmd heading: 6.011235 deg.
2025-08-20T02:42:24.646Z,1755657744.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104916 target range: 56.400002 and range: 56.40 m.
2025-08-20T02:42:24.787Z,1755657744.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262593
2025-08-20T02:42:25.044Z,1755657745.044 [DAT](INFO): DAT read: 02:42:22.4809 LVL= 19056, 27985, 19858, 32659, AGC= 61, IDX= 418,-0.16, 1.095,-0.460, 1.343, 0.826, PHS= 0.371,-1.241, 0.473, RAW= 153.0, 4.8, CAL= 152.2, 4.7, ROT= 357.8, -4.7
2025-08-20T02:42:25.045Z,1755657745.045 [DAT](INFO): got valid direction response:
02:42:22.4809 LVL= 19056, 27985, 19858, 32659, AGC= 61, IDX= 418,-0.16, 1.095,-0.460, 1.343, 0.826, PHS= 0.371,-1.241, 0.473, RAW= 153.0, 4.8, CAL= 152.2, 4.7, ROT= 357.8, -4.7
2025-08-20T02:42:25.046Z,1755657745.046 [DAT](INFO): DAT read: Bearing 170.1, -2.3 (Local)
2025-08-20T02:42:25.047Z,1755657745.047 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.1, -2.3 (Local)
2025-08-20T02:42:25.048Z,1755657745.048 [DAT](INFO): DAT read: Range 11 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.5 m/s
2025-08-20T02:42:25.049Z,1755657745.049 [DAT](INFO): DAT read: user:3256>
2025-08-20T02:42:25.050Z,1755657745.050 [DAT](INFO): DAT read: Tx time:02:42:23.6043
2025-08-20T02:42:25.050Z,1755657745.050 [DAT](INFO): Ping request sent.
2025-08-20T02:42:25.050Z,1755657745.050 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:25.050Z,1755657745.050 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:25.051Z,1755657745.051 [DAT](INFO): direction in FSK: [0.995903,-0.038259,0.081939]
2025-08-20T02:42:25.051Z,1755657745.051 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:25.052Z,1755657745.052 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:25.067Z,1755657745.067 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:25.067Z,1755657745.067 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:25.173Z,1755657745.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.299999 m,
deltaT: 3.527920 s,
deltaX: -2.100002 m,
approachRate: -0.595252 m/s,
rangeRepo size: 4
2025-08-20T02:42:25.184Z,1755657745.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.299999 m,
bearing: 2.513817 deg,
lat: 36.779360 deg,
lon: -121.859508 deg,
deltaT: 3.527920 s,
deltaX: -2.100002 m,
approachRate: -0.595252 m/s,
posRepo size: 4
2025-08-20T02:42:25.198Z,1755657745.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-20T02:42:25.201Z,1755657745.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.299999 m,
nav range: 54.152386 m,
bearing: 2.513817 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007217 deg/s,
cmd heading: 6.011235 deg,
new cmd heading: 6.022705 deg.
2025-08-20T02:42:25.206Z,1755657745.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105116 target range: 54.299999 and range: 54.30 m.
2025-08-20T02:42:25.465Z,1755657745.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-20T02:42:25.469Z,1755657745.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.299999 m,
nav range: 53.935547 m,
bearing: 2.520056 deg,
approach rate: -0.740105 m/s,
LOS rate: 0.021379 deg/s,
cmd heading: 6.022705 deg,
new cmd heading: 6.041496 deg.
2025-08-20T02:42:25.486Z,1755657745.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105444 target range: 54.299999 and range: 54.30 m.
2025-08-20T02:42:25.863Z,1755657745.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-20T02:42:25.866Z,1755657745.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.299999 m,
nav range: 53.666351 m,
bearing: 2.528064 deg,
approach rate: -0.675877 m/s,
LOS rate: 0.020208 deg/s,
cmd heading: 6.041496 deg,
new cmd heading: 6.065642 deg.
2025-08-20T02:42:25.867Z,1755657745.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105865 target range: 54.299999 and range: 54.30 m.
2025-08-20T02:42:26.244Z,1755657746.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:26.246Z,1755657746.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-20T02:42:26.249Z,1755657746.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.299999 m,
nav range: 53.411179 m,
bearing: 2.535802 deg,
approach rate: -0.665374 m/s,
LOS rate: 0.020273 deg/s,
cmd heading: 6.065642 deg,
new cmd heading: 6.088966 deg.
2025-08-20T02:42:26.251Z,1755657746.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106273 target range: 54.299999 and range: 54.30 m.
2025-08-20T02:42:26.299Z,1755657746.299 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:26.299Z,1755657746.299 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:26.300Z,1755657746.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:26.550Z,1755657746.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500455
2025-08-20T02:42:26.658Z,1755657746.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-20T02:42:26.663Z,1755657746.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.299999 m,
nav range: 53.136642 m,
bearing: 2.544070 deg,
approach rate: -0.667242 m/s,
LOS rate: 0.020199 deg/s,
cmd heading: 6.088966 deg,
new cmd heading: 6.113899 deg.
2025-08-20T02:42:26.667Z,1755657746.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106708 target range: 54.299999 and range: 54.30 m.
2025-08-20T02:42:26.802Z,1755657746.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752443
2025-08-20T02:42:27.056Z,1755657747.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006204
2025-08-20T02:42:27.218Z,1755657747.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-20T02:42:27.224Z,1755657747.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.299999 m,
nav range: 52.770542 m,
bearing: 2.557655 deg,
approach rate: -0.658669 m/s,
LOS rate: 0.024612 deg/s,
cmd heading: 6.113899 deg,
new cmd heading: 6.154938 deg.
2025-08-20T02:42:27.225Z,1755657747.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107424 target range: 54.299999 and range: 54.30 m.
2025-08-20T02:42:27.306Z,1755657747.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256534
2025-08-20T02:42:27.558Z,1755657747.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508423
2025-08-20T02:42:27.778Z,1755657747.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-20T02:42:27.785Z,1755657747.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.299999 m,
nav range: 52.420223 m,
bearing: 2.569992 deg,
approach rate: -0.620024 m/s,
LOS rate: 0.021981 deg/s,
cmd heading: 6.154938 deg,
new cmd heading: 6.192196 deg.
2025-08-20T02:42:27.786Z,1755657747.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108074 target range: 54.299999 and range: 54.30 m.
2025-08-20T02:42:27.811Z,1755657747.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760655
2025-08-20T02:42:28.062Z,1755657748.062 [DAT](INFO): DAT read: Rx Time:02:42:26.0776
2025-08-20T02:42:28.063Z,1755657748.063 [DAT](INFO): Rx dataTimestamp_ set to:1755657748.062678
2025-08-20T02:42:28.064Z,1755657748.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013575
2025-08-20T02:42:28.290Z,1755657748.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:28.292Z,1755657748.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-20T02:42:28.295Z,1755657748.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.299999 m,
nav range: 52.050823 m,
bearing: 2.589124 deg,
approach rate: -0.719160 m/s,
LOS rate: 0.037509 deg/s,
cmd heading: 6.192196 deg,
new cmd heading: 6.249997 deg.
2025-08-20T02:42:28.296Z,1755657748.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109083 target range: 54.299999 and range: 54.30 m.
2025-08-20T02:42:28.314Z,1755657748.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264521
2025-08-20T02:42:28.571Z,1755657748.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520249
2025-08-20T02:42:28.681Z,1755657748.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m.
2025-08-20T02:42:28.684Z,1755657748.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.299999 m,
nav range: 51.794735 m,
bearing: 2.602547 deg,
approach rate: -0.658374 m/s,
LOS rate: 0.034680 deg/s,
cmd heading: 6.249997 deg,
new cmd heading: 6.290466 deg.
2025-08-20T02:42:28.685Z,1755657748.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109789 target range: 54.299999 and range: 54.30 m.
2025-08-20T02:42:28.825Z,1755657748.825 [DAT](INFO): DAT read: 02:42:26.0776 LVL= 23424, 28833, 24738, 30195, AGC= 64, IDX= 401, 0.23,-2.575, 2.124,-2.297,-2.836, PHS= 0.363,-1.278, 0.495, RAW= 153.8, 5.0, CAL= 153.0, 4.8, ROT= 357.0, -4.8
2025-08-20T02:42:28.826Z,1755657748.826 [DAT](INFO): got valid direction response:
02:42:26.0776 LVL= 23424, 28833, 24738, 30195, AGC= 64, IDX= 401, 0.23,-2.575, 2.124,-2.297,-2.836, PHS= 0.363,-1.278, 0.495, RAW= 153.8, 5.0, CAL= 153.0, 4.8, ROT= 357.0, -4.8
2025-08-20T02:42:28.827Z,1755657748.827 [DAT](INFO): DAT read: Bearing 170.6, -2.5 (Local)
2025-08-20T02:42:28.828Z,1755657748.828 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.6, -2.5 (Local)
2025-08-20T02:42:28.829Z,1755657748.829 [DAT](INFO): DAT read: Range 11 to 50 : 51.9 m (Round-trip 69.2 ms) speed 0.6 m/s
2025-08-20T02:42:28.830Z,1755657748.830 [DAT](INFO): DAT read: user:3257>
2025-08-20T02:42:28.831Z,1755657748.831 [DAT](INFO): DAT read: Tx time:02:42:27.2042
2025-08-20T02:42:28.831Z,1755657748.831 [DAT](INFO): Ping request sent.
2025-08-20T02:42:28.831Z,1755657748.831 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:28.831Z,1755657748.831 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:28.832Z,1755657748.832 [DAT](INFO): direction in FSK: [0.995127,-0.052152,0.083678]
2025-08-20T02:42:28.833Z,1755657748.833 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:28.833Z,1755657748.833 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:28.848Z,1755657748.848 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:28.848Z,1755657748.848 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:29.134Z,1755657749.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 51.900002 m,
deltaT: 3.780518 s,
deltaX: -2.399998 m,
approachRate: -0.634833 m/s,
rangeRepo size: 4
2025-08-20T02:42:29.136Z,1755657749.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.900002 m,
bearing: 2.753348 deg,
lat: 36.779360 deg,
lon: -121.859507 deg,
deltaT: 3.780518 s,
deltaX: -2.399998 m,
approachRate: -0.634833 m/s,
posRepo size: 4
2025-08-20T02:42:29.136Z,1755657749.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-08-20T02:42:29.143Z,1755657749.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.900002 m,
nav range: 51.519249 m,
bearing: 2.753348 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.034680 deg/s,
cmd heading: 6.290465 deg,
new cmd heading: 6.335784 deg.
2025-08-20T02:42:29.144Z,1755657749.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110580 target range: 51.900002 and range: 51.90 m.
2025-08-20T02:42:29.517Z,1755657749.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-08-20T02:42:29.520Z,1755657749.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.900002 m,
nav range: 51.268272 m,
bearing: 2.762005 deg,
approach rate: -0.632884 m/s,
LOS rate: 0.021937 deg/s,
cmd heading: 6.335784 deg,
new cmd heading: 6.361882 deg.
2025-08-20T02:42:29.521Z,1755657749.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111036 target range: 51.900002 and range: 51.90 m.
2025-08-20T02:42:29.928Z,1755657749.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-08-20T02:42:29.933Z,1755657749.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.900002 m,
nav range: 50.988941 m,
bearing: 2.775039 deg,
approach rate: -0.674751 m/s,
LOS rate: 0.031657 deg/s,
cmd heading: 6.361882 deg,
new cmd heading: 6.401198 deg.
2025-08-20T02:42:29.935Z,1755657749.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111722 target range: 51.900002 and range: 51.90 m.
2025-08-20T02:42:30.369Z,1755657750.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:30.371Z,1755657750.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-08-20T02:42:30.374Z,1755657750.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.900002 m,
nav range: 50.696301 m,
bearing: 2.788175 deg,
approach rate: -0.658850 m/s,
LOS rate: 0.029744 deg/s,
cmd heading: 6.401198 deg,
new cmd heading: 6.440832 deg.
2025-08-20T02:42:30.375Z,1755657750.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112414 target range: 51.900002 and range: 51.90 m.
2025-08-20T02:42:30.582Z,1755657750.582 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:30.582Z,1755657750.582 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:30.582Z,1755657750.582 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:30.814Z,1755657750.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-08-20T02:42:30.816Z,1755657750.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.900002 m,
nav range: 50.434826 m,
bearing: 2.799401 deg,
approach rate: -0.596838 m/s,
LOS rate: 0.025757 deg/s,
cmd heading: 6.440832 deg,
new cmd heading: 6.474684 deg.
2025-08-20T02:42:30.821Z,1755657750.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113005 target range: 51.900002 and range: 51.90 m.
2025-08-20T02:42:30.835Z,1755657750.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003590
2025-08-20T02:42:31.087Z,1755657751.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255457
2025-08-20T02:42:31.215Z,1755657751.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-08-20T02:42:31.226Z,1755657751.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.900002 m,
nav range: 50.174961 m,
bearing: 2.807762 deg,
approach rate: -0.640909 m/s,
LOS rate: 0.020728 deg/s,
cmd heading: 6.474685 deg,
new cmd heading: 6.499898 deg.
2025-08-20T02:42:31.227Z,1755657751.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113445 target range: 51.900002 and range: 51.90 m.
2025-08-20T02:42:31.339Z,1755657751.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507407
2025-08-20T02:42:31.591Z,1755657751.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759698
2025-08-20T02:42:31.592Z,1755657751.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-08-20T02:42:31.595Z,1755657751.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.900002 m,
nav range: 49.921028 m,
bearing: 2.815538 deg,
approach rate: -0.673409 m/s,
LOS rate: 0.020727 deg/s,
cmd heading: 6.499898 deg,
new cmd heading: 6.523345 deg.
2025-08-20T02:42:31.596Z,1755657751.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113854 target range: 51.900002 and range: 51.90 m.
2025-08-20T02:42:31.843Z,1755657751.843 [DAT](INFO): DAT read: Rx Time:02:42:29.6744
2025-08-20T02:42:31.844Z,1755657751.844 [DAT](INFO): Rx dataTimestamp_ set to:1755657751.843528
2025-08-20T02:42:31.845Z,1755657751.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013624
2025-08-20T02:42:32.088Z,1755657752.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.90 m.
2025-08-20T02:42:32.094Z,1755657752.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263289
2025-08-20T02:42:32.096Z,1755657752.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.900002 m,
nav range: 49.632156 m,
bearing: 2.819317 deg,
approach rate: -0.582838 m/s,
LOS rate: 0.007668 deg/s,
cmd heading: 6.523345 deg,
new cmd heading: 6.534747 deg.
2025-08-20T02:42:32.097Z,1755657752.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114053 target range: 51.900002 and range: 51.90 m.
2025-08-20T02:42:32.352Z,1755657752.352 [DAT](INFO): DAT read: 02:42:29.6744 LVL= 23664, 30897, 21906, 30435, AGC= 64, IDX= 416,-0.10,-1.605,-3.105,-1.300,-1.831, PHS= 0.328,-1.229, 0.487, RAW= 154.8, 5.1, CAL= 154.0, 4.9, ROT= 356.0, -4.9
2025-08-20T02:42:32.353Z,1755657752.353 [DAT](INFO): got valid direction response:
02:42:29.6744 LVL= 23664, 30897, 21906, 30435, AGC= 64, IDX= 416,-0.10,-1.605,-3.105,-1.300,-1.831, PHS= 0.328,-1.229, 0.487, RAW= 154.8, 5.1, CAL= 154.0, 4.9, ROT= 356.0, -4.9
2025-08-20T02:42:32.354Z,1755657752.354 [DAT](INFO): DAT read: Bearing 171.3, -2.3 (Local)
2025-08-20T02:42:32.355Z,1755657752.355 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.3, -2.3 (Local)
2025-08-20T02:42:32.356Z,1755657752.356 [DAT](INFO): DAT read: Range 11 to 50 : 49.5 m (Round-trip 66.0 ms) speed 0.7 m/s
2025-08-20T02:42:32.357Z,1755657752.357 [DAT](INFO): DAT read: user:3258>
2025-08-20T02:42:32.358Z,1755657752.358 [DAT](INFO): DAT read: Tx time:02:42:30.8042
2025-08-20T02:42:32.358Z,1755657752.358 [DAT](INFO): Ping request sent.
2025-08-20T02:42:32.358Z,1755657752.358 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:32.359Z,1755657752.359 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:32.359Z,1755657752.359 [DAT](INFO): direction in FSK: [0.993918,-0.069501,0.085417]
2025-08-20T02:42:32.360Z,1755657752.360 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:32.360Z,1755657752.360 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:32.363Z,1755657752.363 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:32.363Z,1755657752.363 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:32.578Z,1755657752.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.500000 m,
deltaT: 3.527481 s,
deltaX: -2.400002 m,
approachRate: -0.680373 m/s,
rangeRepo size: 4
2025-08-20T02:42:32.581Z,1755657752.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.500000 m,
bearing: 2.759640 deg,
lat: 36.779360 deg,
lon: -121.859507 deg,
deltaT: 3.527481 s,
deltaX: -2.400002 m,
approachRate: -0.680373 m/s,
posRepo size: 4
2025-08-20T02:42:32.585Z,1755657752.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-08-20T02:42:32.588Z,1755657752.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.500000 m,
nav range: 49.317547 m,
bearing: 2.759640 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.007668 deg/s,
cmd heading: 6.534748 deg,
new cmd heading: 6.545738 deg.
2025-08-20T02:42:32.589Z,1755657752.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114245 target range: 49.500000 and range: 49.50 m.
2025-08-20T02:42:32.990Z,1755657752.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:32.992Z,1755657752.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-08-20T02:42:33.003Z,1755657753.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.500000 m,
nav range: 49.050930 m,
bearing: 2.757351 deg,
approach rate: -0.625069 m/s,
LOS rate: -0.005396 deg/s,
cmd heading: 6.545738 deg,
new cmd heading: 6.538834 deg.
2025-08-20T02:42:33.004Z,1755657753.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114124 target range: 49.500000 and range: 49.50 m.
2025-08-20T02:42:33.104Z,1755657753.104 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:33.104Z,1755657753.104 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:33.104Z,1755657753.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:33.355Z,1755657753.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996275
2025-08-20T02:42:33.389Z,1755657753.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-08-20T02:42:33.396Z,1755657753.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.500000 m,
nav range: 48.831940 m,
bearing: 2.755368 deg,
approach rate: -0.551466 m/s,
LOS rate: -0.005017 deg/s,
cmd heading: 6.538834 deg,
new cmd heading: 6.532857 deg.
2025-08-20T02:42:33.397Z,1755657753.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114020 target range: 49.500000 and range: 49.50 m.
2025-08-20T02:42:33.606Z,1755657753.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248198
2025-08-20T02:42:33.739Z,1755657753.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-08-20T02:42:33.742Z,1755657753.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.500000 m,
nav range: 48.585590 m,
bearing: 2.752837 deg,
approach rate: -0.704252 m/s,
LOS rate: -0.007272 deg/s,
cmd heading: 6.532857 deg,
new cmd heading: 6.525226 deg.
2025-08-20T02:42:33.743Z,1755657753.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113887 target range: 49.500000 and range: 49.50 m.
2025-08-20T02:42:33.862Z,1755657753.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502554
2025-08-20T02:42:34.111Z,1755657754.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752299
2025-08-20T02:42:34.190Z,1755657754.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-08-20T02:42:34.193Z,1755657754.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.500000 m,
nav range: 48.312660 m,
bearing: 2.746699 deg,
approach rate: -0.604644 m/s,
LOS rate: -0.013674 deg/s,
cmd heading: 6.525226 deg,
new cmd heading: 6.506708 deg.
2025-08-20T02:42:34.194Z,1755657754.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113563 target range: 49.500000 and range: 49.50 m.
2025-08-20T02:42:34.362Z,1755657754.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004143
2025-08-20T02:42:34.535Z,1755657754.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-08-20T02:42:34.538Z,1755657754.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.500000 m,
nav range: 48.093662 m,
bearing: 2.741552 deg,
approach rate: -0.635364 m/s,
LOS rate: -0.015001 deg/s,
cmd heading: 6.506708 deg,
new cmd heading: 6.491197 deg.
2025-08-20T02:42:34.539Z,1755657754.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113293 target range: 49.500000 and range: 49.50 m.
2025-08-20T02:42:34.615Z,1755657754.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257038
2025-08-20T02:42:34.867Z,1755657754.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508323
2025-08-20T02:42:35.048Z,1755657755.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:35.054Z,1755657755.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-08-20T02:42:35.057Z,1755657755.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.500000 m,
nav range: 47.786518 m,
bearing: 2.729494 deg,
approach rate: -0.591528 m/s,
LOS rate: -0.023373 deg/s,
cmd heading: 6.491197 deg,
new cmd heading: 6.454788 deg.
2025-08-20T02:42:35.062Z,1755657755.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112657 target range: 49.500000 and range: 49.50 m.
2025-08-20T02:42:35.120Z,1755657755.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761144
2025-08-20T02:42:35.371Z,1755657755.371 [DAT](INFO): DAT read: Rx Time:02:42:33.2713
2025-08-20T02:42:35.371Z,1755657755.371 [DAT](INFO): Rx dataTimestamp_ set to:1755657755.370716
2025-08-20T02:42:35.372Z,1755657755.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013363
2025-08-20T02:42:35.390Z,1755657755.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-08-20T02:42:35.392Z,1755657755.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.500000 m,
nav range: 47.568718 m,
bearing: 2.720815 deg,
approach rate: -0.649287 m/s,
LOS rate: -0.025989 deg/s,
cmd heading: 6.454788 deg,
new cmd heading: 6.428634 deg.
2025-08-20T02:42:35.410Z,1755657755.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112201 target range: 49.500000 and range: 49.50 m.
2025-08-20T02:42:35.622Z,1755657755.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264231
2025-08-20T02:42:35.895Z,1755657755.895 [DAT](INFO): DAT read: 02:42:33.2713 LVL= 31792, 31729, 28914, 32755, AGC= 65, IDX= 417,-0.04,-2.819, 1.890,-2.519,-3.066, PHS= 0.349,-1.283, 0.503, RAW= 154.5, 5.1, CAL= 153.6, 4.9, ROT= 356.4, -4.9
2025-08-20T02:42:35.896Z,1755657755.896 [DAT](INFO): got valid direction response:
02:42:33.2713 LVL= 31792, 31729, 28914, 32755, AGC= 65, IDX= 417,-0.04,-2.819, 1.890,-2.519,-3.066, PHS= 0.349,-1.283, 0.503, RAW= 154.5, 5.1, CAL= 153.6, 4.9, ROT= 356.4, -4.9
2025-08-20T02:42:35.897Z,1755657755.897 [DAT](INFO): DAT read: Bearing 171.6, -0.5 (Local)
2025-08-20T02:42:35.902Z,1755657755.902 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.6, -0.5 (Local)
2025-08-20T02:42:35.904Z,1755657755.904 [DAT](INFO): DAT read: Range 11 to 50 : 47.1 m (Round-trip 62.9 ms) speed 0.4 m/s
2025-08-20T02:42:35.904Z,1755657755.904 [DAT](INFO): DAT read: user:3259>
2025-08-20T02:42:35.905Z,1755657755.905 [DAT](INFO): DAT read: Tx time:02:42:34.4042
2025-08-20T02:42:35.910Z,1755657755.910 [DAT](INFO): Ping request sent.
2025-08-20T02:42:35.910Z,1755657755.910 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:35.911Z,1755657755.911 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:35.918Z,1755657755.918 [DAT](INFO): direction in FSK: [0.994379,-0.062561,0.085417]
2025-08-20T02:42:35.918Z,1755657755.918 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:35.918Z,1755657755.918 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:35.929Z,1755657755.929 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:35.929Z,1755657755.929 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:35.940Z,1755657755.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.099998 m,
deltaT: 3.529363 s,
deltaX: -2.400002 m,
approachRate: -0.680010 m/s,
rangeRepo size: 4
2025-08-20T02:42:35.978Z,1755657755.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.099998 m,
bearing: 2.953729 deg,
lat: 36.779360 deg,
lon: -121.859505 deg,
deltaT: 3.529363 s,
deltaX: -2.400002 m,
approachRate: -0.680010 m/s,
posRepo size: 4
2025-08-20T02:42:35.979Z,1755657755.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m.
2025-08-20T02:42:35.990Z,1755657755.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.099998 m,
nav range: 47.200256 m,
bearing: 2.953729 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.025989 deg/s,
cmd heading: 6.428634 deg,
new cmd heading: 6.385739 deg.
2025-08-20T02:42:35.991Z,1755657755.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111452 target range: 47.099998 and range: 47.10 m.
2025-08-20T02:42:36.379Z,1755657756.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m.
2025-08-20T02:42:36.382Z,1755657756.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.099998 m,
nav range: 46.915554 m,
bearing: 2.942957 deg,
approach rate: -0.650375 m/s,
LOS rate: -0.024758 deg/s,
cmd heading: 6.385739 deg,
new cmd heading: 6.353226 deg.
2025-08-20T02:42:36.383Z,1755657756.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110885 target range: 47.099998 and range: 47.10 m.
2025-08-20T02:42:36.996Z,1755657756.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m.
2025-08-20T02:42:37.003Z,1755657757.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.099998 m,
nav range: 46.561161 m,
bearing: 2.928907 deg,
approach rate: -0.572814 m/s,
LOS rate: -0.022882 deg/s,
cmd heading: 6.353226 deg,
new cmd heading: 6.310755 deg.
2025-08-20T02:42:37.004Z,1755657757.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110143 target range: 47.099998 and range: 47.10 m.
2025-08-20T02:42:37.526Z,1755657757.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:37.528Z,1755657757.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m.
2025-08-20T02:42:37.531Z,1755657757.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.099998 m,
nav range: 46.220669 m,
bearing: 2.913266 deg,
approach rate: -0.640654 m/s,
LOS rate: -0.029647 deg/s,
cmd heading: 6.310755 deg,
new cmd heading: 6.263486 deg.
2025-08-20T02:42:37.532Z,1755657757.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109318 target range: 47.099998 and range: 47.10 m.
2025-08-20T02:42:37.638Z,1755657757.638 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:37.638Z,1755657757.638 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:37.639Z,1755657757.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:37.894Z,1755657757.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982866
2025-08-20T02:42:37.995Z,1755657757.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m.
2025-08-20T02:42:37.998Z,1755657757.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.099998 m,
nav range: 45.937576 m,
bearing: 2.898930 deg,
approach rate: -0.606212 m/s,
LOS rate: -0.030887 deg/s,
cmd heading: 6.263486 deg,
new cmd heading: 6.220214 deg.
2025-08-20T02:42:37.999Z,1755657757.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108563 target range: 47.099998 and range: 47.10 m.
2025-08-20T02:42:38.144Z,1755657758.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232954
2025-08-20T02:42:38.395Z,1755657758.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484201
2025-08-20T02:42:38.400Z,1755657758.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m.
2025-08-20T02:42:38.406Z,1755657758.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.099998 m,
nav range: 45.695683 m,
bearing: 2.886294 deg,
approach rate: -0.598248 m/s,
LOS rate: -0.031416 deg/s,
cmd heading: 6.220214 deg,
new cmd heading: 6.182106 deg.
2025-08-20T02:42:38.408Z,1755657758.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107898 target range: 47.099998 and range: 47.10 m.
2025-08-20T02:42:38.647Z,1755657758.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736461
2025-08-20T02:42:38.778Z,1755657758.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m.
2025-08-20T02:42:38.781Z,1755657758.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.099998 m,
nav range: 45.465954 m,
bearing: 2.873884 deg,
approach rate: -0.605799 m/s,
LOS rate: -0.032892 deg/s,
cmd heading: 6.182106 deg,
new cmd heading: 6.144687 deg.
2025-08-20T02:42:38.782Z,1755657758.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107245 target range: 47.099998 and range: 47.10 m.
2025-08-20T02:42:38.906Z,1755657758.906 [DAT](INFO): DAT read: Rx Time:02:42:36.8684
2025-08-20T02:42:38.908Z,1755657758.908 [DAT](INFO): Rx dataTimestamp_ set to:1755657758.907220
2025-08-20T02:42:38.911Z,1755657758.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999744
2025-08-20T02:42:39.155Z,1755657759.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244720
2025-08-20T02:42:39.231Z,1755657759.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.10 m.
2025-08-20T02:42:39.234Z,1755657759.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.099998 m,
nav range: 45.188145 m,
bearing: 2.863838 deg,
approach rate: -0.613399 m/s,
LOS rate: -0.022319 deg/s,
cmd heading: 6.144687 deg,
new cmd heading: 6.114363 deg.
2025-08-20T02:42:39.235Z,1755657759.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106716 target range: 47.099998 and range: 47.10 m.
2025-08-20T02:42:39.418Z,1755657759.418 [DAT](INFO): DAT read: 02:42:36.8684 LVL= 27952, 31377, 26850, 32755, AGC= 61, IDX= 419, 0.15,-0.677,-2.272,-0.375,-0.929, PHS= 0.354,-1.298, 0.510, RAW= 154.5, 5.1, CAL= 153.6, 4.9, ROT= 356.4, -4.9
2025-08-20T02:42:39.419Z,1755657759.419 [DAT](INFO): got valid direction response:
02:42:36.8684 LVL= 27952, 31377, 26850, 32755, AGC= 61, IDX= 419, 0.15,-0.677,-2.272,-0.375,-0.929, PHS= 0.354,-1.298, 0.510, RAW= 154.5, 5.1, CAL= 153.6, 4.9, ROT= 356.4, -4.9
2025-08-20T02:42:39.438Z,1755657759.438 [DAT](INFO): DAT read: Bearing 172.2, 0.6 (Local)
2025-08-20T02:42:39.438Z,1755657759.438 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, 0.6 (Local)
2025-08-20T02:42:39.440Z,1755657759.440 [DAT](INFO): DAT read: Range 11 to 50 : 45.0 m (Round-trip 60.0 ms) speed 0.5 m/s
2025-08-20T02:42:39.458Z,1755657759.458 [DAT](INFO): DAT read: user:3260>
2025-08-20T02:42:39.458Z,1755657759.458 [DAT](INFO): DAT read: Tx time:02:42:38.0042
2025-08-20T02:42:39.459Z,1755657759.459 [DAT](INFO): Ping request sent.
2025-08-20T02:42:39.459Z,1755657759.459 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:39.459Z,1755657759.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:39.460Z,1755657759.460 [DAT](INFO): direction in FSK: [0.994379,-0.062561,0.085417]
2025-08-20T02:42:39.460Z,1755657759.460 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:39.461Z,1755657759.461 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:39.484Z,1755657759.484 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:39.484Z,1755657759.484 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:39.616Z,1755657759.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.000000 m,
deltaT: 3.531869 s,
deltaX: -2.099998 m,
approachRate: -0.594586 m/s,
rangeRepo size: 4
2025-08-20T02:42:39.622Z,1755657759.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.000000 m,
bearing: 3.452461 deg,
lat: 36.779357 deg,
lon: -121.859500 deg,
deltaT: 3.531869 s,
deltaX: -2.099998 m,
approachRate: -0.594586 m/s,
posRepo size: 4
2025-08-20T02:42:39.623Z,1755657759.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-08-20T02:42:39.630Z,1755657759.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.000000 m,
nav range: 44.706295 m,
bearing: 3.452461 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.022319 deg/s,
cmd heading: 6.114363 deg,
new cmd heading: 6.088664 deg.
2025-08-20T02:42:39.631Z,1755657759.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106267 target range: 45.000000 and range: 45.00 m.
2025-08-20T02:42:40.016Z,1755657760.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:40.018Z,1755657760.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-08-20T02:42:40.021Z,1755657760.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.000000 m,
nav range: 44.440849 m,
bearing: 3.447697 deg,
approach rate: -0.659098 m/s,
LOS rate: -0.011900 deg/s,
cmd heading: 6.088664 deg,
new cmd heading: 6.074286 deg.
2025-08-20T02:42:40.022Z,1755657760.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106016 target range: 45.000000 and range: 45.00 m.
2025-08-20T02:42:40.163Z,1755657760.163 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:40.163Z,1755657760.163 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:40.163Z,1755657760.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:40.390Z,1755657760.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-08-20T02:42:40.393Z,1755657760.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.000000 m,
nav range: 44.204529 m,
bearing: 3.443621 deg,
approach rate: -0.635289 m/s,
LOS rate: -0.011015 deg/s,
cmd heading: 6.074286 deg,
new cmd heading: 6.061993 deg.
2025-08-20T02:42:40.412Z,1755657760.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105802 target range: 45.000000 and range: 45.00 m.
2025-08-20T02:42:40.416Z,1755657760.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.956871
2025-08-20T02:42:40.666Z,1755657760.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207655
2025-08-20T02:42:40.794Z,1755657760.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-08-20T02:42:40.796Z,1755657760.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.000000 m,
nav range: 43.948307 m,
bearing: 3.439307 deg,
approach rate: -0.634523 m/s,
LOS rate: -0.010746 deg/s,
cmd heading: 6.061993 deg,
new cmd heading: 6.048974 deg.
2025-08-20T02:42:40.798Z,1755657760.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105575 target range: 45.000000 and range: 45.00 m.
2025-08-20T02:42:40.923Z,1755657760.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463311
2025-08-20T02:42:41.171Z,1755657761.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712069
2025-08-20T02:42:41.238Z,1755657761.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-08-20T02:42:41.241Z,1755657761.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.000000 m,
nav range: 43.675152 m,
bearing: 3.434734 deg,
approach rate: -0.614924 m/s,
LOS rate: -0.010360 deg/s,
cmd heading: 6.048974 deg,
new cmd heading: 6.035169 deg.
2025-08-20T02:42:41.243Z,1755657761.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105334 target range: 45.000000 and range: 45.00 m.
2025-08-20T02:42:41.424Z,1755657761.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964844
2025-08-20T02:42:41.613Z,1755657761.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-08-20T02:42:41.616Z,1755657761.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.000000 m,
nav range: 43.439877 m,
bearing: 3.431007 deg,
approach rate: -0.626842 m/s,
LOS rate: -0.009984 deg/s,
cmd heading: 6.035169 deg,
new cmd heading: 6.023927 deg.
2025-08-20T02:42:41.617Z,1755657761.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105137 target range: 45.000000 and range: 45.00 m.
2025-08-20T02:42:41.675Z,1755657761.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216318
2025-08-20T02:42:41.929Z,1755657761.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469716
2025-08-20T02:42:42.036Z,1755657762.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:42.039Z,1755657762.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-08-20T02:42:42.042Z,1755657762.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.000000 m,
nav range: 43.172123 m,
bearing: 3.442731 deg,
approach rate: -0.629290 m/s,
LOS rate: 0.027727 deg/s,
cmd heading: 6.023927 deg,
new cmd heading: 6.059319 deg.
2025-08-20T02:42:42.043Z,1755657762.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105755 target range: 45.000000 and range: 45.00 m.
2025-08-20T02:42:42.180Z,1755657762.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720477
2025-08-20T02:42:42.431Z,1755657762.431 [DAT](INFO): DAT read: Rx Time:02:42:40.4655
2025-08-20T02:42:42.431Z,1755657762.431 [DAT](INFO): Rx dataTimestamp_ set to:1755657762.430795
2025-08-20T02:42:42.432Z,1755657762.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972886
2025-08-20T02:42:42.438Z,1755657762.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-08-20T02:42:42.441Z,1755657762.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.000000 m,
nav range: 42.921703 m,
bearing: 3.454100 deg,
approach rate: -0.626469 m/s,
LOS rate: 0.028606 deg/s,
cmd heading: 6.059319 deg,
new cmd heading: 6.093623 deg.
2025-08-20T02:42:42.442Z,1755657762.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106354 target range: 45.000000 and range: 45.00 m.
2025-08-20T02:42:42.682Z,1755657762.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223605
2025-08-20T02:42:42.820Z,1755657762.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-08-20T02:42:42.838Z,1755657762.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.000000 m,
nav range: 42.679783 m,
bearing: 3.465300 deg,
approach rate: -0.634537 m/s,
LOS rate: 0.029545 deg/s,
cmd heading: 6.093623 deg,
new cmd heading: 6.127415 deg.
2025-08-20T02:42:42.839Z,1755657762.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106944 target range: 45.000000 and range: 45.00 m.
2025-08-20T02:42:42.940Z,1755657762.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480042
2025-08-20T02:42:43.193Z,1755657763.193 [DAT](INFO): DAT read: 02:42:40.4655 LVL= 28464, 32753, 21282, 31923, AGC= 59, IDX= 405, 0.04,-2.444, 2.310,-2.172,-2.686, PHS= 0.343,-1.243, 0.470, RAW= 153.8, 5.2, CAL= 153.0, 5.2, ROT= 357.0, -5.2
2025-08-20T02:42:43.194Z,1755657763.194 [DAT](INFO): got valid direction response:
02:42:40.4655 LVL= 28464, 32753, 21282, 31923, AGC= 59, IDX= 405, 0.04,-2.444, 2.310,-2.172,-2.686, PHS= 0.343,-1.243, 0.470, RAW= 153.8, 5.2, CAL= 153.0, 5.2, ROT= 357.0, -5.2
2025-08-20T02:42:43.195Z,1755657763.195 [DAT](INFO): DAT read: Bearing 171.9, 1.8 (Local)
2025-08-20T02:42:43.195Z,1755657763.195 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, 1.8 (Local)
2025-08-20T02:42:43.197Z,1755657763.197 [DAT](INFO): DAT read: Range 11 to 50 : 42.8 m (Round-trip 57.1 ms) speed 0.6 m/s
2025-08-20T02:42:43.197Z,1755657763.197 [DAT](INFO): DAT read: user:3261>
2025-08-20T02:42:43.198Z,1755657763.198 [DAT](INFO): DAT read: Tx time:02:42:41.5542
2025-08-20T02:42:43.198Z,1755657763.198 [DAT](INFO): Ping request sent.
2025-08-20T02:42:43.198Z,1755657763.198 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:43.199Z,1755657763.199 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:43.200Z,1755657763.200 [DAT](INFO): direction in FSK: [0.994520,-0.052121,0.090633]
2025-08-20T02:42:43.200Z,1755657763.200 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:43.200Z,1755657763.200 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:43.203Z,1755657763.203 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:43.204Z,1755657763.204 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:43.337Z,1755657763.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.799999 m,
deltaT: 3.779089 s,
deltaX: -2.200001 m,
approachRate: -0.582151 m/s,
rangeRepo size: 4
2025-08-20T02:42:43.343Z,1755657763.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.799999 m,
bearing: 3.587923 deg,
lat: 36.779355 deg,
lon: -121.859499 deg,
deltaT: 3.779089 s,
deltaX: -2.200001 m,
approachRate: -0.582151 m/s,
posRepo size: 4
2025-08-20T02:42:43.344Z,1755657763.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.80 m.
2025-08-20T02:42:43.374Z,1755657763.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.799999 m,
nav range: 42.163036 m,
bearing: 3.587923 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.029545 deg/s,
cmd heading: 6.127415 deg,
new cmd heading: 6.173206 deg.
2025-08-20T02:42:43.375Z,1755657763.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107743 target range: 42.799999 and range: 42.80 m.
2025-08-20T02:42:43.680Z,1755657763.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.80 m.
2025-08-20T02:42:43.687Z,1755657763.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.799999 m,
nav range: 41.941517 m,
bearing: 3.596219 deg,
approach rate: -0.644278 m/s,
LOS rate: 0.024254 deg/s,
cmd heading: 6.173206 deg,
new cmd heading: 6.198224 deg.
2025-08-20T02:42:43.688Z,1755657763.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108179 target range: 42.799999 and range: 42.80 m.
2025-08-20T02:42:44.210Z,1755657764.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:44.212Z,1755657764.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.80 m.
2025-08-20T02:42:44.215Z,1755657764.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.799999 m,
nav range: 41.601776 m,
bearing: 3.613758 deg,
approach rate: -0.638675 m/s,
LOS rate: 0.033241 deg/s,
cmd heading: 6.198224 deg,
new cmd heading: 6.251272 deg.
2025-08-20T02:42:44.216Z,1755657764.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109105 target range: 42.799999 and range: 42.80 m.
2025-08-20T02:42:44.446Z,1755657764.446 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:44.446Z,1755657764.446 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:44.446Z,1755657764.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:44.642Z,1755657764.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.80 m.
2025-08-20T02:42:44.644Z,1755657764.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.799999 m,
nav range: 41.335838 m,
bearing: 3.627494 deg,
approach rate: -0.619206 m/s,
LOS rate: 0.032188 deg/s,
cmd heading: 6.251272 deg,
new cmd heading: 6.292744 deg.
2025-08-20T02:42:44.646Z,1755657764.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109829 target range: 42.799999 and range: 42.80 m.
2025-08-20T02:42:44.699Z,1755657764.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500259
2025-08-20T02:42:44.953Z,1755657764.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754026
2025-08-20T02:42:45.111Z,1755657765.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.80 m.
2025-08-20T02:42:45.118Z,1755657765.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.799999 m,
nav range: 41.033764 m,
bearing: 3.644744 deg,
approach rate: -0.643500 m/s,
LOS rate: 0.037017 deg/s,
cmd heading: 6.292744 deg,
new cmd heading: 6.344874 deg.
2025-08-20T02:42:45.119Z,1755657765.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110739 target range: 42.799999 and range: 42.80 m.
2025-08-20T02:42:45.204Z,1755657765.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004978
2025-08-20T02:42:45.455Z,1755657765.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256053
2025-08-20T02:42:45.480Z,1755657765.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.80 m.
2025-08-20T02:42:45.483Z,1755657765.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.799999 m,
nav range: 40.796581 m,
bearing: 3.658224 deg,
approach rate: -0.641785 m/s,
LOS rate: 0.036689 deg/s,
cmd heading: 6.344874 deg,
new cmd heading: 6.385552 deg.
2025-08-20T02:42:45.484Z,1755657765.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111449 target range: 42.799999 and range: 42.80 m.
2025-08-20T02:42:45.706Z,1755657765.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507890
2025-08-20T02:42:45.774Z,1755657765.774 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:42:45.871Z,1755657765.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.80 m.
2025-08-20T02:42:45.874Z,1755657765.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.799999 m,
nav range: 40.546024 m,
bearing: 3.672247 deg,
approach rate: -0.641372 m/s,
LOS rate: 0.036118 deg/s,
cmd heading: 6.385552 deg,
new cmd heading: 6.427880 deg.
2025-08-20T02:42:45.875Z,1755657765.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112188 target range: 42.799999 and range: 42.80 m.
2025-08-20T02:42:45.959Z,1755657765.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760713
2025-08-20T02:42:46.210Z,1755657766.210 [DAT](INFO): DAT read: Rx Time:02:42:44.0124
2025-08-20T02:42:46.211Z,1755657766.211 [DAT](INFO): Rx dataTimestamp_ set to:1755657766.210660
2025-08-20T02:42:46.211Z,1755657766.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013010
2025-08-20T02:42:46.307Z,1755657766.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:46.310Z,1755657766.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.80 m.
2025-08-20T02:42:46.313Z,1755657766.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.799999 m,
nav range: 40.264229 m,
bearing: 3.687653 deg,
approach rate: -0.642770 m/s,
LOS rate: 0.035386 deg/s,
cmd heading: 6.427880 deg,
new cmd heading: 6.474421 deg.
2025-08-20T02:42:46.314Z,1755657766.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113000 target range: 42.799999 and range: 42.80 m.
2025-08-20T02:42:46.462Z,1755657766.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263916
2025-08-20T02:42:46.670Z,1755657766.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.80 m.
2025-08-20T02:42:46.672Z,1755657766.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.799999 m,
nav range: 40.033676 m,
bearing: 3.700240 deg,
approach rate: -0.640460 m/s,
LOS rate: 0.035168 deg/s,
cmd heading: 6.474421 deg,
new cmd heading: 6.512400 deg.
2025-08-20T02:42:46.674Z,1755657766.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113663 target range: 42.799999 and range: 42.80 m.
2025-08-20T02:42:46.722Z,1755657766.722 [DAT](INFO): DAT read: 02:42:44.0124 LVL= 25888, 32753, 22850, 32755, AGC= 59, IDX= 405, 0.18,-2.630, 2.136,-2.371,-2.872, PHS= 0.344,-1.231, 0.457, RAW= 153.4, 5.3, CAL= 152.6, 5.3, ROT= 357.4, -5.3
2025-08-20T02:42:46.723Z,1755657766.723 [DAT](INFO): got valid direction response:
02:42:44.0124 LVL= 25888, 32753, 22850, 32755, AGC= 59, IDX= 405, 0.18,-2.630, 2.136,-2.371,-2.872, PHS= 0.344,-1.231, 0.457, RAW= 153.4, 5.3, CAL= 152.6, 5.3, ROT= 357.4, -5.3
2025-08-20T02:42:46.725Z,1755657766.725 [DAT](INFO): DAT read: Bearing 172.2, 2.7 (Local)
2025-08-20T02:42:46.725Z,1755657766.725 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, 2.7 (Local)
2025-08-20T02:42:46.727Z,1755657766.727 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m (Round-trip 54.0 ms) speed 0.5 m/s
2025-08-20T02:42:46.728Z,1755657766.728 [DAT](INFO): DAT read: user:3262>
2025-08-20T02:42:46.762Z,1755657766.762 [DAT](INFO): DAT read: Tx time:02:42:45.1042
2025-08-20T02:42:46.762Z,1755657766.762 [DAT](INFO): Ping request sent.
2025-08-20T02:42:46.762Z,1755657766.762 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:46.762Z,1755657766.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:46.763Z,1755657766.763 [DAT](INFO): direction in FSK: [0.994700,-0.045169,0.092371]
2025-08-20T02:42:46.764Z,1755657766.764 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:46.764Z,1755657766.764 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:46.778Z,1755657766.778 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:42:46.777Z,1755657766.777 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:46.779Z,1755657766.779 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:47.118Z,1755657767.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.500000 m,
deltaT: 3.527826 s,
deltaX: -2.299999 m,
approachRate: -0.651959 m/s,
rangeRepo size: 4
2025-08-20T02:42:47.120Z,1755657767.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.500000 m,
bearing: 4.174681 deg,
lat: 36.779355 deg,
lon: -121.859496 deg,
deltaT: 3.527826 s,
deltaX: -2.299999 m,
approachRate: -0.651959 m/s,
posRepo size: 4
2025-08-20T02:42:47.121Z,1755657767.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-08-20T02:42:47.128Z,1755657767.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.500000 m,
nav range: 39.787716 m,
bearing: 4.174681 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.035168 deg/s,
cmd heading: 6.512400 deg,
new cmd heading: 6.559648 deg.
2025-08-20T02:42:47.129Z,1755657767.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114487 target range: 40.500000 and range: 40.50 m.
2025-08-20T02:42:47.467Z,1755657767.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-08-20T02:42:47.471Z,1755657767.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.500000 m,
nav range: 39.551704 m,
bearing: 4.182677 deg,
approach rate: -0.674693 m/s,
LOS rate: 0.022998 deg/s,
cmd heading: 6.559648 deg,
new cmd heading: 6.583782 deg.
2025-08-20T02:42:47.472Z,1755657767.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114909 target range: 40.500000 and range: 40.50 m.
2025-08-20T02:42:47.909Z,1755657767.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-08-20T02:42:47.920Z,1755657767.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.500000 m,
nav range: 39.292381 m,
bearing: 4.191256 deg,
approach rate: -0.586887 m/s,
LOS rate: 0.019543 deg/s,
cmd heading: 6.583782 deg,
new cmd heading: 6.609688 deg.
2025-08-20T02:42:47.934Z,1755657767.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115361 target range: 40.500000 and range: 40.50 m.
2025-08-20T02:42:48.434Z,1755657768.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:48.436Z,1755657768.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-08-20T02:42:48.440Z,1755657768.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.500000 m,
nav range: 38.952934 m,
bearing: 4.195319 deg,
approach rate: -0.643544 m/s,
LOS rate: 0.007770 deg/s,
cmd heading: 6.609688 deg,
new cmd heading: 6.621984 deg.
2025-08-20T02:42:48.441Z,1755657768.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115575 target range: 40.500000 and range: 40.50 m.
2025-08-20T02:42:48.480Z,1755657768.480 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:48.480Z,1755657768.480 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:48.480Z,1755657768.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:48.731Z,1755657768.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968750
2025-08-20T02:42:48.822Z,1755657768.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-08-20T02:42:48.825Z,1755657768.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.500000 m,
nav range: 38.732281 m,
bearing: 4.197999 deg,
approach rate: -0.571666 m/s,
LOS rate: 0.006981 deg/s,
cmd heading: 6.621984 deg,
new cmd heading: 6.630067 deg.
2025-08-20T02:42:48.830Z,1755657768.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115717 target range: 40.500000 and range: 40.50 m.
2025-08-20T02:42:48.982Z,1755657768.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220329
2025-08-20T02:42:49.214Z,1755657769.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-08-20T02:42:49.217Z,1755657769.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.500000 m,
nav range: 38.479782 m,
bearing: 4.196991 deg,
approach rate: -0.644542 m/s,
LOS rate: -0.002588 deg/s,
cmd heading: 6.630068 deg,
new cmd heading: 6.627026 deg.
2025-08-20T02:42:49.218Z,1755657769.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115663 target range: 40.500000 and range: 40.50 m.
2025-08-20T02:42:49.235Z,1755657769.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472460
2025-08-20T02:42:49.487Z,1755657769.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724656
2025-08-20T02:42:49.598Z,1755657769.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-08-20T02:42:49.601Z,1755657769.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.500000 m,
nav range: 38.246506 m,
bearing: 4.195926 deg,
approach rate: -0.608167 m/s,
LOS rate: -0.002794 deg/s,
cmd heading: 6.627026 deg,
new cmd heading: 6.623811 deg.
2025-08-20T02:42:49.602Z,1755657769.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115607 target range: 40.500000 and range: 40.50 m.
2025-08-20T02:42:49.738Z,1755657769.738 [DAT](INFO): DAT read: Rx Time:02:42:47.5593
2025-08-20T02:42:49.739Z,1755657769.739 [DAT](INFO): Rx dataTimestamp_ set to:1755657769.738624
2025-08-20T02:42:49.739Z,1755657769.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977384
2025-08-20T02:42:49.978Z,1755657769.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-08-20T02:42:49.981Z,1755657769.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.500000 m,
nav range: 38.015839 m,
bearing: 4.194724 deg,
approach rate: -0.607156 m/s,
LOS rate: -0.003184 deg/s,
cmd heading: 6.623811 deg,
new cmd heading: 6.620183 deg.
2025-08-20T02:42:49.982Z,1755657769.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115544 target range: 40.500000 and range: 40.50 m.
2025-08-20T02:42:49.999Z,1755657769.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236425
2025-08-20T02:42:50.258Z,1755657770.258 [DAT](INFO): DAT read: 02:42:47.5592 LVL= 25504, 32753, 21122, 32755, AGC= 59, IDX= 406, 0.01, 1.836, 0.238, 2.125, 1.588, PHS= 0.350,-1.305, 0.493, RAW= 154.1, 5.4, CAL= 153.3, 5.3, ROT= 356.7, -5.3
2025-08-20T02:42:50.259Z,1755657770.259 [DAT](INFO): got valid direction response:
02:42:47.5592 LVL= 25504, 32753, 21122, 32755, AGC= 59, IDX= 406, 0.01, 1.836, 0.238, 2.125, 1.588, PHS= 0.350,-1.305, 0.493, RAW= 154.1, 5.4, CAL= 153.3, 5.3, ROT= 356.7, -5.3
2025-08-20T02:42:50.260Z,1755657770.260 [DAT](INFO): DAT read: Bearing 172.7, 1.9 (Local)
2025-08-20T02:42:50.260Z,1755657770.260 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.7, 1.9 (Local)
2025-08-20T02:42:50.262Z,1755657770.262 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m (Round-trip 50.9 ms) speed 0.5 m/s
2025-08-20T02:42:50.263Z,1755657770.263 [DAT](INFO): DAT read: user:3263>
2025-08-20T02:42:50.263Z,1755657770.263 [DAT](INFO): DAT read: Tx time:02:42:48.6541
2025-08-20T02:42:50.264Z,1755657770.264 [DAT](INFO): Ping request sent.
2025-08-20T02:42:50.264Z,1755657770.264 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:50.264Z,1755657770.264 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:50.265Z,1755657770.265 [DAT](INFO): direction in FSK: [0.994074,-0.057318,0.092371]
2025-08-20T02:42:50.296Z,1755657770.296 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:50.296Z,1755657770.296 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:50.308Z,1755657770.308 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:50.308Z,1755657770.308 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:50.470Z,1755657770.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.099998 m,
deltaT: 3.536472 s,
deltaX: -2.400002 m,
approachRate: -0.678643 m/s,
rangeRepo size: 4
2025-08-20T02:42:50.477Z,1755657770.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.099998 m,
bearing: 4.501888 deg,
lat: 36.779355 deg,
lon: -121.859493 deg,
deltaT: 3.536472 s,
deltaX: -2.400002 m,
approachRate: -0.678643 m/s,
posRepo size: 4
2025-08-20T02:42:50.481Z,1755657770.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-20T02:42:50.484Z,1755657770.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.099998 m,
nav range: 37.749603 m,
bearing: 4.501888 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003184 deg/s,
cmd heading: 6.620183 deg,
new cmd heading: 6.615529 deg.
2025-08-20T02:42:50.485Z,1755657770.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115463 target range: 38.099998 and range: 38.10 m.
2025-08-20T02:42:50.806Z,1755657770.806 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-20T02:42:50.806Z,1755657770.806 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-20T02:42:50.807Z,1755657770.807 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-20T02:42:50.808Z,1755657770.808 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.099998 m (mode 2.000000 count ).
2025-08-20T02:42:50.808Z,1755657770.808 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-20T02:42:50.808Z,1755657770.808 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-20T02:42:50.808Z,1755657770.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:50.811Z,1755657770.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-20T02:42:50.814Z,1755657770.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.099998 m,
nav range: 37.534584 m,
bearing: 4.501101 deg,
approach rate: -0.621497 m/s,
LOS rate: -0.002288 deg/s,
cmd heading: 6.615530 deg,
new cmd heading: 6.613155 deg.
2025-08-20T02:42:50.815Z,1755657770.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115421 target range: 38.099998 and range: 38.10 m.
2025-08-20T02:42:51.006Z,1755657771.006 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:51.006Z,1755657771.006 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:51.007Z,1755657771.007 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:42:51.239Z,1755657771.239 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-20T02:42:51.240Z,1755657771.240 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-20T02:42:51.242Z,1755657771.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-20T02:42:51.245Z,1755657771.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.099998 m,
nav range: 37.264908 m,
bearing: 4.491702 deg,
approach rate: -0.625891 m/s,
LOS rate: -0.021972 deg/s,
cmd heading: 6.613155 deg,
new cmd heading: 6.584754 deg.
2025-08-20T02:42:51.246Z,1755657771.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114926 target range: 38.099998 and range: 38.10 m.
2025-08-20T02:42:51.259Z,1755657771.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994667
2025-08-20T02:42:51.510Z,1755657771.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246605
2025-08-20T02:42:51.619Z,1755657771.619 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-20T02:42:51.619Z,1755657771.619 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-20T02:42:51.622Z,1755657771.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-20T02:42:51.624Z,1755657771.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.099998 m,
nav range: 37.028641 m,
bearing: 4.483183 deg,
approach rate: -0.622075 m/s,
LOS rate: -0.022574 deg/s,
cmd heading: 6.584754 deg,
new cmd heading: 6.559033 deg.
2025-08-20T02:42:51.626Z,1755657771.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114477 target range: 38.099998 and range: 38.10 m.
2025-08-20T02:42:51.765Z,1755657771.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501381
2025-08-20T02:42:52.015Z,1755657772.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750696
2025-08-20T02:42:52.030Z,1755657772.030 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-20T02:42:52.030Z,1755657772.030 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-20T02:42:52.030Z,1755657772.030 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-20T02:42:52.030Z,1755657772.030 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-20T02:42:52.032Z,1755657772.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-20T02:42:52.039Z,1755657772.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.099998 m,
nav range: 36.783154 m,
bearing: 4.474179 deg,
approach rate: -0.597502 m/s,
LOS rate: -0.022060 deg/s,
cmd heading: 6.559033 deg,
new cmd heading: 6.531842 deg.
2025-08-20T02:42:52.040Z,1755657772.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114002 target range: 38.099998 and range: 38.10 m.
2025-08-20T02:42:52.267Z,1755657772.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002706
2025-08-20T02:42:52.463Z,1755657772.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-20T02:42:52.466Z,1755657772.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.099998 m,
nav range: 36.514633 m,
bearing: 4.459990 deg,
approach rate: -0.623426 m/s,
LOS rate: -0.033187 deg/s,
cmd heading: 6.531842 deg,
new cmd heading: 6.488960 deg.
2025-08-20T02:42:52.467Z,1755657772.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113254 target range: 38.099998 and range: 38.10 m.
2025-08-20T02:42:52.519Z,1755657772.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254738
2025-08-20T02:42:52.774Z,1755657772.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510460
2025-08-20T02:42:52.924Z,1755657772.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:52.926Z,1755657772.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-20T02:42:52.929Z,1755657772.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.099998 m,
nav range: 36.244141 m,
bearing: 4.445135 deg,
approach rate: -0.583797 m/s,
LOS rate: -0.032301 deg/s,
cmd heading: 6.488960 deg,
new cmd heading: 6.444062 deg.
2025-08-20T02:42:52.930Z,1755657772.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112470 target range: 38.099998 and range: 38.10 m.
2025-08-20T02:42:53.023Z,1755657773.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758861
2025-08-20T02:42:53.275Z,1755657773.275 [DAT](INFO): DAT read: Rx Time:02:42:51.1064
2025-08-20T02:42:53.275Z,1755657773.275 [DAT](INFO): Rx dataTimestamp_ set to:1755657773.274710
2025-08-20T02:42:53.276Z,1755657773.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011722
2025-08-20T02:42:53.414Z,1755657773.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-20T02:42:53.416Z,1755657773.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.099998 m,
nav range: 35.981094 m,
bearing: 4.430125 deg,
approach rate: -0.544601 m/s,
LOS rate: -0.031302 deg/s,
cmd heading: 6.444062 deg,
new cmd heading: 6.398705 deg.
2025-08-20T02:42:53.422Z,1755657773.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111678 target range: 38.099998 and range: 38.10 m.
2025-08-20T02:42:53.526Z,1755657773.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262588
2025-08-20T02:42:53.784Z,1755657773.784 [DAT](INFO): DAT read: 02:42:51.1064 LVL= 28144, 32753, 23842, 32755, AGC= 58, IDX= 409,-0.15, 0.596,-0.934, 0.888, 0.382, PHS= 0.316,-1.270, 0.463, RAW= 154.4, 6.0, CAL= 153.6, 6.0, ROT= 356.4, -6.0
2025-08-20T02:42:53.785Z,1755657773.785 [DAT](INFO): got valid direction response:
02:42:51.1064 LVL= 28144, 32753, 23842, 32755, AGC= 58, IDX= 409,-0.15, 0.596,-0.934, 0.888, 0.382, PHS= 0.316,-1.270, 0.463, RAW= 154.4, 6.0, CAL= 153.6, 6.0, ROT= 356.4, -6.0
2025-08-20T02:42:53.786Z,1755657773.786 [DAT](INFO): DAT read: Bearing 173.6, 1.3 (Local)
2025-08-20T02:42:53.787Z,1755657773.787 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.6, 1.3 (Local)
2025-08-20T02:42:53.788Z,1755657773.788 [DAT](INFO): DAT read: Range 11 to 50 : 36.0 m (Round-trip 48.1 ms) speed 0.5 m/s
2025-08-20T02:42:53.789Z,1755657773.789 [DAT](INFO): DAT read: user:3264>
2025-08-20T02:42:53.790Z,1755657773.790 [DAT](INFO): DAT read: Tx time:02:42:52.2041
2025-08-20T02:42:53.790Z,1755657773.790 [DAT](INFO): Ping request sent.
2025-08-20T02:42:53.790Z,1755657773.790 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:53.790Z,1755657773.790 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:53.791Z,1755657773.791 [DAT](INFO): direction in FSK: [0.992559,-0.062447,0.104528]
2025-08-20T02:42:53.792Z,1755657773.792 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:53.792Z,1755657773.792 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:53.799Z,1755657773.799 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:53.799Z,1755657773.799 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:53.807Z,1755657773.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.000000 m,
deltaT: 3.527485 s,
deltaX: -2.099998 m,
approachRate: -0.595325 m/s,
rangeRepo size: 4
2025-08-20T02:42:53.838Z,1755657773.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.000000 m,
bearing: 4.419079 deg,
lat: 36.779355 deg,
lon: -121.859493 deg,
deltaT: 3.527485 s,
deltaX: -2.099998 m,
approachRate: -0.595325 m/s,
posRepo size: 4
2025-08-20T02:42:53.838Z,1755657773.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.00 m.
2025-08-20T02:42:53.841Z,1755657773.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.000000 m,
nav range: 35.705585 m,
bearing: 4.419079 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.031302 deg/s,
cmd heading: 6.398705 deg,
new cmd heading: 6.361544 deg.
2025-08-20T02:42:53.846Z,1755657773.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111030 target range: 36.000000 and range: 36.00 m.
2025-08-20T02:42:54.268Z,1755657774.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.00 m.
2025-08-20T02:42:54.275Z,1755657774.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.000000 m,
nav range: 35.419792 m,
bearing: 4.407192 deg,
approach rate: -0.617964 m/s,
LOS rate: -0.025911 deg/s,
cmd heading: 6.361544 deg,
new cmd heading: 6.325595 deg.
2025-08-20T02:42:54.276Z,1755657774.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110402 target range: 36.000000 and range: 36.00 m.
2025-08-20T02:42:54.609Z,1755657774.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.00 m.
2025-08-20T02:42:54.612Z,1755657774.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.000000 m,
nav range: 35.199047 m,
bearing: 4.397743 deg,
approach rate: -0.647320 m/s,
LOS rate: -0.027880 deg/s,
cmd heading: 6.325595 deg,
new cmd heading: 6.297073 deg.
2025-08-20T02:42:54.613Z,1755657774.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109905 target range: 36.000000 and range: 36.00 m.
2025-08-20T02:42:55.028Z,1755657775.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:55.031Z,1755657775.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.00 m.
2025-08-20T02:42:55.034Z,1755657775.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.000000 m,
nav range: 34.952427 m,
bearing: 4.386827 deg,
approach rate: -0.584348 m/s,
LOS rate: -0.026048 deg/s,
cmd heading: 6.297073 deg,
new cmd heading: 6.264093 deg.
2025-08-20T02:42:55.035Z,1755657775.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109329 target range: 36.000000 and range: 36.00 m.
2025-08-20T02:42:55.038Z,1755657775.038 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:42:55.038Z,1755657775.038 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:42:55.039Z,1755657775.039 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-20T02:42:55.292Z,1755657775.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501784
2025-08-20T02:42:55.442Z,1755657775.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.00 m.
2025-08-20T02:42:55.444Z,1755657775.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.000000 m,
nav range: 34.692341 m,
bearing: 4.386025 deg,
approach rate: -0.633420 m/s,
LOS rate: -0.001969 deg/s,
cmd heading: 6.264093 deg,
new cmd heading: 6.261668 deg.
2025-08-20T02:42:55.445Z,1755657775.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109287 target range: 36.000000 and range: 36.00 m.
2025-08-20T02:42:55.543Z,1755657775.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753011
2025-08-20T02:42:55.795Z,1755657775.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004566
2025-08-20T02:42:55.822Z,1755657775.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.00 m.
2025-08-20T02:42:55.825Z,1755657775.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.000000 m,
nav range: 34.462559 m,
bearing: 4.385344 deg,
approach rate: -0.604583 m/s,
LOS rate: -0.001804 deg/s,
cmd heading: 6.261668 deg,
new cmd heading: 6.259610 deg.
2025-08-20T02:42:55.826Z,1755657775.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109251 target range: 36.000000 and range: 36.00 m.
2025-08-20T02:42:56.047Z,1755657776.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257201
2025-08-20T02:42:56.272Z,1755657776.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.00 m.
2025-08-20T02:42:56.279Z,1755657776.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.000000 m,
nav range: 34.191822 m,
bearing: 4.381909 deg,
approach rate: -0.600390 m/s,
LOS rate: -0.007676 deg/s,
cmd heading: 6.259610 deg,
new cmd heading: 6.249226 deg.
2025-08-20T02:42:56.280Z,1755657776.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109070 target range: 36.000000 and range: 36.00 m.
2025-08-20T02:42:56.298Z,1755657776.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508378
2025-08-20T02:42:56.550Z,1755657776.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760326
2025-08-20T02:42:56.633Z,1755657776.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.00 m.
2025-08-20T02:42:56.636Z,1755657776.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.000000 m,
nav range: 33.955418 m,
bearing: 4.378900 deg,
approach rate: -0.655672 m/s,
LOS rate: -0.008405 deg/s,
cmd heading: 6.249226 deg,
new cmd heading: 6.240135 deg.
2025-08-20T02:42:56.637Z,1755657776.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108911 target range: 36.000000 and range: 36.00 m.
2025-08-20T02:42:56.802Z,1755657776.802 [DAT](INFO): DAT read: Rx Time:02:42:54.6536
2025-08-20T02:42:56.803Z,1755657776.803 [DAT](INFO): Rx dataTimestamp_ set to:1755657776.802668
2025-08-20T02:42:56.804Z,1755657776.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013441
2025-08-20T02:42:57.044Z,1755657777.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:57.046Z,1755657777.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.00 m.
2025-08-20T02:42:57.049Z,1755657777.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.000000 m,
nav range: 33.692924 m,
bearing: 4.375757 deg,
approach rate: -0.634856 m/s,
LOS rate: -0.007661 deg/s,
cmd heading: 6.240135 deg,
new cmd heading: 6.230632 deg.
2025-08-20T02:42:57.050Z,1755657777.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108745 target range: 36.000000 and range: 36.00 m.
2025-08-20T02:42:57.055Z,1755657777.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264452
2025-08-20T02:42:57.313Z,1755657777.313 [DAT](INFO): DAT read: 02:42:54.6536 LVL= 27120, 32753, 22562, 32755, AGC= 59, IDX= 412, 0.17,-2.940, 1.806,-2.620, 3.129, PHS= 0.316,-1.278, 0.491, RAW= 155.1, 5.6, CAL= 154.4, 5.5, ROT= 355.6, -5.5
2025-08-20T02:42:57.314Z,1755657777.314 [DAT](INFO): got valid direction response:
02:42:54.6536 LVL= 27120, 32753, 22562, 32755, AGC= 59, IDX= 412, 0.17,-2.940, 1.806,-2.620, 3.129, PHS= 0.316,-1.278, 0.491, RAW= 155.1, 5.6, CAL= 154.4, 5.5, ROT= 355.6, -5.5
2025-08-20T02:42:57.315Z,1755657777.315 [DAT](INFO): DAT read: Bearing 173.4, -0.4 (Local)
2025-08-20T02:42:57.315Z,1755657777.315 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, -0.4 (Local)
2025-08-20T02:42:57.317Z,1755657777.317 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (Round-trip 45.3 ms) speed 0.5 m/s
2025-08-20T02:42:57.317Z,1755657777.317 [DAT](INFO): DAT read: user:3265>
2025-08-20T02:42:57.318Z,1755657777.318 [DAT](INFO): DAT read: Tx time:02:42:55.7541
2025-08-20T02:42:57.318Z,1755657777.318 [DAT](INFO): Ping request sent.
2025-08-20T02:42:57.319Z,1755657777.319 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:42:57.319Z,1755657777.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:42:57.320Z,1755657777.320 [DAT](INFO): direction in FSK: [0.992463,-0.076366,0.095846]
2025-08-20T02:42:57.320Z,1755657777.320 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:57.320Z,1755657777.320 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:57.324Z,1755657777.324 [DAT](INFO): publishing transmit ping time
2025-08-20T02:42:57.324Z,1755657777.324 [DAT](INFO): publishing direction and range info
2025-08-20T02:42:57.328Z,1755657777.328 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.009281
2025-08-20T02:42:57.524Z,1755657777.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.900002 m,
deltaT: 3.528246 s,
deltaX: -2.099998 m,
approachRate: -0.595196 m/s,
rangeRepo size: 4
2025-08-20T02:42:57.535Z,1755657777.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.900002 m,
bearing: 4.297710 deg,
lat: 36.779356 deg,
lon: -121.859494 deg,
deltaT: 3.528246 s,
deltaX: -2.099998 m,
approachRate: -0.595196 m/s,
posRepo size: 4
2025-08-20T02:42:57.536Z,1755657777.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-20T02:42:57.542Z,1755657777.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.900002 m,
nav range: 33.449009 m,
bearing: 4.297710 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.007661 deg/s,
cmd heading: 6.230632 deg,
new cmd heading: 6.219672 deg.
2025-08-20T02:42:57.543Z,1755657777.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108554 target range: 33.900002 and range: 33.90 m.
2025-08-20T02:42:57.559Z,1755657777.559 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.239947
2025-08-20T02:42:57.811Z,1755657777.811 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492388
2025-08-20T02:42:57.895Z,1755657777.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-20T02:42:57.899Z,1755657777.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.900002 m,
nav range: 33.210938 m,
bearing: 4.293981 deg,
approach rate: -0.639406 m/s,
LOS rate: -0.010088 deg/s,
cmd heading: 6.219672 deg,
new cmd heading: 6.208405 deg.
2025-08-20T02:42:57.900Z,1755657777.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108357 target range: 33.900002 and range: 33.90 m.
2025-08-20T02:42:58.062Z,1755657778.062 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.743764
2025-08-20T02:42:58.298Z,1755657778.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-20T02:42:58.300Z,1755657778.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.900002 m,
nav range: 32.958107 m,
bearing: 4.295760 deg,
approach rate: -0.628780 m/s,
LOS rate: 0.004459 deg/s,
cmd heading: 6.208405 deg,
new cmd heading: 6.213784 deg.
2025-08-20T02:42:58.302Z,1755657778.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108451 target range: 33.900002 and range: 33.90 m.
2025-08-20T02:42:58.314Z,1755657778.314 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.995778
2025-08-20T02:42:58.566Z,1755657778.566 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.247862
2025-08-20T02:42:58.681Z,1755657778.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-20T02:42:58.684Z,1755657778.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.900002 m,
nav range: 32.717537 m,
bearing: 4.297623 deg,
approach rate: -0.627948 m/s,
LOS rate: 0.004899 deg/s,
cmd heading: 6.213784 deg,
new cmd heading: 6.219414 deg.
2025-08-20T02:42:58.685Z,1755657778.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108549 target range: 33.900002 and range: 33.90 m.
2025-08-20T02:42:58.819Z,1755657778.819 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.499921
2025-08-20T02:42:59.071Z,1755657779.071 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.752024
2025-08-20T02:42:59.216Z,1755657779.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:42:59.223Z,1755657779.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-20T02:42:59.230Z,1755657779.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.900002 m,
nav range: 32.414963 m,
bearing: 4.300206 deg,
approach rate: -0.557524 m/s,
LOS rate: 0.004803 deg/s,
cmd heading: 6.219414 deg,
new cmd heading: 6.227234 deg.
2025-08-20T02:42:59.231Z,1755657779.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108686 target range: 33.900002 and range: 33.90 m.
2025-08-20T02:42:59.323Z,1755657779.323 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.003937
2025-08-20T02:42:59.574Z,1755657779.574 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.255788
2025-08-20T02:42:59.617Z,1755657779.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-20T02:42:59.624Z,1755657779.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.900002 m,
nav range: 32.135639 m,
bearing: 4.302187 deg,
approach rate: -0.710187 m/s,
LOS rate: 0.005082 deg/s,
cmd heading: 6.227234 deg,
new cmd heading: 6.233231 deg.
2025-08-20T02:42:59.629Z,1755657779.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108790 target range: 33.900002 and range: 33.90 m.
2025-08-20T02:42:59.827Z,1755657779.827 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.508538
2025-08-20T02:42:59.981Z,1755657779.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-20T02:42:59.984Z,1755657779.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.900002 m,
nav range: 31.901129 m,
bearing: 4.304246 deg,
approach rate: -0.644139 m/s,
LOS rate: 0.005697 deg/s,
cmd heading: 6.233231 deg,
new cmd heading: 6.239453 deg.
2025-08-20T02:42:59.985Z,1755657779.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108899 target range: 33.900002 and range: 33.90 m.
2025-08-20T02:43:00.079Z,1755657780.079 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.759882
2025-08-20T02:43:00.330Z,1755657780.330 [DAT](INFO): DAT read: Rx Time:02:42:58.2006
2025-08-20T02:43:00.331Z,1755657780.331 [DAT](INFO): Rx dataTimestamp_ set to:1755657780.330681
2025-08-20T02:43:00.332Z,1755657780.332 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.012934
2025-08-20T02:43:00.455Z,1755657780.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-20T02:43:00.458Z,1755657780.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.900002 m,
nav range: 31.612827 m,
bearing: 4.309386 deg,
approach rate: -0.609586 m/s,
LOS rate: 0.010966 deg/s,
cmd heading: 6.239453 deg,
new cmd heading: 6.255012 deg.
2025-08-20T02:43:00.459Z,1755657780.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109171 target range: 33.900002 and range: 33.90 m.
2025-08-20T02:43:00.582Z,1755657780.582 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.263805
2025-08-20T02:43:00.782Z,1755657780.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.90 m.
2025-08-20T02:43:00.785Z,1755657780.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.900002 m,
nav range: 31.399729 m,
bearing: 4.313587 deg,
approach rate: -0.648666 m/s,
LOS rate: 0.012876 deg/s,
cmd heading: 6.255012 deg,
new cmd heading: 6.267702 deg.
2025-08-20T02:43:00.786Z,1755657780.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109392 target range: 33.900002 and range: 33.90 m.
2025-08-20T02:43:00.881Z,1755657780.881 [DAT](INFO): DAT read: 02:42:58.2006 LVL= 29504, 32753, 22114, 32755, AGC= 59, IDX= 414,-0.05, 3.005, 1.462,-2.916, 2.794, PHS= 0.313,-1.287, 0.529, RAW= 156.2, 5.2, CAL= 155.4, 4.9, ROT= 354.6, -4.9
2025-08-20T02:43:00.883Z,1755657780.883 [DAT](INFO): got valid direction response:
02:42:58.2006 LVL= 29504, 32753, 22114, 32755, AGC= 59, IDX= 414,-0.05, 3.005, 1.462,-2.916, 2.794, PHS= 0.313,-1.287, 0.529, RAW= 156.2, 5.2, CAL= 155.4, 4.9, ROT= 354.6, -4.9
2025-08-20T02:43:00.884Z,1755657780.884 [DAT](INFO): DAT read: Bearing 172.8, -2.3 (Local)
2025-08-20T02:43:00.884Z,1755657780.884 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, -2.3 (Local)
2025-08-20T02:43:00.894Z,1755657780.894 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (Round-trip 42.3 ms) speed 0.5 m/s
2025-08-20T02:43:00.895Z,1755657780.895 [DAT](INFO): DAT read: user:3266>
2025-08-20T02:43:00.896Z,1755657780.896 [DAT](INFO): DAT read: Tx time:02:42:59.3041
2025-08-20T02:43:00.896Z,1755657780.896 [DAT](INFO): Ping request sent.
2025-08-20T02:43:00.896Z,1755657780.896 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:43:00.897Z,1755657780.897 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-20T02:43:00.898Z,1755657780.898 [DAT](INFO): direction in FSK: [0.991923,-0.093764,0.085417]
2025-08-20T02:43:00.899Z,1755657780.899 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:00.899Z,1755657780.899 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:00.906Z,1755657780.906 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:00.906Z,1755657780.906 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:00.914Z,1755657780.914 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.017497
2025-08-20T02:43:01.086Z,1755657781.086 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.190231
2025-08-20T02:43:01.267Z,1755657781.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.700001 m,
deltaT: 3.528985 s,
deltaX: -2.200001 m,
approachRate: -0.623409 m/s,
rangeRepo size: 4
2025-08-20T02:43:01.269Z,1755657781.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.700001 m,
bearing: 4.265134 deg,
lat: 36.779356 deg,
lon: -121.859494 deg,
deltaT: 3.528985 s,
deltaX: -2.200001 m,
approachRate: -0.623409 m/s,
posRepo size: 4
2025-08-20T02:43:01.274Z,1755657781.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.70 m.
2025-08-20T02:43:01.277Z,1755657781.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.700001 m,
nav range: 31.142851 m,
bearing: 4.265134 deg,
approach rate: 147670707508775619102404622961 m/s,
LOS rate: 0.012876 deg/s,
cmd heading: 6.267702 deg,
new cmd heading: 6.286221 deg.
2025-08-20T02:43:01.282Z,1755657781.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109715 target range: 31.700001 and range: 31.70 m.
2025-08-20T02:43:01.340Z,1755657781.340 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.443942
2025-08-20T02:43:01.590Z,1755657781.590 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.694206
2025-08-20T02:43:01.728Z,1755657781.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:01.730Z,1755657781.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.70 m.
2025-08-20T02:43:01.733Z,1755657781.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.700001 m,
nav range: 30.830406 m,
bearing: 4.281545 deg,
approach rate: -0.666808 m/s,
LOS rate: 0.035379 deg/s,
cmd heading: 6.286221 deg,
new cmd heading: 6.335954 deg.
2025-08-20T02:43:01.734Z,1755657781.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110583 target range: 31.700001 and range: 31.70 m.
2025-08-20T02:43:01.844Z,1755657781.844 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.947078
2025-08-20T02:43:02.089Z,1755657782.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.70 m.
2025-08-20T02:43:02.095Z,1755657782.095 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.198921
2025-08-20T02:43:02.102Z,1755657782.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.700001 m,
nav range: 30.599102 m,
bearing: 4.294224 deg,
approach rate: -0.647117 m/s,
LOS rate: 0.035740 deg/s,
cmd heading: 6.335954 deg,
new cmd heading: 6.374278 deg.
2025-08-20T02:43:02.103Z,1755657782.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111252 target range: 31.700001 and range: 31.70 m.
2025-08-20T02:43:02.347Z,1755657782.347 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.450646
2025-08-20T02:43:02.532Z,1755657782.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.70 m.
2025-08-20T02:43:02.536Z,1755657782.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.700001 m,
nav range: 30.308426 m,
bearing: 4.309923 deg,
approach rate: -0.653569 m/s,
LOS rate: 0.035638 deg/s,
cmd heading: 6.374278 deg,
new cmd heading: 6.421827 deg.
2025-08-20T02:43:02.537Z,1755657782.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112082 target range: 31.700001 and range: 31.70 m.
2025-08-20T02:43:02.600Z,1755657782.600 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.703892
2025-08-20T02:43:02.851Z,1755657782.851 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.955031
2025-08-20T02:43:02.927Z,1755657782.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.70 m.
2025-08-20T02:43:02.930Z,1755657782.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.700001 m,
nav range: 30.060240 m,
bearing: 4.324037 deg,
approach rate: -0.629376 m/s,
LOS rate: 0.036086 deg/s,
cmd heading: 6.421828 deg,
new cmd heading: 6.464518 deg.
2025-08-20T02:43:02.931Z,1755657782.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112827 target range: 31.700001 and range: 31.70 m.
2025-08-20T02:43:03.102Z,1755657783.102 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.206268
2025-08-20T02:43:03.356Z,1755657783.356 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.459784
2025-08-20T02:43:03.415Z,1755657783.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.70 m.
2025-08-20T02:43:03.422Z,1755657783.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.700001 m,
nav range: 29.784342 m,
bearing: 4.341568 deg,
approach rate: -0.564740 m/s,
LOS rate: 0.036217 deg/s,
cmd heading: 6.464517 deg,
new cmd heading: 6.517598 deg.
2025-08-20T02:43:03.423Z,1755657783.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113754 target range: 31.700001 and range: 31.70 m.
2025-08-20T02:43:03.606Z,1755657783.606 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.710284
2025-08-20T02:43:03.724Z,1755657783.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.70 m.
2025-08-20T02:43:03.727Z,1755657783.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.700001 m,
nav range: 29.561558 m,
bearing: 4.355982 deg,
approach rate: -0.720951 m/s,
LOS rate: 0.046996 deg/s,
cmd heading: 6.517598 deg,
new cmd heading: 6.561166 deg.
2025-08-20T02:43:03.728Z,1755657783.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114514 target range: 31.700001 and range: 31.70 m.
2025-08-20T02:43:03.859Z,1755657783.859 [DAT](INFO): DAT read: Rx Time:02:43:01.7476
2025-08-20T02:43:03.860Z,1755657783.860 [DAT](INFO): Rx dataTimestamp_ set to:1755657783.859523
2025-08-20T02:43:03.861Z,1755657783.861 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.964760
2025-08-20T02:43:04.111Z,1755657784.111 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.214291
2025-08-20T02:43:04.128Z,1755657784.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:04.130Z,1755657784.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.70 m.
2025-08-20T02:43:04.133Z,1755657784.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.700001 m,
nav range: 29.308283 m,
bearing: 4.372618 deg,
approach rate: -0.624773 m/s,
LOS rate: 0.041393 deg/s,
cmd heading: 6.561166 deg,
new cmd heading: 6.611507 deg.
2025-08-20T02:43:04.134Z,1755657784.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115393 target range: 31.700001 and range: 31.70 m.
2025-08-20T02:43:04.374Z,1755657784.374 [DAT](INFO): DAT read: 02:43:01.7476 LVL= 26768, 32753, 23490, 32755, AGC= 58, IDX= 415,-0.05, 1.338,-0.161, 1.731, 1.168, PHS= 0.272,-1.284, 0.519, RAW= 157.3, 5.9, CAL= 156.5, 5.7, ROT= 353.5, -5.7
2025-08-20T02:43:04.376Z,1755657784.376 [DAT](INFO): got valid direction response:
02:43:01.7476 LVL= 26768, 32753, 23490, 32755, AGC= 58, IDX= 415,-0.05, 1.338,-0.161, 1.731, 1.168, PHS= 0.272,-1.284, 0.519, RAW= 157.3, 5.9, CAL= 156.5, 5.7, ROT= 353.5, -5.7
2025-08-20T02:43:04.377Z,1755657784.377 [DAT](INFO): DAT read: Bearing 173.4, -4.1 (Local)
2025-08-20T02:43:04.379Z,1755657784.379 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.4, -4.1 (Local)
2025-08-20T02:43:04.380Z,1755657784.380 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (Round-trip 39.3 ms) speed 0.5 m/s
2025-08-20T02:43:04.381Z,1755657784.381 [DAT](INFO): DAT read: user:3267>
2025-08-20T02:43:04.382Z,1755657784.382 [DAT](INFO): DAT read: Tx time:02:43:02.8541
2025-08-20T02:43:04.382Z,1755657784.382 [DAT](INFO): Ping request sent.
2025-08-20T02:43:04.382Z,1755657784.382 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:43:04.383Z,1755657784.383 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-20T02:43:04.383Z,1755657784.383 [DAT](INFO): direction in FSK: [0.988659,-0.112644,0.099320]
2025-08-20T02:43:04.384Z,1755657784.384 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:04.384Z,1755657784.384 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:04.388Z,1755657784.388 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:04.388Z,1755657784.388 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:04.391Z,1755657784.391 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.008893
2025-08-20T02:43:04.611Z,1755657784.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.400000 m,
deltaT: 3.529004 s,
deltaX: -2.300001 m,
approachRate: -0.651742 m/s,
rangeRepo size: 4
2025-08-20T02:43:04.613Z,1755657784.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.400000 m,
bearing: 3.594057 deg,
lat: 36.779357 deg,
lon: -121.859499 deg,
deltaT: 3.529004 s,
deltaX: -2.300001 m,
approachRate: -0.651742 m/s,
posRepo size: 4
2025-08-20T02:43:04.615Z,1755657784.615 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.232285
2025-08-20T02:43:04.618Z,1755657784.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-20T02:43:04.621Z,1755657784.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.400000 m,
nav range: 29.102959 m,
bearing: 3.594057 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.041393 deg/s,
cmd heading: 6.611507 deg,
new cmd heading: 6.671196 deg.
2025-08-20T02:43:04.627Z,1755657784.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116434 target range: 29.400000 and range: 29.40 m.
2025-08-20T02:43:04.866Z,1755657784.866 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.484162
2025-08-20T02:43:04.968Z,1755657784.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-20T02:43:04.971Z,1755657784.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.400000 m,
nav range: 28.880499 m,
bearing: 3.603697 deg,
approach rate: -0.621356 m/s,
LOS rate: 0.027132 deg/s,
cmd heading: 6.671196 deg,
new cmd heading: 6.700337 deg.
2025-08-20T02:43:04.972Z,1755657784.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116943 target range: 29.400000 and range: 29.40 m.
2025-08-20T02:43:05.118Z,1755657785.118 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.736191
2025-08-20T02:43:05.370Z,1755657785.370 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.988233
2025-08-20T02:43:05.421Z,1755657785.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-20T02:43:05.428Z,1755657785.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.400000 m,
nav range: 28.612530 m,
bearing: 3.610389 deg,
approach rate: -0.592065 m/s,
LOS rate: 0.014926 deg/s,
cmd heading: 6.700337 deg,
new cmd heading: 6.720604 deg.
2025-08-20T02:43:05.429Z,1755657785.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117297 target range: 29.400000 and range: 29.40 m.
2025-08-20T02:43:05.625Z,1755657785.625 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.243003
2025-08-20T02:43:05.787Z,1755657785.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-20T02:43:05.790Z,1755657785.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.400000 m,
nav range: 28.377014 m,
bearing: 3.616376 deg,
approach rate: -0.642914 m/s,
LOS rate: 0.016478 deg/s,
cmd heading: 6.720604 deg,
new cmd heading: 6.738714 deg.
2025-08-20T02:43:05.791Z,1755657785.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117613 target range: 29.400000 and range: 29.40 m.
2025-08-20T02:43:05.875Z,1755657785.875 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.493055
2025-08-20T02:43:06.126Z,1755657786.126 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.744163
2025-08-20T02:43:06.179Z,1755657786.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:06.182Z,1755657786.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-20T02:43:06.187Z,1755657786.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.400000 m,
nav range: 28.142172 m,
bearing: 3.622378 deg,
approach rate: -0.594971 m/s,
LOS rate: 0.015332 deg/s,
cmd heading: 6.738714 deg,
new cmd heading: 6.756869 deg.
2025-08-20T02:43:06.188Z,1755657786.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117930 target range: 29.400000 and range: 29.40 m.
2025-08-20T02:43:06.378Z,1755657786.378 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.996237
2025-08-20T02:43:06.590Z,1755657786.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-20T02:43:06.593Z,1755657786.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.400000 m,
nav range: 27.891680 m,
bearing: 3.628703 deg,
approach rate: -0.613428 m/s,
LOS rate: 0.015629 deg/s,
cmd heading: 6.756869 deg,
new cmd heading: 6.776015 deg.
2025-08-20T02:43:06.594Z,1755657786.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118264 target range: 29.400000 and range: 29.40 m.
2025-08-20T02:43:06.631Z,1755657786.631 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.248582
2025-08-20T02:43:06.882Z,1755657786.882 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.500153
2025-08-20T02:43:06.975Z,1755657786.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-20T02:43:06.978Z,1755657786.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.400000 m,
nav range: 27.658611 m,
bearing: 3.634724 deg,
approach rate: -0.606053 m/s,
LOS rate: 0.015788 deg/s,
cmd heading: 6.776015 deg,
new cmd heading: 6.794230 deg.
2025-08-20T02:43:06.979Z,1755657786.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118582 target range: 29.400000 and range: 29.40 m.
2025-08-20T02:43:07.134Z,1755657787.134 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.752124
2025-08-20T02:43:07.387Z,1755657787.387 [DAT](INFO): DAT read: Rx Time:02:43:05.2947
2025-08-20T02:43:07.387Z,1755657787.387 [DAT](INFO): Rx dataTimestamp_ set to:1755657787.386768
2025-08-20T02:43:07.388Z,1755657787.388 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.005378
2025-08-20T02:43:07.451Z,1755657787.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-20T02:43:07.458Z,1755657787.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.400000 m,
nav range: 27.367653 m,
bearing: 3.640438 deg,
approach rate: -0.611562 m/s,
LOS rate: 0.012139 deg/s,
cmd heading: 6.794230 deg,
new cmd heading: 6.811556 deg.
2025-08-20T02:43:07.459Z,1755657787.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118884 target range: 29.400000 and range: 29.40 m.
2025-08-20T02:43:07.638Z,1755657787.638 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.256144
2025-08-20T02:43:07.856Z,1755657787.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-20T02:43:07.863Z,1755657787.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.400000 m,
nav range: 27.120289 m,
bearing: 3.645403 deg,
approach rate: -0.609810 m/s,
LOS rate: 0.012350 deg/s,
cmd heading: 6.811556 deg,
new cmd heading: 6.826585 deg.
2025-08-20T02:43:07.864Z,1755657787.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119146 target range: 29.400000 and range: 29.40 m.
2025-08-20T02:43:07.897Z,1755657787.897 [DAT](INFO): DAT read: 02:43:05.2947 LVL= 26080, 32753, 21042, 32755, AGC= 58, IDX= 417, 0.20, 2.880, 1.321,-2.951, 2.710, PHS= 0.272,-1.344, 0.577, RAW= 158.5, 5.6, CAL= 157.7, 5.2, ROT= 352.3, -5.2
2025-08-20T02:43:07.898Z,1755657787.898 [DAT](INFO): got valid direction response:
02:43:05.2947 LVL= 26080, 32753, 21042, 32755, AGC= 58, IDX= 417, 0.20, 2.880, 1.321,-2.951, 2.710, PHS= 0.272,-1.344, 0.577, RAW= 158.5, 5.6, CAL= 157.7, 5.2, ROT= 352.3, -5.2
2025-08-20T02:43:07.899Z,1755657787.899 [DAT](INFO): DAT read: Bearing 173.3, -5.9 (Local)
2025-08-20T02:43:07.900Z,1755657787.900 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.3, -5.9 (Local)
2025-08-20T02:43:07.901Z,1755657787.901 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (Round-trip 36.4 ms) speed 0.5 m/s
2025-08-20T02:43:07.902Z,1755657787.902 [DAT](INFO): DAT read: user:3268>
2025-08-20T02:43:07.903Z,1755657787.903 [DAT](INFO): DAT read: Tx time:02:43:06.4041
2025-08-20T02:43:07.903Z,1755657787.903 [DAT](INFO): Ping request sent.
2025-08-20T02:43:07.903Z,1755657787.903 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:43:07.903Z,1755657787.903 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-20T02:43:07.904Z,1755657787.904 [DAT](INFO): direction in FSK: [0.986905,-0.133435,0.090633]
2025-08-20T02:43:07.905Z,1755657787.905 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:07.905Z,1755657787.905 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:07.908Z,1755657787.908 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:07.908Z,1755657787.908 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:07.912Z,1755657787.912 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.008426
2025-08-20T02:43:08.142Z,1755657788.142 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.239343
2025-08-20T02:43:08.215Z,1755657788.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.299999 m,
deltaT: 3.525976 s,
deltaX: -2.100000 m,
approachRate: -0.595580 m/s,
rangeRepo size: 4
2025-08-20T02:43:08.217Z,1755657788.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.299999 m,
bearing: 2.241355 deg,
lat: 36.779358 deg,
lon: -121.859506 deg,
deltaT: 3.525976 s,
deltaX: -2.100000 m,
approachRate: -0.595580 m/s,
posRepo size: 4
2025-08-20T02:43:08.218Z,1755657788.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-20T02:43:08.220Z,1755657788.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.299999 m,
nav range: 26.980316 m,
bearing: 2.241355 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012350 deg/s,
cmd heading: 6.826585 deg,
new cmd heading: 6.839842 deg.
2025-08-20T02:43:08.222Z,1755657788.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119378 target range: 27.299999 and range: 27.30 m.
2025-08-20T02:43:08.398Z,1755657788.398 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.494766
2025-08-20T02:43:08.617Z,1755657788.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:08.619Z,1755657788.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-20T02:43:08.622Z,1755657788.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.299999 m,
nav range: 26.730867 m,
bearing: 2.212375 deg,
approach rate: -0.615608 m/s,
LOS rate: -0.072186 deg/s,
cmd heading: 6.839842 deg,
new cmd heading: 6.752091 deg.
2025-08-20T02:43:08.623Z,1755657788.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117846 target range: 27.299999 and range: 27.30 m.
2025-08-20T02:43:08.647Z,1755657788.647 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.743375
2025-08-20T02:43:08.902Z,1755657788.902 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.999001
2025-08-20T02:43:08.991Z,1755657788.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-20T02:43:08.994Z,1755657788.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.299999 m,
nav range: 26.503498 m,
bearing: 2.185541 deg,
approach rate: -0.611459 m/s,
LOS rate: -0.072782 deg/s,
cmd heading: 6.752091 deg,
new cmd heading: 6.670900 deg.
2025-08-20T02:43:08.995Z,1755657788.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116429 target range: 27.299999 and range: 27.30 m.
2025-08-20T02:43:09.155Z,1755657789.155 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.251585
2025-08-20T02:43:09.407Z,1755657789.407 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.503389
2025-08-20T02:43:09.435Z,1755657789.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-20T02:43:09.438Z,1755657789.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.299999 m,
nav range: 26.230238 m,
bearing: 2.154423 deg,
approach rate: -0.615460 m/s,
LOS rate: -0.070818 deg/s,
cmd heading: 6.670900 deg,
new cmd heading: 6.576572 deg.
2025-08-20T02:43:09.439Z,1755657789.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114783 target range: 27.299999 and range: 27.30 m.
2025-08-20T02:43:09.658Z,1755657789.658 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.755344
2025-08-20T02:43:09.865Z,1755657789.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-20T02:43:09.868Z,1755657789.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.299999 m,
nav range: 25.978323 m,
bearing: 2.125065 deg,
approach rate: -0.585793 m/s,
LOS rate: -0.068929 deg/s,
cmd heading: 6.576572 deg,
new cmd heading: 6.487645 deg.
2025-08-20T02:43:09.869Z,1755657789.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113231 target range: 27.299999 and range: 27.30 m.
2025-08-20T02:43:09.911Z,1755657789.911 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.007941
2025-08-20T02:43:10.163Z,1755657790.163 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.259793
2025-08-20T02:43:10.234Z,1755657790.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-20T02:43:10.237Z,1755657790.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.299999 m,
nav range: 25.738163 m,
bearing: 2.096459 deg,
approach rate: -0.650757 m/s,
LOS rate: -0.078239 deg/s,
cmd heading: 6.487645 deg,
new cmd heading: 6.401024 deg.
2025-08-20T02:43:10.238Z,1755657790.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111719 target range: 27.299999 and range: 27.30 m.
2025-08-20T02:43:10.415Z,1755657790.415 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.511794
2025-08-20T02:43:10.648Z,1755657790.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:10.666Z,1755657790.666 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.763180
2025-08-20T02:43:10.668Z,1755657790.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-20T02:43:10.675Z,1755657790.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.299999 m,
nav range: 25.480082 m,
bearing: 2.065699 deg,
approach rate: -0.595359 m/s,
LOS rate: -0.071678 deg/s,
cmd heading: 6.401024 deg,
new cmd heading: 6.307810 deg.
2025-08-20T02:43:10.676Z,1755657790.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110092 target range: 27.299999 and range: 27.30 m.
2025-08-20T02:43:10.918Z,1755657790.918 [DAT](INFO): DAT read: Rx Time:02:43:08.8418
2025-08-20T02:43:10.919Z,1755657790.919 [DAT](INFO): Rx dataTimestamp_ set to:1755657790.918610
2025-08-20T02:43:10.919Z,1755657790.919 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.016356
2025-08-20T02:43:11.040Z,1755657791.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.30 m.
2025-08-20T02:43:11.043Z,1755657791.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.299999 m,
nav range: 25.237459 m,
bearing: 2.035942 deg,
approach rate: -0.652223 m/s,
LOS rate: -0.080761 deg/s,
cmd heading: 6.307810 deg,
new cmd heading: 6.217682 deg.
2025-08-20T02:43:11.044Z,1755657791.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108519 target range: 27.299999 and range: 27.30 m.
2025-08-20T02:43:11.171Z,1755657791.171 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.268035
2025-08-20T02:43:11.428Z,1755657791.428 [DAT](INFO): DAT read: 02:43:08.8418 LVL= 25584, 32753, 22594, 32755, AGC= 57, IDX= 420,-0.46, 1.474,-0.040, 1.961, 1.337, PHS= 0.238,-1.332, 0.580, RAW= 159.6, 5.9, CAL= 158.9, 5.5, ROT= 351.1, -5.5
2025-08-20T02:43:11.430Z,1755657791.430 [DAT](INFO): got valid direction response:
02:43:08.8418 LVL= 25584, 32753, 22594, 32755, AGC= 57, IDX= 420,-0.46, 1.474,-0.040, 1.961, 1.337, PHS= 0.238,-1.332, 0.580, RAW= 159.6, 5.9, CAL= 158.9, 5.5, ROT= 351.1, -5.5
2025-08-20T02:43:11.431Z,1755657791.431 [DAT](INFO): DAT read: Bearing 173.5, -7.6 (Local)
2025-08-20T02:43:11.431Z,1755657791.431 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.5, -7.6 (Local)
2025-08-20T02:43:11.432Z,1755657791.432 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (Round-trip 33.5 ms) speed 0.5 m/s
2025-08-20T02:43:11.433Z,1755657791.433 [DAT](INFO): DAT read: user:3269>
2025-08-20T02:43:11.434Z,1755657791.434 [DAT](INFO): DAT read: Tx time:02:43:09.9557
2025-08-20T02:43:11.434Z,1755657791.434 [DAT](INFO): Ping request sent.
2025-08-20T02:43:11.434Z,1755657791.434 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:43:11.434Z,1755657791.434 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-20T02:43:11.436Z,1755657791.436 [DAT](INFO): direction in FSK: [0.983411,-0.153998,0.095846]
2025-08-20T02:43:11.436Z,1755657791.436 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:11.436Z,1755657791.436 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:11.467Z,1755657791.467 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:11.468Z,1755657791.468 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:11.479Z,1755657791.479 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.044959
2025-08-20T02:43:11.579Z,1755657791.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.100000 m,
deltaT: 3.531820 s,
deltaX: -2.199999 m,
approachRate: -0.622908 m/s,
rangeRepo size: 4
2025-08-20T02:43:11.586Z,1755657791.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.100000 m,
bearing: 0.406928 deg,
lat: 36.779358 deg,
lon: -121.859514 deg,
deltaT: 3.531820 s,
deltaX: -2.199999 m,
approachRate: -0.622908 m/s,
posRepo size: 4
2025-08-20T02:43:11.587Z,1755657791.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-20T02:43:11.589Z,1755657791.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.100000 m,
nav range: 24.967615 m,
bearing: 0.406928 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.080761 deg/s,
cmd heading: 6.217683 deg,
new cmd heading: 6.087092 deg.
2025-08-20T02:43:11.594Z,1755657791.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106240 target range: 25.100000 and range: 25.10 m.
2025-08-20T02:43:11.676Z,1755657791.676 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.241375
2025-08-20T02:43:11.925Z,1755657791.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-20T02:43:11.927Z,1755657791.927 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.492343
2025-08-20T02:43:11.930Z,1755657791.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.100000 m,
nav range: 24.740751 m,
bearing: 0.359142 deg,
approach rate: -0.655922 m/s,
LOS rate: -0.139430 deg/s,
cmd heading: 6.087092 deg,
new cmd heading: 5.942419 deg.
2025-08-20T02:43:11.931Z,1755657791.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103715 target range: 25.100000 and range: 25.10 m.
2025-08-20T02:43:12.179Z,1755657792.179 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.745199
2025-08-20T02:43:12.355Z,1755657792.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-20T02:43:12.358Z,1755657792.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.100000 m,
nav range: 24.478897 m,
bearing: 0.303192 deg,
approach rate: -0.608413 m/s,
LOS rate: -0.131389 deg/s,
cmd heading: 5.942419 deg,
new cmd heading: 5.772774 deg.
2025-08-20T02:43:12.359Z,1755657792.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100754 target range: 25.100000 and range: 25.10 m.
2025-08-20T02:43:12.432Z,1755657792.432 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.997569
2025-08-20T02:43:12.683Z,1755657792.683 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.248305
2025-08-20T02:43:12.753Z,1755657792.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:12.755Z,1755657792.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-20T02:43:12.778Z,1755657792.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.100000 m,
nav range: 24.225090 m,
bearing: 0.262008 deg,
approach rate: -0.634738 m/s,
LOS rate: -0.104075 deg/s,
cmd heading: 5.772774 deg,
new cmd heading: 5.647928 deg.
2025-08-20T02:43:12.779Z,1755657792.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098575 target range: 25.100000 and range: 25.10 m.
2025-08-20T02:43:12.934Z,1755657792.934 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.500202
2025-08-20T02:43:13.146Z,1755657793.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-20T02:43:13.151Z,1755657793.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.100000 m,
nav range: 23.988844 m,
bearing: 0.222977 deg,
approach rate: -0.603295 m/s,
LOS rate: -0.100654 deg/s,
cmd heading: 5.647928 deg,
new cmd heading: 5.529681 deg.
2025-08-20T02:43:13.152Z,1755657793.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096511 target range: 25.100000 and range: 25.10 m.
2025-08-20T02:43:13.187Z,1755657793.187 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.752805
2025-08-20T02:43:13.440Z,1755657793.440 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.006138
2025-08-20T02:43:13.592Z,1755657793.592 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 82.23, 84.60, 82.91, 82.91
2025-08-20T02:43:13.608Z,1755657793.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-20T02:43:13.611Z,1755657793.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.100000 m,
nav range: 23.689692 m,
bearing: 0.172699 deg,
approach rate: -0.648128 m/s,
LOS rate: -0.110305 deg/s,
cmd heading: 5.529681 deg,
new cmd heading: 5.376944 deg.
2025-08-20T02:43:13.612Z,1755657793.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093845 target range: 25.100000 and range: 25.10 m.
2025-08-20T02:43:13.691Z,1755657793.691 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.256433
2025-08-20T02:43:13.943Z,1755657793.943 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508317
2025-08-20T02:43:13.954Z,1755657793.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-20T02:43:13.956Z,1755657793.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.100000 m,
nav range: 23.473122 m,
bearing: 0.135625 deg,
approach rate: -0.626707 m/s,
LOS rate: -0.108273 deg/s,
cmd heading: 5.376943 deg,
new cmd heading: 5.264696 deg.
2025-08-20T02:43:13.958Z,1755657793.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091886 target range: 25.100000 and range: 25.10 m.
2025-08-20T02:43:14.195Z,1755657794.195 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.760305
2025-08-20T02:43:14.423Z,1755657794.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-20T02:43:14.449Z,1755657794.449 [DAT](INFO): DAT read: Rx Time:02:43:12.3904
2025-08-20T02:43:14.451Z,1755657794.451 [DAT](INFO): Rx dataTimestamp_ set to:1755657794.449792
2025-08-20T02:43:14.453Z,1755657794.453 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.017865
2025-08-20T02:43:14.454Z,1755657794.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.100000 m,
nav range: 23.204235 m,
bearing: 0.089077 deg,
approach rate: -0.580463 m/s,
LOS rate: -0.101651 deg/s,
cmd heading: 5.264696 deg,
new cmd heading: 5.123433 deg.
2025-08-20T02:43:14.462Z,1755657794.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089421 target range: 25.100000 and range: 25.10 m.
2025-08-20T02:43:14.698Z,1755657794.698 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.264147
2025-08-20T02:43:14.947Z,1755657794.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:14.949Z,1755657794.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.10 m.
2025-08-20T02:43:14.956Z,1755657794.956 [DAT](INFO): DAT read: 02:43:12.3904 LVL= 26800, 32753, 21666, 32755, AGC= 57, IDX= 406,-0.37, 1.090,-0.391, 1.651, 1.012, PHS= 0.181,-1.357, 0.595, RAW= 161.6, 6.6, CAL= 161.0, 6.3, ROT= 349.0, -6.3
2025-08-20T02:43:14.957Z,1755657794.957 [DAT](INFO): got valid direction response:
02:43:12.3904 LVL= 26800, 32753, 21666, 32755, AGC= 57, IDX= 406,-0.37, 1.090,-0.391, 1.651, 1.012, PHS= 0.181,-1.357, 0.595, RAW= 161.6, 6.6, CAL= 161.0, 6.3, ROT= 349.0, -6.3
2025-08-20T02:43:14.958Z,1755657794.958 [DAT](INFO): DAT read: Bearing 174.2, -10.1 (Local)
2025-08-20T02:43:14.959Z,1755657794.959 [DAT](INFO): Local bearing/azimuth received:
Bearing 174.2, -10.1 (Local)
2025-08-20T02:43:14.960Z,1755657794.960 [DAT](INFO): DAT read: Range 11 to 50 : 22.9 m (Round-trip 30.6 ms) speed 0.5 m/s
2025-08-20T02:43:14.961Z,1755657794.961 [DAT](INFO): DAT read: user:3270>
2025-08-20T02:43:14.962Z,1755657794.962 [DAT](INFO): DAT read: Tx time:02:43:13.5041
2025-08-20T02:43:14.962Z,1755657794.962 [DAT](INFO): Ping request sent.
2025-08-20T02:43:14.962Z,1755657794.962 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:43:14.962Z,1755657794.962 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-20T02:43:14.964Z,1755657794.964 [DAT](INFO): direction in FSK: [0.975699,-0.189657,0.109734]
2025-08-20T02:43:14.964Z,1755657794.964 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:14.964Z,1755657794.964 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:14.971Z,1755657794.971 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:14.971Z,1755657794.971 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:14.976Z,1755657794.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.100000 m,
nav range: 22.857384 m,
bearing: 0.034575 deg,
approach rate: -0.651995 m/s,
LOS rate: -0.104004 deg/s,
cmd heading: 5.123433 deg,
new cmd heading: 4.957448 deg.
2025-08-20T02:43:14.977Z,1755657794.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.086524 target range: 25.100000 and range: 25.10 m.
2025-08-20T02:43:14.979Z,1755657794.979 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.016826
2025-08-20T02:43:15.203Z,1755657795.203 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.240413
2025-08-20T02:43:15.340Z,1755657795.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.900000 m,
deltaT: 3.528002 s,
deltaX: -2.200001 m,
approachRate: -0.623583 m/s,
rangeRepo size: 4
2025-08-20T02:43:15.347Z,1755657795.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.900000 m,
bearing: 358.841321 deg,
lat: 36.779359 deg,
lon: -121.859519 deg,
deltaT: 3.528002 s,
deltaX: -2.200001 m,
approachRate: -0.623583 m/s,
posRepo size: 4
2025-08-20T02:43:15.347Z,1755657795.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-20T02:43:15.355Z,1755657795.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.900000 m,
nav range: 22.715839 m,
bearing: 358.841321 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.104004 deg/s,
cmd heading: 4.957448 deg,
new cmd heading: 4.835503 deg.
2025-08-20T02:43:15.356Z,1755657795.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084395 target range: 22.900000 and range: 22.90 m.
2025-08-20T02:43:15.461Z,1755657795.461 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.498626
2025-08-20T02:43:15.709Z,1755657795.709 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.746401
2025-08-20T02:43:15.755Z,1755657795.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-20T02:43:15.762Z,1755657795.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.900000 m,
nav range: 22.441896 m,
bearing: 358.786075 deg,
approach rate: -0.659658 m/s,
LOS rate: -0.134659 deg/s,
cmd heading: 4.835503 deg,
new cmd heading: 4.667741 deg.
2025-08-20T02:43:15.763Z,1755657795.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081467 target range: 22.900000 and range: 22.90 m.
2025-08-20T02:43:15.959Z,1755657795.959 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.996827
2025-08-20T02:43:16.130Z,1755657796.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-20T02:43:16.133Z,1755657796.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.900000 m,
nav range: 22.197603 m,
bearing: 358.736540 deg,
approach rate: -0.651332 m/s,
LOS rate: -0.133524 deg/s,
cmd heading: 4.667741 deg,
new cmd heading: 4.517500 deg.
2025-08-20T02:43:16.134Z,1755657796.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078845 target range: 22.900000 and range: 22.90 m.
2025-08-20T02:43:16.211Z,1755657796.211 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.248734
2025-08-20T02:43:16.466Z,1755657796.466 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.502844
2025-08-20T02:43:16.554Z,1755657796.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-20T02:43:16.556Z,1755657796.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.900000 m,
nav range: 21.936728 m,
bearing: 358.685282 deg,
approach rate: -0.615979 m/s,
LOS rate: -0.122467 deg/s,
cmd heading: 4.517499 deg,
new cmd heading: 4.361900 deg.
2025-08-20T02:43:16.558Z,1755657796.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076130 target range: 22.900000 and range: 22.90 m.
2025-08-20T02:43:16.714Z,1755657796.714 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.752256
2025-08-20T02:43:16.909Z,1755657796.909 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:43:16.934Z,1755657796.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-20T02:43:16.937Z,1755657796.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.900000 m,
nav range: 21.702049 m,
bearing: 358.638116 deg,
approach rate: -0.616292 m/s,
LOS rate: -0.125204 deg/s,
cmd heading: 4.361900 deg,
new cmd heading: 4.218871 deg.
2025-08-20T02:43:16.954Z,1755657796.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073633 target range: 22.900000 and range: 22.90 m.
2025-08-20T02:43:16.967Z,1755657796.967 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.004475
2025-08-20T02:43:17.219Z,1755657797.219 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.256419
2025-08-20T02:43:17.337Z,1755657797.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:17.339Z,1755657797.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-20T02:43:17.342Z,1755657797.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.900000 m,
nav range: 21.453262 m,
bearing: 358.587178 deg,
approach rate: -0.614167 m/s,
LOS rate: -0.127206 deg/s,
cmd heading: 4.218871 deg,
new cmd heading: 4.064286 deg.
2025-08-20T02:43:17.343Z,1755657797.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070935 target range: 22.900000 and range: 22.90 m.
2025-08-20T02:43:17.474Z,1755657797.474 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.510708
2025-08-20T02:43:17.723Z,1755657797.723 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.760408
2025-08-20T02:43:17.748Z,1755657797.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-20T02:43:17.752Z,1755657797.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.900000 m,
nav range: 21.199816 m,
bearing: 358.545102 deg,
approach rate: -0.619769 m/s,
LOS rate: -0.104123 deg/s,
cmd heading: 4.064286 deg,
new cmd heading: 3.936547 deg.
2025-08-20T02:43:17.753Z,1755657797.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068706 target range: 22.900000 and range: 22.90 m.
2025-08-20T02:43:17.910Z,1755657797.910 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:43:17.975Z,1755657797.975 [DAT](INFO): DAT read: Rx Time:02:43:15.9359
2025-08-20T02:43:17.975Z,1755657797.975 [DAT](INFO): Rx dataTimestamp_ set to:1755657797.974690
2025-08-20T02:43:17.976Z,1755657797.976 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.013445
2025-08-20T02:43:18.127Z,1755657798.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-08-20T02:43:18.130Z,1755657798.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.900000 m,
nav range: 20.965746 m,
bearing: 358.506321 deg,
approach rate: -0.618241 m/s,
LOS rate: -0.103573 deg/s,
cmd heading: 3.936547 deg,
new cmd heading: 3.818907 deg.
2025-08-20T02:43:18.131Z,1755657798.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066653 target range: 22.900000 and range: 22.90 m.
2025-08-20T02:43:18.227Z,1755657798.227 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.264911
2025-08-20T02:43:18.499Z,1755657798.499 [DAT](INFO): DAT read: 02:43:15.9359 LVL= 29104, 32753, 22882, 32755, AGC= 56, IDX= 408,-0.11, 0.989,-0.427, 1.561, 0.917, PHS= 0.173,-1.300, 0.600, RAW= 162.4, 6.2, CAL= 161.6, 5.7, ROT= 348.4, -5.7
2025-08-20T02:43:18.502Z,1755657798.502 [DAT](INFO): got valid direction response:
02:43:15.9359 LVL= 29104, 32753, 22882, 32755, AGC= 56, IDX= 408,-0.11, 0.989,-0.427, 1.561, 0.917, PHS= 0.173,-1.300, 0.600, RAW= 162.4, 6.2, CAL= 161.6, 5.7, ROT= 348.4, -5.7
2025-08-20T02:43:18.508Z,1755657798.508 [DAT](INFO): DAT read: Bearing 172.9, -10.9 (Local)
2025-08-20T02:43:18.526Z,1755657798.526 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.9, -10.9 (Local)
2025-08-20T02:43:18.527Z,1755657798.527 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (Round-trip 27.7 ms) speed 0.5 m/s
2025-08-20T02:43:18.528Z,1755657798.528 [DAT](INFO): DAT read: user:3271>
2025-08-20T02:43:18.529Z,1755657798.529 [DAT](INFO): DAT read: Tx time:02:43:17.0541
2025-08-20T02:43:18.529Z,1755657798.529 [DAT](INFO): Ping request sent.
2025-08-20T02:43:18.529Z,1755657798.529 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:43:18.538Z,1755657798.538 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-20T02:43:18.539Z,1755657798.539 [DAT](INFO): direction in FSK: [0.974732,-0.200084,0.099320]
2025-08-20T02:43:18.539Z,1755657798.539 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:18.539Z,1755657798.539 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:18.554Z,1755657798.554 [DAT](INFO): publishing transmit ping time
2025-08-20T02:43:18.555Z,1755657798.555 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:18.570Z,1755657798.570 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.041481
2025-08-20T02:43:18.688Z,1755657798.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.700001 m,
deltaT: 3.529560 s,
deltaX: -2.199999 m,
approachRate: -0.623307 m/s,
rangeRepo size: 4
2025-08-20T02:43:18.694Z,1755657798.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.700001 m,
bearing: 357.609271 deg,
lat: 36.779358 deg,
lon: -121.859522 deg,
deltaT: 3.529560 s,
deltaX: -2.199999 m,
approachRate: -0.623307 m/s,
posRepo size: 4
2025-08-20T02:43:18.695Z,1755657798.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-20T02:43:18.701Z,1755657798.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.700001 m,
nav range: 20.554602 m,
bearing: 357.609271 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.103573 deg/s,
cmd heading: 3.818907 deg,
new cmd heading: 3.644922 deg.
2025-08-20T02:43:18.703Z,1755657798.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063616 target range: 20.700001 and range: 20.70 m.
2025-08-20T02:43:18.731Z,1755657798.731 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.201599
2025-08-20T02:43:18.982Z,1755657798.982 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.453518
2025-08-20T02:43:19.059Z,1755657799.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-20T02:43:19.062Z,1755657799.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.700001 m,
nav range: 20.319578 m,
bearing: 357.560742 deg,
approach rate: -0.631867 m/s,
LOS rate: -0.131980 deg/s,
cmd heading: 3.644922 deg,
new cmd heading: 3.497652 deg.
2025-08-20T02:43:19.063Z,1755657799.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061046 target range: 20.700001 and range: 20.70 m.
2025-08-20T02:43:19.234Z,1755657799.234 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.705414
2025-08-20T02:43:19.489Z,1755657799.489 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.959882
2025-08-20T02:43:19.503Z,1755657799.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:19.520Z,1755657799.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-20T02:43:19.528Z,1755657799.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.700001 m,
nav range: 20.072824 m,
bearing: 357.509546 deg,
approach rate: -0.536561 m/s,
LOS rate: -0.112693 deg/s,
cmd heading: 3.497652 deg,
new cmd heading: 3.342177 deg.
2025-08-20T02:43:19.529Z,1755657799.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058332 target range: 20.700001 and range: 20.70 m.
2025-08-20T02:43:19.739Z,1755657799.739 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.209913
2025-08-20T02:43:19.946Z,1755657799.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-20T02:43:19.948Z,1755657799.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.700001 m,
nav range: 19.777288 m,
bearing: 357.448131 deg,
approach rate: -0.698938 m/s,
LOS rate: -0.147416 deg/s,
cmd heading: 3.342177 deg,
new cmd heading: 3.155179 deg.
2025-08-20T02:43:19.956Z,1755657799.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055068 target range: 20.700001 and range: 20.70 m.
2025-08-20T02:43:19.991Z,1755657799.991 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.461599
2025-08-20T02:43:20.243Z,1755657800.243 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.713632
2025-08-20T02:43:20.264Z,1755657800.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-20T02:43:20.271Z,1755657800.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.700001 m,
nav range: 19.574795 m,
bearing: 357.405504 deg,
approach rate: -0.627880 m/s,
LOS rate: -0.133542 deg/s,
cmd heading: 3.155179 deg,
new cmd heading: 3.025975 deg.
2025-08-20T02:43:20.272Z,1755657800.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052813 target range: 20.700001 and range: 20.70 m.
2025-08-20T02:43:20.497Z,1755657800.497 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.967718
2025-08-20T02:43:20.697Z,1755657800.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-20T02:43:20.700Z,1755657800.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.700001 m,
nav range: 19.298410 m,
bearing: 357.341564 deg,
approach rate: -0.638236 m/s,
LOS rate: -0.149768 deg/s,
cmd heading: 3.025976 deg,
new cmd heading: 2.831408 deg.
2025-08-20T02:43:20.701Z,1755657800.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049417 target range: 20.700001 and range: 20.70 m.
2025-08-20T02:43:20.747Z,1755657800.747 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.217693
2025-08-20T02:43:21.002Z,1755657801.002 [DAT](INFO): DAT read: Rx Time:02:43:19.2081
2025-08-20T02:43:21.003Z,1755657801.003 [DAT](INFO): Rx dataTimestamp_ set to:1755657801.002144
2025-08-20T02:43:21.008Z,1755657801.008 [DAT](INFO): DAT read: Bearing 172.1, -11.3 (Local)
2025-08-20T02:43:21.009Z,1755657801.009 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.1, -11.3 (Local)
2025-08-20T02:43:21.011Z,1755657801.011 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.481836
2025-08-20T02:43:21.126Z,1755657801.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.70 m.
2025-08-20T02:43:21.129Z,1755657801.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.700001 m,
nav range: 19.041704 m,
bearing: 357.283055 deg,
approach rate: -0.598006 m/s,
LOS rate: -0.138136 deg/s,
cmd heading: 2.831408 deg,
new cmd heading: 2.653516 deg.
2025-08-20T02:43:21.134Z,1755657801.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.046313 target range: 20.700001 and range: 20.70 m.
2025-08-20T02:43:21.253Z,1755657801.253 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5
2025-08-20T02:43:21.259Z,1755657801.259 [DAT](INFO): DAT read: 02:43:19.2081 LVL= 23920, 20721, 19298, 32371, AGC= 58, IDX= 155, 0.29,-2.693, 2.128,-2.097,-2.766, PHS= 0.175,-1.343, 0.625, RAW= 162.6, 6.1, CAL= 161.9, 5.6, ROT= 348.1, -5.6
2025-08-20T02:43:21.260Z,1755657801.260 [DAT](INFO): got valid direction response:
02:43:19.2081 LVL= 23920, 20721, 19298, 32371, AGC= 58, IDX= 155, 0.29,-2.693, 2.128,-2.097,-2.766, PHS= 0.175,-1.343, 0.625, RAW= 162.6, 6.1, CAL= 161.9, 5.6, ROT= 348.1, -5.6
2025-08-20T02:43:21.261Z,1755657801.261 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-20T02:43:21.262Z,1755657801.262 [DAT](INFO): direction in FSK: [0.973839,-0.205220,0.097583]
2025-08-20T02:43:21.262Z,1755657801.262 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:21.265Z,1755657801.265 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.736297
2025-08-20T02:43:21.496Z,1755657801.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 2.770514 s,
deltaX: -1.900002 m,
approachRate: -0.685794 m/s,
rangeRepo size: 4
2025-08-20T02:43:21.516Z,1755657801.516 [DAT](INFO): DAT read: Rx Time:02:43:19.7078
2025-08-20T02:43:21.521Z,1755657801.521 [DAT](INFO): Rx dataTimestamp_ set to:1755657801.516872
2025-08-20T02:43:21.525Z,1755657801.525 [DAT](INFO): DAT read: Bearing 172.2, -11.5 (Local)
2025-08-20T02:43:21.535Z,1755657801.535 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, -11.5 (Local)
2025-08-20T02:43:21.545Z,1755657801.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.799999 m,
bearing: 355.138725 deg,
lat: 36.779358 deg,
lon: -121.859530 deg,
deltaT: 2.770514 s,
deltaX: -1.900002 m,
approachRate: -0.685794 m/s,
posRepo size: 4
2025-08-20T02:43:21.554Z,1755657801.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m.
2025-08-20T02:43:21.557Z,1755657801.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.799999 m,
nav range: 18.862818 m,
bearing: 355.138725 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.138136 deg/s,
cmd heading: 2.653516 deg,
new cmd heading: 2.502472 deg.
2025-08-20T02:43:21.558Z,1755657801.558 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5
2025-08-20T02:43:21.566Z,1755657801.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043676 target range: 18.799999 and range: 18.80 m.
2025-08-20T02:43:21.571Z,1755657801.571 [DAT](INFO): DAT read: 02:43:19.7078 LVL= 24816, 32753, 21474, 32755, AGC= 56, IDX= 504, 0.31, 2.623, 1.151,-3.056, 2.554, PHS= 0.171,-1.359, 0.629, RAW= 162.7, 6.2, CAL= 162.0, 5.8, ROT= 348.0, -5.8
2025-08-20T02:43:21.572Z,1755657801.572 [DAT](INFO): got valid direction response:
02:43:19.7078 LVL= 24816, 32753, 21474, 32755, AGC= 56, IDX= 504, 0.31, 2.623, 1.151,-3.056, 2.554, PHS= 0.171,-1.359, 0.629, RAW= 162.7, 6.2, CAL= 162.0, 5.8, ROT= 348.0, -5.8
2025-08-20T02:43:21.572Z,1755657801.572 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-20T02:43:21.581Z,1755657801.581 [DAT](INFO): direction in FSK: [0.973140,-0.206847,0.101056]
2025-08-20T02:43:21.582Z,1755657801.582 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:21.589Z,1755657801.589 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.059697
2025-08-20T02:43:21.755Z,1755657801.755 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.225584
2025-08-20T02:43:21.972Z,1755657801.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.266770 s,
deltaX: -0.500000 m,
approachRate: -1.874274 m/s,
rangeRepo size: 4
2025-08-20T02:43:21.974Z,1755657801.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.299999 m,
bearing: 354.787785 deg,
lat: 36.779358 deg,
lon: -121.859531 deg,
deltaT: 0.266770 s,
deltaX: -0.500000 m,
approachRate: -1.874274 m/s,
posRepo size: 4
2025-08-20T02:43:21.975Z,1755657801.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.30 m.
2025-08-20T02:43:21.995Z,1755657801.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.299999 m,
nav range: 18.578850 m,
bearing: 354.787785 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.138136 deg/s,
cmd heading: 2.502472 deg,
new cmd heading: 2.303475 deg.
2025-08-20T02:43:22.001Z,1755657802.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040203 target range: 18.299999 and range: 18.30 m.
2025-08-20T02:43:22.010Z,1755657802.010 [DAT](INFO): DAT read: Rx Time:02:43:20.2077
2025-08-20T02:43:22.011Z,1755657802.011 [DAT](INFO): Rx dataTimestamp_ set to:1755657802.010446
2025-08-20T02:43:22.015Z,1755657802.015 [DAT](INFO): DAT read: Bearing 172.0, -11.7 (Local)
2025-08-20T02:43:22.016Z,1755657802.016 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.0, -11.7 (Local)
2025-08-20T02:43:22.020Z,1755657802.020 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5
2025-08-20T02:43:22.026Z,1755657802.026 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-08-20T02:43:22.039Z,1755657802.039 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.509971
2025-08-20T02:43:22.267Z,1755657802.267 [DAT](INFO): DAT read: 02:43:20.2077 LVL= 24288, 32241, 20146, 32755, AGC= 55, IDX= 503, 0.34,-2.923, 1.878,-2.309,-2.992, PHS= 0.170,-1.369, 0.638, RAW= 162.9, 6.2, CAL= 162.2, 5.7, ROT= 347.8, -5.7
2025-08-20T02:43:22.269Z,1755657802.269 [DAT](INFO): got valid direction response:
02:43:20.2077 LVL= 24288, 32241, 20146, 32755, AGC= 55, IDX= 503, 0.34,-2.923, 1.878,-2.309,-2.992, PHS= 0.170,-1.369, 0.638, RAW= 162.9, 6.2, CAL= 162.2, 5.7, ROT= 347.8, -5.7
2025-08-20T02:43:22.270Z,1755657802.270 [DAT](INFO): #Rx 11: Read direction message, but no range.
2025-08-20T02:43:22.271Z,1755657802.271 [DAT](INFO): direction in FSK: [0.972583,-0.210280,0.099320]
2025-08-20T02:43:22.275Z,1755657802.275 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.745587
2025-08-20T02:43:22.416Z,1755657802.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.493574 s,
deltaX: -0.099998 m,
approachRate: -0.202601 m/s,
rangeRepo size: 4
2025-08-20T02:43:22.422Z,1755657802.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.200001 m,
bearing: 354.274961 deg,
lat: 36.779357 deg,
lon: -121.859532 deg,
deltaT: 0.493574 s,
deltaX: -0.099998 m,
approachRate: -0.202601 m/s,
posRepo size: 4
2025-08-20T02:43:22.423Z,1755657802.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-20T02:43:22.430Z,1755657802.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.200001 m,
nav range: 18.171492 m,
bearing: 354.274961 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.138136 deg/s,
cmd heading: 2.303475 deg,
new cmd heading: 2.119457 deg.
2025-08-20T02:43:22.431Z,1755657802.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036992 target range: 18.200001 and range: 18.20 m.
2025-08-20T02:43:22.549Z,1755657802.549 [DAT](INFO): DAT read: Rx Time:02:43:20.7074
2025-08-20T02:43:22.551Z,1755657802.551 [DAT](INFO): Rx dataTimestamp_ set to:1755657802.550017
2025-08-20T02:43:22.556Z,1755657802.556 [DAT](INFO): DAT read: Bearing 171.9, -12.0 (Local)
2025-08-20T02:43:22.557Z,1755657802.557 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, -12.0 (Local)
2025-08-20T02:43:22.563Z,1755657802.563 [DockingStepper](ERROR): getADC uart error serial timeout
2025-08-20T02:43:22.563Z,1755657802.563 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-08-20T02:43:22.563Z,1755657802.563 [DockingStepper] Communications Fault, FailCount= 1
2025-08-20T02:43:22.564Z,1755657802.564 [DockingStepper](ERROR): Communications Fault
2025-08-20T02:43:22.570Z,1755657802.570 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.5
2025-08-20T02:43:22.599Z,1755657802.599 [DAT](INFO): DAT read: 02:43:20.7074 LVL= 26384, 29985, 21218, 32755, AGC= 55, IDX= 500, 0.38, 1.655, 0.170, 2.280, 1.591, PHS= 0.167,-1.376, 0.646, RAW= 163.1, 6.2, CAL= 162.4, 5.7, ROT= 347.6, -5.7
2025-08-20T02:43:22.600Z,1755657802.600 [DAT](INFO): got valid direction response:
02:43:20.7074 LVL= 26384, 29985, 21218, 32755, AGC= 55, IDX= 500, 0.38, 1.655, 0.170, 2.280, 1.591, PHS= 0.167,-1.376, 0.646, RAW= 163.1, 6.2, CAL= 162.4, 5.7, ROT= 347.6, -5.7
2025-08-20T02:43:22.600Z,1755657802.600 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-20T02:43:22.606Z,1755657802.606 [DAT](INFO): direction in FSK: [0.971843,-0.213674,0.099320]
2025-08-20T02:43:22.606Z,1755657802.606 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:22.614Z,1755657802.614 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=4.084999
2025-08-20T02:43:22.729Z,1755657802.729 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-08-20T02:43:22.795Z,1755657802.795 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=4.265855
2025-08-20T02:43:22.839Z,1755657802.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.700001 m,
deltaT: 0.539571 s,
deltaX: -0.500000 m,
approachRate: -0.926662 m/s,
rangeRepo size: 4
2025-08-20T02:43:22.842Z,1755657802.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.700001 m,
bearing: 354.114701 deg,
lat: 36.779356 deg,
lon: -121.859532 deg,
deltaT: 0.539571 s,
deltaX: -0.500000 m,
approachRate: -0.926662 m/s,
posRepo size: 4
2025-08-20T02:43:22.842Z,1755657802.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m.
2025-08-20T02:43:22.845Z,1755657802.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.700001 m,
nav range: 17.844040 m,
bearing: 354.114701 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.138136 deg/s,
cmd heading: 2.119457 deg,
new cmd heading: 1.943926 deg.
2025-08-20T02:43:22.846Z,1755657802.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033928 target range: 17.700001 and range: 17.70 m.
2025-08-20T02:43:22.859Z,1755657802.859 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-20T02:43:22.859Z,1755657802.859 [DockingStepper](INFO): Powering down
2025-08-20T02:43:23.052Z,1755657803.052 [DAT](INFO): DAT read: Rx Time:02:43:21.2073
2025-08-20T02:43:23.054Z,1755657803.054 [DAT](INFO): Rx dataTimestamp_ set to:1755657803.052633
2025-08-20T02:43:23.055Z,1755657803.055 [DAT](INFO): DAT read: Bearing 171.8, -12.3 (Local)
2025-08-20T02:43:23.055Z,1755657803.055 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.8, -12.3 (Local)
2025-08-20T02:43:23.057Z,1755657803.057 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5
2025-08-20T02:43:23.062Z,1755657803.062 [DAT](INFO): DAT read: 02:43:21.2073 LVL= 26512, 31761, 22722, 32755, AGC= 55, IDX= 499, 0.44, 2.397, 0.921, 3.027, 2.338, PHS= 0.162,-1.371, 0.645, RAW= 163.3, 6.2, CAL= 162.6, 5.8, ROT= 347.4, -5.8
2025-08-20T02:43:23.063Z,1755657803.063 [DAT](INFO): got valid direction response:
02:43:21.2073 LVL= 26512, 31761, 22722, 32755, AGC= 55, IDX= 499, 0.44, 2.397, 0.921, 3.027, 2.338, PHS= 0.162,-1.371, 0.645, RAW= 163.3, 6.2, CAL= 162.6, 5.8, ROT= 347.4, -5.8
2025-08-20T02:43:23.063Z,1755657803.063 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-20T02:43:23.064Z,1755657803.064 [DAT](INFO): direction in FSK: [0.970921,-0.217026,0.101056]
2025-08-20T02:43:23.064Z,1755657803.064 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:23.068Z,1755657803.068 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.538965
2025-08-20T02:43:23.204Z,1755657803.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.502616 s,
deltaX: -0.100000 m,
approachRate: -0.198960 m/s,
rangeRepo size: 4
2025-08-20T02:43:23.211Z,1755657803.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.600000 m,
bearing: 353.799724 deg,
lat: 36.779355 deg,
lon: -121.859533 deg,
deltaT: 0.502616 s,
deltaX: -0.100000 m,
approachRate: -0.198960 m/s,
posRepo size: 4
2025-08-20T02:43:23.211Z,1755657803.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-20T02:43:23.218Z,1755657803.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.600000 m,
nav range: 17.505184 m,
bearing: 353.799724 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.138136 deg/s,
cmd heading: 1.943926 deg,
new cmd heading: 1.792703 deg.
2025-08-20T02:43:23.219Z,1755657803.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031289 target range: 17.600000 and range: 17.60 m.
2025-08-20T02:43:23.300Z,1755657803.300 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=4.770584
2025-08-20T02:43:23.555Z,1755657803.555 [DAT](INFO): DAT read: Rx Time:02:43:21.7070
2025-08-20T02:43:23.557Z,1755657803.557 [DAT](INFO): Rx dataTimestamp_ set to:1755657803.555647
2025-08-20T02:43:23.562Z,1755657803.562 [DAT](INFO): DAT read: Bearing 171.7, -12.3 (Local)
2025-08-20T02:43:23.563Z,1755657803.563 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.7, -12.3 (Local)
2025-08-20T02:43:23.573Z,1755657803.573 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.5
2025-08-20T02:43:23.593Z,1755657803.593 [DAT](INFO): DAT read: 02:43:21.7070 LVL= 24560, 32593, 20818, 31475, AGC= 54, IDX= 496, 0.49, 1.517, 0.036, 2.147, 1.457, PHS= 0.162,-1.376, 0.645, RAW= 163.2, 6.3, CAL= 162.6, 5.8, ROT= 347.4, -5.8
2025-08-20T02:43:23.598Z,1755657803.598 [DAT](INFO): got valid direction response:
02:43:21.7070 LVL= 24560, 32593, 20818, 31475, AGC= 54, IDX= 496, 0.49, 1.517, 0.036, 2.147, 1.457, PHS= 0.162,-1.376, 0.645, RAW= 163.2, 6.3, CAL= 162.6, 5.8, ROT= 347.4, -5.8
2025-08-20T02:43:23.598Z,1755657803.598 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-20T02:43:23.599Z,1755657803.599 [DAT](INFO): direction in FSK: [0.970921,-0.217026,0.101056]
2025-08-20T02:43:23.600Z,1755657803.600 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:23.608Z,1755657803.608 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=5.078736
2025-08-20T02:43:23.706Z,1755657803.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.503014 s,
deltaX: -0.500000 m,
approachRate: -0.994008 m/s,
rangeRepo size: 4
2025-08-20T02:43:23.708Z,1755657803.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.100000 m,
bearing: 353.538854 deg,
lat: 36.779355 deg,
lon: -121.859533 deg,
deltaT: 0.503014 s,
deltaX: -0.500000 m,
approachRate: -0.994008 m/s,
posRepo size: 4
2025-08-20T02:43:23.709Z,1755657803.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-20T02:43:23.724Z,1755657803.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.100000 m,
nav range: 17.191904 m,
bearing: 353.538854 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.138136 deg/s,
cmd heading: 1.792703 deg,
new cmd heading: 1.586634 deg.
2025-08-20T02:43:23.725Z,1755657803.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.027692 target range: 17.100000 and range: 17.10 m.
2025-08-20T02:43:23.804Z,1755657803.804 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=5.274828
2025-08-20T02:43:24.055Z,1755657804.055 [DAT](INFO): DAT read: Rx Time:02:43:22.2070
2025-08-20T02:43:24.055Z,1755657804.055 [DAT](INFO): Rx dataTimestamp_ set to:1755657804.055181
2025-08-20T02:43:24.057Z,1755657804.057 [DAT](INFO): DAT read: Bearing 173.7, -10.6 (Local)
2025-08-20T02:43:24.057Z,1755657804.057 [DAT](INFO): Local bearing/azimuth received:
Bearing 173.7, -10.6 (Local)
2025-08-20T02:43:24.059Z,1755657804.059 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.5
2025-08-20T02:43:24.064Z,1755657804.064 [DAT](INFO): DAT read: 02:43:22.2070 LVL= 26352, 32753, 24050, 32755, AGC= 54, IDX= 512,-0.41, 2.253, 0.802, 2.790, 2.210, PHS= 0.145,-1.363, 0.536, RAW= 161.3, 7.9, CAL= 160.8, 8.0, ROT= 349.2, -8.0
2025-08-20T02:43:24.065Z,1755657804.065 [DAT](INFO): got valid direction response:
02:43:22.2070 LVL= 26352, 32753, 24050, 32755, AGC= 54, IDX= 512,-0.41, 2.253, 0.802, 2.790, 2.210, PHS= 0.145,-1.363, 0.536, RAW= 161.3, 7.9, CAL= 160.8, 8.0, ROT= 349.2, -8.0
2025-08-20T02:43:24.065Z,1755657804.065 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-20T02:43:24.066Z,1755657804.066 [DAT](INFO): direction in FSK: [0.972728,-0.185558,0.139173]
2025-08-20T02:43:24.066Z,1755657804.066 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:24.070Z,1755657804.070 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.540929
2025-08-20T02:43:24.100Z,1755657804.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.499534 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-20T02:43:24.106Z,1755657804.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.100000 m,
bearing: 353.438646 deg,
lat: 36.779355 deg,
lon: -121.859533 deg,
deltaT: 0.499534 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-20T02:43:24.107Z,1755657804.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-20T02:43:24.118Z,1755657804.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.100000 m,
nav range: 16.988089 m,
bearing: 353.438646 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.138136 deg/s,
cmd heading: 1.586634 deg,
new cmd heading: 1.421582 deg.
2025-08-20T02:43:24.119Z,1755657804.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024811 target range: 17.100000 and range: 17.10 m.
2025-08-20T02:43:24.307Z,1755657804.307 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=5.778240
2025-08-20T02:43:24.410Z,1755657804.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:24.413Z,1755657804.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.10 m.
2025-08-20T02:43:24.415Z,1755657804.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.100000 m,
nav range: 16.768171 m,
bearing: 353.331713 deg,
approach rate: -0.701616 m/s,
LOS rate: -0.345629 deg/s,
cmd heading: 1.421582 deg,
new cmd heading: 1.096580 deg.
2025-08-20T02:43:24.416Z,1755657804.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019139 target range: 17.100000 and range: 17.10 m.
2025-08-20T02:43:24.567Z,1755657804.567 [DAT](INFO): DAT read: Rx Time:02:43:22.7067
2025-08-20T02:43:24.569Z,1755657804.569 [DAT](INFO): Rx dataTimestamp_ set to:1755657804.567995
2025-08-20T02:43:24.573Z,1755657804.573 [DAT](INFO): DAT read: Bearing 171.7, -13.0 (Local)
2025-08-20T02:43:24.579Z,1755657804.579 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.7, -13.0 (Local)
2025-08-20T02:43:24.604Z,1755657804.604 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.5
2025-08-20T02:43:24.619Z,1755657804.619 [DAT](INFO): DAT read: 02:43:22.7067 LVL= 24752, 30449, 21298, 31635, AGC= 54, IDX= 509,-0.32,-0.057,-1.499, 0.583,-0.095, PHS= 0.140,-1.359, 0.634, RAW= 163.8, 6.6, CAL= 163.1, 6.2, ROT= 346.9, -6.2
2025-08-20T02:43:24.620Z,1755657804.620 [DAT](INFO): got valid direction response:
02:43:22.7067 LVL= 24752, 30449, 21298, 31635, AGC= 54, IDX= 509,-0.32,-0.057,-1.499, 0.583,-0.095, PHS= 0.140,-1.359, 0.634, RAW= 163.8, 6.6, CAL= 163.1, 6.2, ROT= 346.9, -6.2
2025-08-20T02:43:24.620Z,1755657804.620 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-20T02:43:24.626Z,1755657804.626 [DAT](INFO): direction in FSK: [0.968279,-0.225326,0.107999]
2025-08-20T02:43:24.627Z,1755657804.627 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:24.641Z,1755657804.641 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=6.108288
2025-08-20T02:43:24.815Z,1755657804.815 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=6.285739
2025-08-20T02:43:24.860Z,1755657804.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.512814 s,
deltaX: -0.400000 m,
approachRate: -0.780009 m/s,
rangeRepo size: 4
2025-08-20T02:43:24.862Z,1755657804.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.700001 m,
bearing: 353.028968 deg,
lat: 36.779355 deg,
lon: -121.859534 deg,
deltaT: 0.512814 s,
deltaX: -0.400000 m,
approachRate: -0.780009 m/s,
posRepo size: 4
2025-08-20T02:43:24.863Z,1755657804.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-20T02:43:24.882Z,1755657804.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.700001 m,
nav range: 16.503534 m,
bearing: 353.028968 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.345629 deg/s,
cmd heading: 1.096580 deg,
new cmd heading: 0.633737 deg.
2025-08-20T02:43:24.883Z,1755657804.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011061 target range: 16.700001 and range: 16.70 m.
2025-08-20T02:43:25.067Z,1755657805.067 [DAT](INFO): DAT read: Rx Time:02:43:23.2065
2025-08-20T02:43:25.068Z,1755657805.068 [DAT](INFO): Rx dataTimestamp_ set to:1755657805.067263
2025-08-20T02:43:25.069Z,1755657805.069 [DAT](INFO): DAT read: Bearing 171.4, -13.3 (Local)
2025-08-20T02:43:25.069Z,1755657805.069 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.4, -13.3 (Local)
2025-08-20T02:43:25.071Z,1755657805.071 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.5
2025-08-20T02:43:25.076Z,1755657805.076 [DAT](INFO): DAT read: 02:43:23.2065 LVL= 21840, 30945, 20018, 32755, AGC= 54, IDX= 507,-0.24,-0.670,-2.077,-0.032,-0.701, PHS= 0.133,-1.331, 0.625, RAW= 164.0, 6.6, CAL= 163.4, 6.2, ROT= 346.6, -6.2
2025-08-20T02:43:25.077Z,1755657805.077 [DAT](INFO): got valid direction response:
02:43:23.2065 LVL= 21840, 30945, 20018, 32755, AGC= 54, IDX= 507,-0.24,-0.670,-2.077,-0.032,-0.701, PHS= 0.133,-1.331, 0.625, RAW= 164.0, 6.6, CAL= 163.4, 6.2, ROT= 346.6, -6.2
2025-08-20T02:43:25.077Z,1755657805.077 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-20T02:43:25.078Z,1755657805.078 [DAT](INFO): direction in FSK: [0.967086,-0.230392,0.107999]
2025-08-20T02:43:25.079Z,1755657805.079 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:25.091Z,1755657805.091 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.561549
2025-08-20T02:43:25.252Z,1755657805.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.400000 m,
deltaT: 0.499268 s,
deltaX: -0.300001 m,
approachRate: -0.600882 m/s,
rangeRepo size: 4
2025-08-20T02:43:25.258Z,1755657805.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.400000 m,
bearing: 352.778672 deg,
lat: 36.779355 deg,
lon: -121.859534 deg,
deltaT: 0.499268 s,
deltaX: -0.300001 m,
approachRate: -0.600882 m/s,
posRepo size: 4
2025-08-20T02:43:25.259Z,1755657805.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-20T02:43:25.266Z,1755657805.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.400000 m,
nav range: 16.283415 m,
bearing: 352.778672 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.345629 deg/s,
cmd heading: 0.633737 deg,
new cmd heading: 0.227235 deg.
2025-08-20T02:43:25.267Z,1755657805.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003966 target range: 16.400000 and range: 16.40 m.
2025-08-20T02:43:25.319Z,1755657805.319 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=6.790017
2025-08-20T02:43:25.575Z,1755657805.575 [DAT](INFO): DAT read: Rx Time:02:43:23.7062
2025-08-20T02:43:25.576Z,1755657805.576 [DAT](INFO): Rx dataTimestamp_ set to:1755657805.575425
2025-08-20T02:43:25.581Z,1755657805.581 [DAT](INFO): DAT read: Bearing 171.4, -13.2 (Local)
2025-08-20T02:43:25.582Z,1755657805.582 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.4, -13.2 (Local)
2025-08-20T02:43:25.601Z,1755657805.601 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.5
2025-08-20T02:43:25.631Z,1755657805.631 [DAT](INFO): DAT read: 02:43:23.7062 LVL= 25632, 31841, 23266, 32755, AGC= 54, IDX= 504,-0.16,-1.683,-3.080,-1.056,-1.711, PHS= 0.130,-1.325, 0.611, RAW= 163.8, 6.7, CAL= 163.2, 6.5, ROT= 346.8, -6.5
2025-08-20T02:43:25.632Z,1755657805.632 [DAT](INFO): got valid direction response:
02:43:23.7062 LVL= 25632, 31841, 23266, 32755, AGC= 54, IDX= 504,-0.16,-1.683,-3.080,-1.056,-1.711, PHS= 0.130,-1.325, 0.611, RAW= 163.8, 6.7, CAL= 163.2, 6.5, ROT= 346.8, -6.5
2025-08-20T02:43:25.632Z,1755657805.632 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-20T02:43:25.633Z,1755657805.633 [DAT](INFO): direction in FSK: [0.967321,-0.226883,0.113203]
2025-08-20T02:43:25.641Z,1755657805.641 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:25.645Z,1755657805.645 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=7.115817
2025-08-20T02:43:25.768Z,1755657805.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.508162 s,
deltaX: -0.500000 m,
approachRate: -0.983938 m/s,
rangeRepo size: 4
2025-08-20T02:43:25.777Z,1755657805.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.900000 m,
bearing: 352.159661 deg,
lat: 36.779355 deg,
lon: -121.859536 deg,
deltaT: 0.508162 s,
deltaX: -0.500000 m,
approachRate: -0.983938 m/s,
posRepo size: 4
2025-08-20T02:43:25.782Z,1755657805.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.90 m.
2025-08-20T02:43:25.792Z,1755657805.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.900000 m,
nav range: 15.984632 m,
bearing: 352.159661 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.345629 deg/s,
cmd heading: 0.227235 deg,
new cmd heading: 359.691836 deg.
2025-08-20T02:43:25.799Z,1755657805.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277807 target range: 15.900000 and range: 15.90 m.
2025-08-20T02:43:25.823Z,1755657805.823 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=7.293558
2025-08-20T02:43:26.079Z,1755657806.079 [DAT](INFO): DAT read: Rx Time:02:43:24.2061
2025-08-20T02:43:26.079Z,1755657806.079 [DAT](INFO): Rx dataTimestamp_ set to:1755657806.078974
2025-08-20T02:43:26.081Z,1755657806.081 [DAT](INFO): DAT read: Bearing 171.2, -13.1 (Local)
2025-08-20T02:43:26.081Z,1755657806.081 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.2, -13.1 (Local)
2025-08-20T02:43:26.083Z,1755657806.083 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.5
2025-08-20T02:43:26.089Z,1755657806.089 [DAT](INFO): DAT read: 02:43:24.2061 LVL= 24784, 31585, 22818, 32611, AGC= 53, IDX= 503,-0.09,-0.207,-1.601, 0.410,-0.238, PHS= 0.133,-1.318, 0.603, RAW= 163.6, 6.8, CAL= 163.0, 6.5, ROT= 347.0, -6.5
2025-08-20T02:43:26.090Z,1755657806.090 [DAT](INFO): got valid direction response:
02:43:24.2061 LVL= 24784, 31585, 22818, 32611, AGC= 53, IDX= 503,-0.09,-0.207,-1.601, 0.410,-0.238, PHS= 0.133,-1.318, 0.603, RAW= 163.6, 6.8, CAL= 163.0, 6.5, ROT= 347.0, -6.5
2025-08-20T02:43:26.091Z,1755657806.091 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-20T02:43:26.092Z,1755657806.092 [DAT](INFO): direction in FSK: [0.968107,-0.223505,0.113203]
2025-08-20T02:43:26.093Z,1755657806.093 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:26.130Z,1755657806.130 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=7.601456
2025-08-20T02:43:26.235Z,1755657806.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.503549 s,
deltaX: -0.099999 m,
approachRate: -0.198589 m/s,
rangeRepo size: 4
2025-08-20T02:43:26.237Z,1755657806.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.800000 m,
bearing: 351.802360 deg,
lat: 36.779355 deg,
lon: -121.859536 deg,
deltaT: 0.503549 s,
deltaX: -0.099999 m,
approachRate: -0.198589 m/s,
posRepo size: 4
2025-08-20T02:43:26.242Z,1755657806.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-20T02:43:26.244Z,1755657806.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.800000 m,
nav range: 15.724686 m,
bearing: 351.802360 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.345629 deg/s,
cmd heading: 359.691832 deg,
new cmd heading: 359.212580 deg.
2025-08-20T02:43:26.253Z,1755657806.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269442 target range: 15.800000 and range: 15.80 m.
2025-08-20T02:43:26.327Z,1755657806.327 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=7.797687
2025-08-20T02:43:26.583Z,1755657806.583 [DAT](INFO): DAT read: Rx Time:02:43:24.7058
2025-08-20T02:43:26.585Z,1755657806.585 [DAT](INFO): Rx dataTimestamp_ set to:1755657806.583746
2025-08-20T02:43:26.589Z,1755657806.589 [DAT](INFO): DAT read: Bearing 171.6, -12.9 (Local)
2025-08-20T02:43:26.599Z,1755657806.599 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.6, -12.9 (Local)
2025-08-20T02:43:26.605Z,1755657806.605 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.5
2025-08-20T02:43:26.647Z,1755657806.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:26.649Z,1755657806.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-20T02:43:26.650Z,1755657806.650 [DAT](INFO): DAT read: 02:43:24.7058 LVL= 22768, 29345, 19922, 29107, AGC= 54, IDX= 500,-0.03,-1.012,-2.430,-0.401,-1.036, PHS= 0.125,-1.349, 0.591, RAW= 163.3, 7.3, CAL= 162.8, 7.2, ROT= 347.2, -7.2
2025-08-20T02:43:26.651Z,1755657806.651 [DAT](INFO): got valid direction response:
02:43:24.7058 LVL= 22768, 29345, 19922, 29107, AGC= 54, IDX= 500,-0.03,-1.012,-2.430,-0.401,-1.036, PHS= 0.125,-1.349, 0.591, RAW= 163.3, 7.3, CAL= 162.8, 7.2, ROT= 347.2, -7.2
2025-08-20T02:43:26.652Z,1755657806.652 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-20T02:43:26.653Z,1755657806.653 [DAT](INFO): direction in FSK: [0.967460,-0.219801,0.125333]
2025-08-20T02:43:26.653Z,1755657806.653 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:26.660Z,1755657806.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.800000 m,
nav range: 15.493206 m,
bearing: 351.653465 deg,
approach rate: -0.552254 m/s,
LOS rate: -0.360534 deg/s,
cmd heading: 359.212571 deg,
new cmd heading: 358.759223 deg.
2025-08-20T02:43:26.661Z,1755657806.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261529 target range: 15.800000 and range: 15.80 m.
2025-08-20T02:43:26.665Z,1755657806.665 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=8.135555
2025-08-20T02:43:26.831Z,1755657806.831 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=8.301569
2025-08-20T02:43:27.083Z,1755657807.083 [DAT](INFO): DAT read: Rx Time:02:43:25.2056
2025-08-20T02:43:27.084Z,1755657807.084 [DAT](INFO): Rx dataTimestamp_ set to:1755657807.083286
2025-08-20T02:43:27.085Z,1755657807.085 [DAT](INFO): DAT read: Bearing 171.6, -12.6 (Local)
2025-08-20T02:43:27.085Z,1755657807.085 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.6, -12.6 (Local)
2025-08-20T02:43:27.087Z,1755657807.087 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.5
2025-08-20T02:43:27.092Z,1755657807.092 [DAT](INFO): DAT read: 02:43:25.2056 LVL= 22672, 28785, 21458, 28835, AGC= 54, IDX= 499, 0.05, 1.266,-0.178, 1.867, 1.238, PHS= 0.130,-1.371, 0.585, RAW= 162.8, 7.5, CAL= 162.4, 7.4, ROT= 347.6, -7.4
2025-08-20T02:43:27.093Z,1755657807.093 [DAT](INFO): got valid direction response:
02:43:25.2056 LVL= 22672, 28785, 21458, 28835, AGC= 54, IDX= 499, 0.05, 1.266,-0.178, 1.867, 1.238, PHS= 0.130,-1.371, 0.585, RAW= 162.8, 7.5, CAL= 162.4, 7.4, ROT= 347.6, -7.4
2025-08-20T02:43:27.093Z,1755657807.093 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-20T02:43:27.094Z,1755657807.094 [DAT](INFO): direction in FSK: [0.968538,-0.212947,0.128796]
2025-08-20T02:43:27.095Z,1755657807.095 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:27.102Z,1755657807.102 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=8.573344
2025-08-20T02:43:27.194Z,1755657807.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.000000 m,
deltaT: 1.004312 s,
deltaX: -0.800000 m,
approachRate: -0.796565 m/s,
rangeRepo size: 4
2025-08-20T02:43:27.196Z,1755657807.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.000000 m,
bearing: 351.434836 deg,
lat: 36.779355 deg,
lon: -121.859536 deg,
deltaT: 1.004312 s,
deltaX: -0.800000 m,
approachRate: -0.796565 m/s,
posRepo size: 4
2025-08-20T02:43:27.196Z,1755657807.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.00 m.
2025-08-20T02:43:27.203Z,1755657807.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.000000 m,
nav range: 15.153009 m,
bearing: 351.434836 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.360534 deg/s,
cmd heading: 358.759211 deg,
new cmd heading: 358.188841 deg.
2025-08-20T02:43:27.204Z,1755657807.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251575 target range: 15.000000 and range: 15.00 m.
2025-08-20T02:43:27.335Z,1755657807.335 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=8.805589
2025-08-20T02:43:27.591Z,1755657807.591 [DAT](INFO): DAT read: Rx Time:02:43:25.7053
2025-08-20T02:43:27.593Z,1755657807.593 [DAT](INFO): Rx dataTimestamp_ set to:1755657807.591663
2025-08-20T02:43:27.597Z,1755657807.597 [DAT](INFO): DAT read: Bearing 171.4, -12.5 (Local)
2025-08-20T02:43:27.598Z,1755657807.598 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.4, -12.5 (Local)
2025-08-20T02:43:27.608Z,1755657807.608 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.5
2025-08-20T02:43:27.648Z,1755657807.648 [DAT](INFO): DAT read: 02:43:25.7053 LVL= 23120, 29169, 21378, 29507, AGC= 54, IDX= 496, 0.14,-0.089,-1.526, 0.503,-0.116, PHS= 0.129,-1.365, 0.575, RAW= 162.7, 7.6, CAL= 162.2, 7.6, ROT= 347.8, -7.6
2025-08-20T02:43:27.649Z,1755657807.649 [DAT](INFO): got valid direction response:
02:43:25.7053 LVL= 23120, 29169, 21378, 29507, AGC= 54, IDX= 496, 0.14,-0.089,-1.526, 0.503,-0.116, PHS= 0.129,-1.365, 0.575, RAW= 162.7, 7.6, CAL= 162.2, 7.6, ROT= 347.8, -7.6
2025-08-20T02:43:27.658Z,1755657807.658 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-20T02:43:27.659Z,1755657807.659 [DAT](INFO): direction in FSK: [0.968830,-0.209469,0.132256]
2025-08-20T02:43:27.659Z,1755657807.659 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:27.671Z,1755657807.671 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=9.141708
2025-08-20T02:43:27.806Z,1755657807.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.600000 m,
deltaT: 0.508377 s,
deltaX: -0.400000 m,
approachRate: -0.786817 m/s,
rangeRepo size: 4
2025-08-20T02:43:27.808Z,1755657807.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.600000 m,
bearing: 351.274296 deg,
lat: 36.779353 deg,
lon: -121.859536 deg,
deltaT: 0.508377 s,
deltaX: -0.400000 m,
approachRate: -0.786817 m/s,
posRepo size: 4
2025-08-20T02:43:27.809Z,1755657807.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.60 m.
2025-08-20T02:43:27.816Z,1755657807.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.600000 m,
nav range: 14.593560 m,
bearing: 351.274296 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.360534 deg/s,
cmd heading: 358.188835 deg,
new cmd heading: 357.508159 deg.
2025-08-20T02:43:27.821Z,1755657807.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239695 target range: 14.600000 and range: 14.60 m.
2025-08-20T02:43:27.839Z,1755657807.839 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=9.309624
2025-08-20T02:43:28.091Z,1755657808.091 [DAT](INFO): DAT read: Rx Time:02:43:26.2052
2025-08-20T02:43:28.091Z,1755657808.091 [DAT](INFO): Rx dataTimestamp_ set to:1755657808.091176
2025-08-20T02:43:28.093Z,1755657808.093 [DAT](INFO): DAT read: Bearing 171.5, -12.4 (Local)
2025-08-20T02:43:28.093Z,1755657808.093 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.5, -12.4 (Local)
2025-08-20T02:43:28.095Z,1755657808.095 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.5
2025-08-20T02:43:28.100Z,1755657808.100 [DAT](INFO): DAT read: 02:43:26.2052 LVL= 22272, 29009, 23426, 32371, AGC= 55, IDX= 511, 0.26, 0.900,-0.542, 1.485, 0.879, PHS= 0.123,-1.376, 0.562, RAW= 162.5, 7.9, CAL= 162.1, 8.0, ROT= 347.9, -8.0
2025-08-20T02:43:28.101Z,1755657808.101 [DAT](INFO): got valid direction response:
02:43:26.2052 LVL= 22272, 29009, 23426, 32371, AGC= 55, IDX= 511, 0.26, 0.900,-0.542, 1.485, 0.879, PHS= 0.123,-1.376, 0.562, RAW= 162.5, 7.9, CAL= 162.1, 8.0, ROT= 347.9, -8.0
2025-08-20T02:43:28.101Z,1755657808.101 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-20T02:43:28.102Z,1755657808.102 [DAT](INFO): direction in FSK: [0.968268,-0.207579,0.139173]
2025-08-20T02:43:28.103Z,1755657808.103 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:28.107Z,1755657808.107 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.577932
2025-08-20T02:43:28.343Z,1755657808.343 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.813601
2025-08-20T02:43:28.349Z,1755657808.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.499513 s,
deltaX: -0.200001 m,
approachRate: -0.400392 m/s,
rangeRepo size: 4
2025-08-20T02:43:28.351Z,1755657808.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.400000 m,
bearing: 351.405889 deg,
lat: 36.779353 deg,
lon: -121.859535 deg,
deltaT: 0.499513 s,
deltaX: -0.200001 m,
approachRate: -0.400392 m/s,
posRepo size: 4
2025-08-20T02:43:28.352Z,1755657808.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.40 m.
2025-08-20T02:43:28.355Z,1755657808.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.400000 m,
nav range: 14.237236 m,
bearing: 351.405889 deg,
approach rate: 0.035960 m/s,
LOS rate: -0.360534 deg/s,
cmd heading: 357.508166 deg,
new cmd heading: 356.921052 deg.
2025-08-20T02:43:28.356Z,1755657808.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229447 target range: 14.400000 and range: 14.40 m.
2025-08-20T02:43:28.595Z,1755657808.595 [DAT](INFO): DAT read: Rx Time:02:43:26.7049
2025-08-20T02:43:28.596Z,1755657808.596 [DAT](INFO): Rx dataTimestamp_ set to:1755657808.595553
2025-08-20T02:43:28.597Z,1755657808.597 [DAT](INFO): DAT read: Bearing 171.6, -12.0 (Local)
2025-08-20T02:43:28.598Z,1755657808.598 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.6, -12.0 (Local)
2025-08-20T02:43:28.600Z,1755657808.600 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.5
2025-08-20T02:43:28.606Z,1755657808.606 [DAT](INFO): DAT read: 02:43:26.7049 LVL= 23696, 28689, 22130, 29651, AGC= 53, IDX= 508, 0.38,-0.524,-1.965, 0.036,-0.546, PHS= 0.124,-1.374, 0.537, RAW= 161.9, 8.2, CAL= 161.5, 8.5, ROT= 348.5, -8.5
2025-08-20T02:43:28.614Z,1755657808.614 [DAT](INFO): got valid direction response:
02:43:26.7049 LVL= 23696, 28689, 22130, 29651, AGC= 53, IDX= 508, 0.38,-0.524,-1.965, 0.036,-0.546, PHS= 0.124,-1.374, 0.537, RAW= 161.9, 8.2, CAL= 161.5, 8.5, ROT= 348.5, -8.5
2025-08-20T02:43:28.616Z,1755657808.616 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-20T02:43:28.638Z,1755657808.638 [DAT](INFO): direction in FSK: [0.969161,-0.197178,0.147809]
2025-08-20T02:43:28.639Z,1755657808.639 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:28.673Z,1755657808.673 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=10.143938
2025-08-20T02:43:28.812Z,1755657808.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.504377 s,
deltaX: -0.400000 m,
approachRate: -0.793057 m/s,
rangeRepo size: 4
2025-08-20T02:43:28.818Z,1755657808.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.000000 m,
bearing: 351.448976 deg,
lat: 36.779353 deg,
lon: -121.859534 deg,
deltaT: 0.504377 s,
deltaX: -0.400000 m,
approachRate: -0.793057 m/s,
posRepo size: 4
2025-08-20T02:43:28.819Z,1755657808.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.00 m.
2025-08-20T02:43:28.822Z,1755657808.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.000000 m,
nav range: 13.887661 m,
bearing: 351.448976 deg,
approach rate: 0.035960 m/s,
LOS rate: -0.360534 deg/s,
cmd heading: 356.921043 deg,
new cmd heading: 356.420500 deg.
2025-08-20T02:43:28.823Z,1755657808.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220711 target range: 14.000000 and range: 14.00 m.
2025-08-20T02:43:28.847Z,1755657808.847 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=10.317565
2025-08-20T02:43:29.103Z,1755657809.103 [DAT](INFO): DAT read: Rx Time:02:43:27.2048
2025-08-20T02:43:29.104Z,1755657809.104 [DAT](INFO): Rx dataTimestamp_ set to:1755657809.103680
2025-08-20T02:43:29.105Z,1755657809.105 [DAT](INFO): DAT read: Bearing 171.9, -11.6 (Local)
2025-08-20T02:43:29.106Z,1755657809.106 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.9, -11.6 (Local)
2025-08-20T02:43:29.108Z,1755657809.108 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5
2025-08-20T02:43:29.112Z,1755657809.112 [DAT](INFO): DAT read: 02:43:27.2048 LVL= 22928, 27793, 25154, 31219, AGC= 54, IDX= 508,-0.46,-0.421,-1.856, 0.115,-0.436, PHS= 0.117,-1.375, 0.507, RAW= 161.3, 8.8, CAL= 161.1, 9.2, ROT= 348.9, -9.2
2025-08-20T02:43:29.113Z,1755657809.113 [DAT](INFO): got valid direction response:
02:43:27.2048 LVL= 22928, 27793, 25154, 31219, AGC= 54, IDX= 508,-0.46,-0.421,-1.856, 0.115,-0.436, PHS= 0.117,-1.375, 0.507, RAW= 161.3, 8.8, CAL= 161.1, 9.2, ROT= 348.9, -9.2
2025-08-20T02:43:29.114Z,1755657809.114 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-20T02:43:29.115Z,1755657809.115 [DAT](INFO): direction in FSK: [0.968670,-0.190045,0.159881]
2025-08-20T02:43:29.115Z,1755657809.115 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:29.123Z,1755657809.123 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.593749
2025-08-20T02:43:29.143Z,1755657809.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.508127 s,
deltaX: -0.200000 m,
approachRate: -0.393602 m/s,
rangeRepo size: 4
2025-08-20T02:43:29.145Z,1755657809.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.800000 m,
bearing: 351.325749 deg,
lat: 36.779353 deg,
lon: -121.859534 deg,
deltaT: 0.508127 s,
deltaX: -0.200000 m,
approachRate: -0.393602 m/s,
posRepo size: 4
2025-08-20T02:43:29.147Z,1755657809.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-20T02:43:29.174Z,1755657809.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.800000 m,
nav range: 13.659670 m,
bearing: 351.325749 deg,
approach rate: 0.035960 m/s,
LOS rate: -0.360534 deg/s,
cmd heading: 356.420499 deg,
new cmd heading: 356.062315 deg.
2025-08-20T02:43:29.175Z,1755657809.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214460 target range: 13.800000 and range: 13.80 m.
2025-08-20T02:43:29.355Z,1755657809.355 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.826417
2025-08-20T02:43:29.554Z,1755657809.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:29.556Z,1755657809.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.80 m.
2025-08-20T02:43:29.564Z,1755657809.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.800000 m,
nav range: 13.436020 m,
bearing: 351.186466 deg,
approach rate: -0.540647 m/s,
LOS rate: -0.342302 deg/s,
cmd heading: 356.062324 deg,
new cmd heading: 355.637530 deg.
2025-08-20T02:43:29.565Z,1755657809.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207046 target range: 13.800000 and range: 13.80 m.
2025-08-20T02:43:29.613Z,1755657809.613 [DAT](INFO): DAT read: Rx Time:02:43:27.7046
2025-08-20T02:43:29.614Z,1755657809.614 [DAT](INFO): Rx dataTimestamp_ set to:1755657809.613538
2025-08-20T02:43:29.619Z,1755657809.619 [DAT](INFO): DAT read: Bearing 172.0, -10.7 (Local)
2025-08-20T02:43:29.620Z,1755657809.620 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.0, -10.7 (Local)
2025-08-20T02:43:29.628Z,1755657809.628 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.5
2025-08-20T02:43:29.678Z,1755657809.678 [DAT](INFO): DAT read: 02:43:27.7046 LVL= 22720, 26017, 24754, 27939, AGC= 53, IDX= 505,-0.33,-2.025, 2.809,-1.526,-2.047, PHS= 0.124,-1.382, 0.477, RAW= 160.3, 9.2, CAL= 160.1, 9.7, ROT= 349.9, -9.7
2025-08-20T02:43:29.679Z,1755657809.679 [DAT](INFO): got valid direction response:
02:43:27.7046 LVL= 22720, 26017, 24754, 27939, AGC= 53, IDX= 505,-0.33,-2.025, 2.809,-1.526,-2.047, PHS= 0.124,-1.382, 0.477, RAW= 160.3, 9.2, CAL= 160.1, 9.7, ROT= 349.9, -9.7
2025-08-20T02:43:29.679Z,1755657809.679 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-20T02:43:29.680Z,1755657809.680 [DAT](INFO): direction in FSK: [0.970428,-0.172860,0.168489]
2025-08-20T02:43:29.680Z,1755657809.680 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:29.688Z,1755657809.688 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.159165
2025-08-20T02:43:29.859Z,1755657809.859 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.329525
2025-08-20T02:43:29.898Z,1755657809.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 0.509858 s,
deltaX: -0.300000 m,
approachRate: -0.588399 m/s,
rangeRepo size: 4
2025-08-20T02:43:29.900Z,1755657809.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.500000 m,
bearing: 351.348654 deg,
lat: 36.779353 deg,
lon: -121.859533 deg,
deltaT: 0.509858 s,
deltaX: -0.300000 m,
approachRate: -0.588399 m/s,
posRepo size: 4
2025-08-20T02:43:29.901Z,1755657809.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.50 m.
2025-08-20T02:43:29.924Z,1755657809.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.500000 m,
nav range: 13.195090 m,
bearing: 351.348654 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.342302 deg/s,
cmd heading: 355.637541 deg,
new cmd heading: 355.287387 deg.
2025-08-20T02:43:29.925Z,1755657809.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200935 target range: 13.500000 and range: 13.50 m.
2025-08-20T02:43:30.111Z,1755657810.111 [DAT](INFO): DAT read: Rx Time:02:43:28.2045
2025-08-20T02:43:30.111Z,1755657810.111 [DAT](INFO): Rx dataTimestamp_ set to:1755657810.111211
2025-08-20T02:43:30.113Z,1755657810.113 [DAT](INFO): DAT read: Bearing 172.5, -9.5 (Local)
2025-08-20T02:43:30.113Z,1755657810.113 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.5, -9.5 (Local)
2025-08-20T02:43:30.115Z,1755657810.115 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.5
2025-08-20T02:43:30.124Z,1755657810.124 [DAT](INFO): DAT read: 02:43:28.2045 LVL= 24432, 31025, 23394, 32643, AGC= 53, IDX= 504,-0.24,-1.398,-2.849,-0.953,-1.423, PHS= 0.128,-1.381, 0.426, RAW= 158.9, 9.9, CAL= 158.8, 10.6, ROT= 351.2, -10.6
2025-08-20T02:43:30.126Z,1755657810.126 [DAT](INFO): got valid direction response:
02:43:28.2045 LVL= 24432, 31025, 23394, 32643, AGC= 53, IDX= 504,-0.24,-1.398,-2.849,-0.953,-1.423, PHS= 0.128,-1.381, 0.426, RAW= 158.9, 9.9, CAL= 158.8, 10.6, ROT= 351.2, -10.6
2025-08-20T02:43:30.127Z,1755657810.127 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-20T02:43:30.131Z,1755657810.131 [DAT](INFO): direction in FSK: [0.971365,-0.150375,0.183951]
2025-08-20T02:43:30.131Z,1755657810.131 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:30.136Z,1755657810.136 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.606958
2025-08-20T02:43:30.316Z,1755657810.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.400000 m,
deltaT: 0.497673 s,
deltaX: -0.100000 m,
approachRate: -0.200936 m/s,
rangeRepo size: 4
2025-08-20T02:43:30.323Z,1755657810.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.400000 m,
bearing: 351.538194 deg,
lat: 36.779354 deg,
lon: -121.859532 deg,
deltaT: 0.497673 s,
deltaX: -0.100000 m,
approachRate: -0.200936 m/s,
posRepo size: 4
2025-08-20T02:43:30.323Z,1755657810.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.40 m.
2025-08-20T02:43:30.330Z,1755657810.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.400000 m,
nav range: 13.047112 m,
bearing: 351.538194 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.342302 deg/s,
cmd heading: 355.287398 deg,
new cmd heading: 354.857463 deg.
2025-08-20T02:43:30.331Z,1755657810.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193431 target range: 13.400000 and range: 13.40 m.
2025-08-20T02:43:30.363Z,1755657810.363 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.833979
2025-08-20T02:43:30.615Z,1755657810.615 [DAT](INFO): DAT read: Rx Time:02:43:28.7042
2025-08-20T02:43:30.615Z,1755657810.615 [DAT](INFO): Rx dataTimestamp_ set to:1755657810.615174
2025-08-20T02:43:30.617Z,1755657810.617 [DAT](INFO): DAT read: Bearing 172.6, -8.2 (Local)
2025-08-20T02:43:30.617Z,1755657810.617 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.6, -8.2 (Local)
2025-08-20T02:43:30.622Z,1755657810.622 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.5
2025-08-20T02:43:30.628Z,1755657810.628 [DAT](INFO): DAT read: 02:43:28.7042 LVL= 23856, 29633, 22482, 31219, AGC= 53, IDX= 501,-0.20,-1.924, 2.879,-1.530,-1.964, PHS= 0.142,-1.395, 0.390, RAW= 157.4, 10.3, CAL= 157.3, 11.3, ROT= 352.7, -11.3
2025-08-20T02:43:30.629Z,1755657810.629 [DAT](INFO): got valid direction response:
02:43:28.7042 LVL= 23856, 29633, 22482, 31219, AGC= 53, IDX= 501,-0.20,-1.924, 2.879,-1.530,-1.964, PHS= 0.142,-1.395, 0.390, RAW= 157.4, 10.3, CAL= 157.3, 11.3, ROT= 352.7, -11.3
2025-08-20T02:43:30.629Z,1755657810.629 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-20T02:43:30.630Z,1755657810.630 [DAT](INFO): direction in FSK: [0.972666,-0.124601,0.195946]
2025-08-20T02:43:30.630Z,1755657810.630 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:30.635Z,1755657810.635 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=12.106009
2025-08-20T02:43:30.867Z,1755657810.867 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=12.337797
2025-08-20T02:43:30.891Z,1755657810.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.900000 m,
deltaT: 0.503963 s,
deltaX: -0.500000 m,
approachRate: -0.992136 m/s,
rangeRepo size: 4
2025-08-20T02:43:30.898Z,1755657810.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.900000 m,
bearing: 351.967660 deg,
lat: 36.779355 deg,
lon: -121.859531 deg,
deltaT: 0.503963 s,
deltaX: -0.500000 m,
approachRate: -0.992136 m/s,
posRepo size: 4
2025-08-20T02:43:30.899Z,1755657810.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-08-20T02:43:30.906Z,1755657810.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.900000 m,
nav range: 12.739992 m,
bearing: 351.967660 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.342302 deg/s,
cmd heading: 354.857451 deg,
new cmd heading: 354.266822 deg.
2025-08-20T02:43:30.907Z,1755657810.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183123 target range: 12.900000 and range: 12.90 m.
2025-08-20T02:43:31.120Z,1755657811.120 [DAT](INFO): DAT read: Rx Time:02:43:29.2041
2025-08-20T02:43:31.121Z,1755657811.121 [DAT](INFO): Rx dataTimestamp_ set to:1755657811.119979
2025-08-20T02:43:31.123Z,1755657811.123 [DAT](INFO): DAT read: Bearing 172.9, -6.6 (Local)
2025-08-20T02:43:31.123Z,1755657811.123 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.9, -6.6 (Local)
2025-08-20T02:43:31.127Z,1755657811.127 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.5
2025-08-20T02:43:31.131Z,1755657811.131 [DAT](INFO): DAT read: 02:43:29.2041 LVL= 21552, 26353, 21234, 29715, AGC= 53, IDX= 500,-0.15,-0.831,-2.329,-0.499,-0.887, PHS= 0.158,-1.397, 0.344, RAW= 155.6, 10.8, CAL= 155.5, 11.9, ROT= 354.5, -11.9
2025-08-20T02:43:31.132Z,1755657811.132 [DAT](INFO): got valid direction response:
02:43:29.2041 LVL= 21552, 26353, 21234, 29715, AGC= 53, IDX= 500,-0.15,-0.831,-2.329,-0.499,-0.887, PHS= 0.158,-1.397, 0.344, RAW= 155.6, 10.8, CAL= 155.5, 11.9, ROT= 354.5, -11.9
2025-08-20T02:43:31.133Z,1755657811.133 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-20T02:43:31.135Z,1755657811.135 [DAT](INFO): direction in FSK: [0.974004,-0.093786,0.206204]
2025-08-20T02:43:31.135Z,1755657811.135 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:31.139Z,1755657811.139 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.609656
2025-08-20T02:43:31.268Z,1755657811.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 0.504805 s,
deltaX: -0.099999 m,
approachRate: -0.198095 m/s,
rangeRepo size: 4
2025-08-20T02:43:31.280Z,1755657811.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.800000 m,
bearing: 352.962573 deg,
lat: 36.779355 deg,
lon: -121.859528 deg,
deltaT: 0.504805 s,
deltaX: -0.099999 m,
approachRate: -0.198095 m/s,
posRepo size: 4
2025-08-20T02:43:31.290Z,1755657811.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.80 m.
2025-08-20T02:43:31.292Z,1755657811.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.800000 m,
nav range: 12.506789 m,
bearing: 352.962573 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.342302 deg/s,
cmd heading: 354.266831 deg,
new cmd heading: 353.880752 deg.
2025-08-20T02:43:31.298Z,1755657811.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176384 target range: 12.800000 and range: 12.80 m.
2025-08-20T02:43:31.371Z,1755657811.371 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.842144
2025-08-20T02:43:31.605Z,1755657811.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:31.607Z,1755657811.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.80 m.
2025-08-20T02:43:31.615Z,1755657811.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.800000 m,
nav range: 12.287002 m,
bearing: 352.894176 deg,
approach rate: -0.644879 m/s,
LOS rate: -0.204273 deg/s,
cmd heading: 353.880762 deg,
new cmd heading: 353.671901 deg.
2025-08-20T02:43:31.616Z,1755657811.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172739 target range: 12.800000 and range: 12.80 m.
2025-08-20T02:43:31.625Z,1755657811.625 [DAT](INFO): DAT read: Rx Time:02:43:29.7039
2025-08-20T02:43:31.625Z,1755657811.625 [DAT](INFO): Rx dataTimestamp_ set to:1755657811.624789
2025-08-20T02:43:31.626Z,1755657811.626 [DAT](INFO): DAT read: Bearing 172.7, -5.0 (Local)
2025-08-20T02:43:31.627Z,1755657811.627 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.7, -5.0 (Local)
2025-08-20T02:43:31.629Z,1755657811.629 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5
2025-08-20T02:43:31.634Z,1755657811.634 [DAT](INFO): DAT read: 02:43:29.7039 LVL= 23680, 28129, 23890, 31427, AGC= 54, IDX= 497,-0.13,-1.602,-3.135,-1.329,-1.683, PHS= 0.183,-1.407, 0.310, RAW= 153.8, 11.0, CAL= 153.8, 12.1, ROT= 356.2, -12.1
2025-08-20T02:43:31.641Z,1755657811.641 [DAT](INFO): got valid direction response:
02:43:29.7039 LVL= 23680, 28129, 23890, 31427, AGC= 54, IDX= 497,-0.13,-1.602,-3.135,-1.329,-1.683, PHS= 0.183,-1.407, 0.310, RAW= 153.8, 11.0, CAL= 153.8, 12.1, ROT= 356.2, -12.1
2025-08-20T02:43:31.643Z,1755657811.643 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-20T02:43:31.659Z,1755657811.659 [DAT](INFO): direction in FSK: [0.975634,-0.064801,0.209619]
2025-08-20T02:43:31.659Z,1755657811.659 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:31.697Z,1755657811.697 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=13.167227
2025-08-20T02:43:31.875Z,1755657811.875 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=13.345602
2025-08-20T02:43:32.077Z,1755657812.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.504810 s,
deltaX: -0.300000 m,
approachRate: -0.594283 m/s,
rangeRepo size: 4
2025-08-20T02:43:32.080Z,1755657812.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.500000 m,
bearing: 354.659630 deg,
lat: 36.779356 deg,
lon: -121.859524 deg,
deltaT: 0.504810 s,
deltaX: -0.300000 m,
approachRate: -0.594283 m/s,
posRepo size: 4
2025-08-20T02:43:32.080Z,1755657812.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-20T02:43:32.095Z,1755657812.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.500000 m,
nav range: 12.072604 m,
bearing: 354.659630 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.204273 deg/s,
cmd heading: 353.671894 deg,
new cmd heading: 353.384486 deg.
2025-08-20T02:43:32.096Z,1755657812.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167723 target range: 12.500000 and range: 12.50 m.
2025-08-20T02:43:32.127Z,1755657812.127 [DAT](INFO): DAT read: Rx Time:02:43:30.2038
2025-08-20T02:43:32.128Z,1755657812.128 [DAT](INFO): Rx dataTimestamp_ set to:1755657812.127501
2025-08-20T02:43:32.129Z,1755657812.129 [DAT](INFO): DAT read: Bearing 166.3, -1.6 (Local)
2025-08-20T02:43:32.129Z,1755657812.129 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.3, -1.6 (Local)
2025-08-20T02:43:32.131Z,1755657812.131 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.5
2025-08-20T02:43:32.136Z,1755657812.136 [DAT](INFO): DAT read: 02:43:30.2038 LVL= 21968, 26353, 22098, 29891, AGC= 53, IDX= 512,-0.10, 0.813,-1.195, 1.005, 0.446, PHS= 0.470,-1.595, 0.515, RAW= 151.1, 5.9, CAL= 150.3, 6.1, ROT= 359.7, -6.1
2025-08-20T02:43:32.137Z,1755657812.137 [DAT](INFO): got valid direction response:
02:43:30.2038 LVL= 21968, 26353, 22098, 29891, AGC= 53, IDX= 512,-0.10, 0.813,-1.195, 1.005, 0.446, PHS= 0.470,-1.595, 0.515, RAW= 151.1, 5.9, CAL= 150.3, 6.1, ROT= 359.7, -6.1
2025-08-20T02:43:32.138Z,1755657812.138 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-20T02:43:32.139Z,1755657812.139 [DAT](INFO): direction in FSK: [0.994324,-0.005206,0.106264]
2025-08-20T02:43:32.139Z,1755657812.139 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:32.155Z,1755657812.155 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.626212
2025-08-20T02:43:32.379Z,1755657812.379 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.849706
2025-08-20T02:43:32.410Z,1755657812.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.502712 s,
deltaX: -0.200000 m,
approachRate: -0.397842 m/s,
rangeRepo size: 4
2025-08-20T02:43:32.412Z,1755657812.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.300000 m,
bearing: 355.814627 deg,
lat: 36.779356 deg,
lon: -121.859521 deg,
deltaT: 0.502712 s,
deltaX: -0.200000 m,
approachRate: -0.397842 m/s,
posRepo size: 4
2025-08-20T02:43:32.413Z,1755657812.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.30 m.
2025-08-20T02:43:32.416Z,1755657812.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.300000 m,
nav range: 11.848780 m,
bearing: 355.814627 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.204273 deg/s,
cmd heading: 353.384480 deg,
new cmd heading: 353.180740 deg.
2025-08-20T02:43:32.417Z,1755657812.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164167 target range: 12.300000 and range: 12.30 m.
2025-08-20T02:43:32.631Z,1755657812.631 [DAT](INFO): DAT read: Rx Time:02:43:30.7035
2025-08-20T02:43:32.631Z,1755657812.631 [DAT](INFO): Rx dataTimestamp_ set to:1755657812.631160
2025-08-20T02:43:32.633Z,1755657812.633 [DAT](INFO): DAT read: Bearing 172.9, -2.2 (Local)
2025-08-20T02:43:32.633Z,1755657812.633 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.9, -2.2 (Local)
2025-08-20T02:43:32.635Z,1755657812.635 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.5
2025-08-20T02:43:32.640Z,1755657812.640 [DAT](INFO): DAT read: 02:43:30.7035 LVL= 21792, 26689, 19426, 31347, AGC= 52, IDX= 509,-0.08,-1.672, 3.047,-1.498,-1.775, PHS= 0.205,-1.416, 0.233, RAW= 150.8, 11.9, CAL= 150.8, 13.2, ROT= 359.2, -13.2
2025-08-20T02:43:32.641Z,1755657812.641 [DAT](INFO): got valid direction response:
02:43:30.7035 LVL= 21792, 26689, 19426, 31347, AGC= 52, IDX= 509,-0.08,-1.672, 3.047,-1.498,-1.775, PHS= 0.205,-1.416, 0.233, RAW= 150.8, 11.9, CAL= 150.8, 13.2, ROT= 359.2, -13.2
2025-08-20T02:43:32.641Z,1755657812.641 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-20T02:43:32.642Z,1755657812.642 [DAT](INFO): direction in FSK: [0.973484,-0.013593,0.228351]
2025-08-20T02:43:32.642Z,1755657812.642 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:32.646Z,1755657812.646 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.117088
2025-08-20T02:43:32.874Z,1755657812.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.900000 m,
deltaT: 0.503659 s,
deltaX: -0.400001 m,
approachRate: -0.794189 m/s,
rangeRepo size: 4
2025-08-20T02:43:32.876Z,1755657812.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.900000 m,
bearing: 356.862327 deg,
lat: 36.779357 deg,
lon: -121.859519 deg,
deltaT: 0.503659 s,
deltaX: -0.400001 m,
approachRate: -0.794189 m/s,
posRepo size: 4
2025-08-20T02:43:32.877Z,1755657812.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-20T02:43:32.883Z,1755657812.883 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.353556
2025-08-20T02:43:32.889Z,1755657812.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.900000 m,
nav range: 11.674164 m,
bearing: 356.862327 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.204273 deg/s,
cmd heading: 353.180749 deg,
new cmd heading: 352.898850 deg.
2025-08-20T02:43:32.895Z,1755657812.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159247 target range: 11.900000 and range: 11.90 m.
2025-08-20T02:43:33.135Z,1755657813.135 [DAT](INFO): DAT read: Rx Time:02:43:31.2033
2025-08-20T02:43:33.136Z,1755657813.136 [DAT](INFO): Rx dataTimestamp_ set to:1755657813.135240
2025-08-20T02:43:33.137Z,1755657813.137 [DAT](INFO): DAT read: Bearing 172.6, -1.3 (Local)
2025-08-20T02:43:33.137Z,1755657813.137 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.6, -1.3 (Local)
2025-08-20T02:43:33.139Z,1755657813.139 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.5
2025-08-20T02:43:33.144Z,1755657813.144 [DAT](INFO): DAT read: 02:43:31.2033 LVL= 22048, 26945, 20466, 31219, AGC= 52, IDX= 507,-0.07,-1.532,-3.129,-1.392,-1.651, PHS= 0.221,-1.433, 0.215, RAW= 149.8, 12.1, CAL= 149.7, 13.3, ROT= 0.3, -13.3
2025-08-20T02:43:33.145Z,1755657813.145 [DAT](INFO): got valid direction response:
02:43:31.2033 LVL= 22048, 26945, 20466, 31219, AGC= 52, IDX= 507,-0.07,-1.532,-3.129,-1.392,-1.651, PHS= 0.221,-1.433, 0.215, RAW= 149.8, 12.1, CAL= 149.7, 13.3, ROT= 0.3, -13.3
2025-08-20T02:43:33.145Z,1755657813.145 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-20T02:43:33.146Z,1755657813.146 [DAT](INFO): direction in FSK: [0.973166,0.005096,0.230050]
2025-08-20T02:43:33.147Z,1755657813.147 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:33.151Z,1755657813.151 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.622085
2025-08-20T02:43:33.298Z,1755657813.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.504080 s,
deltaX: -0.299999 m,
approachRate: -0.595142 m/s,
rangeRepo size: 4
2025-08-20T02:43:33.300Z,1755657813.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.600000 m,
bearing: 359.190022 deg,
lat: 36.779357 deg,
lon: -121.859514 deg,
deltaT: 0.504080 s,
deltaX: -0.299999 m,
approachRate: -0.595142 m/s,
posRepo size: 4
2025-08-20T02:43:33.301Z,1755657813.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.60 m.
2025-08-20T02:43:33.308Z,1755657813.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.600000 m,
nav range: 11.399446 m,
bearing: 359.190022 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.204273 deg/s,
cmd heading: 352.898854 deg,
new cmd heading: 352.638875 deg.
2025-08-20T02:43:33.309Z,1755657813.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154709 target range: 11.600000 and range: 11.60 m.
2025-08-20T02:43:33.387Z,1755657813.387 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.857609
2025-08-20T02:43:33.621Z,1755657813.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:33.627Z,1755657813.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.60 m.
2025-08-20T02:43:33.635Z,1755657813.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.600000 m,
nav range: 11.171194 m,
bearing: 359.279230 deg,
approach rate: -0.683114 m/s,
LOS rate: 0.272436 deg/s,
cmd heading: 352.638869 deg,
new cmd heading: 352.911959 deg.
2025-08-20T02:43:33.636Z,1755657813.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159476 target range: 11.600000 and range: 11.60 m.
2025-08-20T02:43:33.639Z,1755657813.639 [DAT](INFO): DAT read: Rx Time:02:43:31.7030
2025-08-20T02:43:33.640Z,1755657813.640 [DAT](INFO): Rx dataTimestamp_ set to:1755657813.639310
2025-08-20T02:43:33.641Z,1755657813.641 [DAT](INFO): DAT read: Bearing 172.3, -0.6 (Local)
2025-08-20T02:43:33.641Z,1755657813.641 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.3, -0.6 (Local)
2025-08-20T02:43:33.643Z,1755657813.643 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.5
2025-08-20T02:43:33.648Z,1755657813.648 [DAT](INFO): DAT read: 02:43:31.7030 LVL= 24384, 27809, 21650, 32755, AGC= 52, IDX= 504,-0.05, 3.100, 1.469,-3.071, 2.968, PHS= 0.233,-1.454, 0.200, RAW= 149.0, 12.2, CAL= 148.9, 13.4, ROT= 1.1, -13.4
2025-08-20T02:43:33.651Z,1755657813.651 [DAT](INFO): got valid direction response:
02:43:31.7030 LVL= 24384, 27809, 21650, 32755, AGC= 52, IDX= 504,-0.05, 3.100, 1.469,-3.071, 2.968, PHS= 0.233,-1.454, 0.200, RAW= 149.0, 12.2, CAL= 148.9, 13.4, ROT= 1.1, -13.4
2025-08-20T02:43:33.652Z,1755657813.652 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-20T02:43:33.668Z,1755657813.668 [DAT](INFO): direction in FSK: [0.972597,0.018675,0.231748]
2025-08-20T02:43:33.668Z,1755657813.668 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:33.723Z,1755657813.723 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.193555
2025-08-20T02:43:33.896Z,1755657813.896 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.366722
2025-08-20T02:43:34.118Z,1755657814.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.504070 s,
deltaX: -0.500000 m,
approachRate: -0.991926 m/s,
rangeRepo size: 4
2025-08-20T02:43:34.120Z,1755657814.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.100000 m,
bearing: 0.071548 deg,
lat: 36.779357 deg,
lon: -121.859512 deg,
deltaT: 0.504070 s,
deltaX: -0.500000 m,
approachRate: -0.991926 m/s,
posRepo size: 4
2025-08-20T02:43:34.121Z,1755657814.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.10 m.
2025-08-20T02:43:34.128Z,1755657814.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.100000 m,
nav range: 10.873555 m,
bearing: 0.071548 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.272436 deg/s,
cmd heading: 352.911968 deg,
new cmd heading: 353.312206 deg.
2025-08-20T02:43:34.129Z,1755657814.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166461 target range: 11.100000 and range: 11.10 m.
2025-08-20T02:43:34.147Z,1755657814.147 [DAT](INFO): DAT read: Rx Time:02:43:32.2029
2025-08-20T02:43:34.148Z,1755657814.148 [DAT](INFO): Rx dataTimestamp_ set to:1755657814.147461
2025-08-20T02:43:34.149Z,1755657814.149 [DAT](INFO): DAT read: Bearing 171.7, -0.5 (Local)
2025-08-20T02:43:34.150Z,1755657814.150 [DAT](INFO): Local bearing/azimuth received:
Bearing 171.7, -0.5 (Local)
2025-08-20T02:43:34.153Z,1755657814.153 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.5
2025-08-20T02:43:34.159Z,1755657814.159 [DAT](INFO): DAT read: 02:43:32.2029 LVL= 23536, 26657, 20210, 32755, AGC= 51, IDX= 503,-0.02,-1.775, 2.859,-1.671,-1.915, PHS= 0.242,-1.464, 0.201, RAW= 148.8, 12.1, CAL= 148.6, 13.3, ROT= 1.4, -13.3
2025-08-20T02:43:34.160Z,1755657814.160 [DAT](INFO): got valid direction response:
02:43:32.2029 LVL= 23536, 26657, 20210, 32755, AGC= 51, IDX= 503,-0.02,-1.775, 2.859,-1.671,-1.915, PHS= 0.242,-1.464, 0.201, RAW= 148.8, 12.1, CAL= 148.6, 13.3, ROT= 1.4, -13.3
2025-08-20T02:43:34.161Z,1755657814.161 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-20T02:43:34.167Z,1755657814.167 [DAT](INFO): direction in FSK: [0.972888,0.023777,0.230050]
2025-08-20T02:43:34.167Z,1755657814.167 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:34.176Z,1755657814.176 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.647248
2025-08-20T02:43:34.398Z,1755657814.398 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.869447
2025-08-20T02:43:34.553Z,1755657814.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.508151 s,
deltaX: -0.100000 m,
approachRate: -0.196793 m/s,
rangeRepo size: 4
2025-08-20T02:43:34.560Z,1755657814.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.000000 m,
bearing: 0.207319 deg,
lat: 36.779357 deg,
lon: -121.859512 deg,
deltaT: 0.508151 s,
deltaX: -0.100000 m,
approachRate: -0.196793 m/s,
posRepo size: 4
2025-08-20T02:43:34.560Z,1755657814.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.00 m.
2025-08-20T02:43:34.567Z,1755657814.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.000000 m,
nav range: 10.650958 m,
bearing: 0.207319 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.272436 deg/s,
cmd heading: 353.312217 deg,
new cmd heading: 353.667542 deg.
2025-08-20T02:43:34.568Z,1755657814.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172663 target range: 11.000000 and range: 11.00 m.
2025-08-20T02:43:34.651Z,1755657814.651 [DAT](INFO): DAT read: Rx Time:02:43:32.7026
2025-08-20T02:43:34.652Z,1755657814.652 [DAT](INFO): Rx dataTimestamp_ set to:1755657814.651472
2025-08-20T02:43:34.653Z,1755657814.653 [DAT](INFO): DAT read: Bearing 170.6, -0.7 (Local)
2025-08-20T02:43:34.653Z,1755657814.653 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.6, -0.7 (Local)
2025-08-20T02:43:34.655Z,1755657814.655 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.5
2025-08-20T02:43:34.660Z,1755657814.660 [DAT](INFO): DAT read: 02:43:32.7026 LVL= 27936, 28801, 24050, 32755, AGC= 52, IDX= 500, 0.01,-2.554, 2.026,-2.447,-2.716, PHS= 0.264,-1.497, 0.225, RAW= 148.9, 11.6, CAL= 148.7, 12.7, ROT= 1.3, -12.7
2025-08-20T02:43:34.662Z,1755657814.662 [DAT](INFO): got valid direction response:
02:43:32.7026 LVL= 27936, 28801, 24050, 32755, AGC= 52, IDX= 500, 0.01,-2.554, 2.026,-2.447,-2.716, PHS= 0.264,-1.497, 0.225, RAW= 148.9, 11.6, CAL= 148.7, 12.7, ROT= 1.3, -12.7
2025-08-20T02:43:34.663Z,1755657814.663 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-20T02:43:34.663Z,1755657814.663 [DAT](INFO): direction in FSK: [0.975283,0.022132,0.219846]
2025-08-20T02:43:34.664Z,1755657814.664 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:34.667Z,1755657814.667 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.138264
2025-08-20T02:43:34.903Z,1755657814.903 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.373569
2025-08-20T02:43:34.937Z,1755657814.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 0.504011 s,
deltaX: -0.500000 m,
approachRate: -0.992042 m/s,
rangeRepo size: 4
2025-08-20T02:43:34.943Z,1755657814.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.500000 m,
bearing: 359.991821 deg,
lat: 36.779357 deg,
lon: -121.859513 deg,
deltaT: 0.504011 s,
deltaX: -0.500000 m,
approachRate: -0.992042 m/s,
posRepo size: 4
2025-08-20T02:43:34.944Z,1755657814.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-08-20T02:43:34.951Z,1755657814.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.500000 m,
nav range: 10.371541 m,
bearing: 359.991821 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.272436 deg/s,
cmd heading: 353.667550 deg,
new cmd heading: 353.981449 deg.
2025-08-20T02:43:34.952Z,1755657814.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178142 target range: 10.500000 and range: 10.50 m.
2025-08-20T02:43:35.156Z,1755657815.156 [DAT](INFO): DAT read: Rx Time:02:43:33.2025
2025-08-20T02:43:35.156Z,1755657815.156 [DAT](INFO): Rx dataTimestamp_ set to:1755657815.156115
2025-08-20T02:43:35.158Z,1755657815.158 [DAT](INFO): DAT read: Bearing 170.1, -1.3 (Local)
2025-08-20T02:43:35.159Z,1755657815.159 [DAT](INFO): Local bearing/azimuth received:
Bearing 170.1, -1.3 (Local)
2025-08-20T02:43:35.162Z,1755657815.162 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.5
2025-08-20T02:43:35.168Z,1755657815.168 [DAT](INFO): DAT read: 02:43:33.2025 LVL= 23536, 30097, 19794, 32755, AGC= 50, IDX= 499, 0.09,-1.621, 3.002,-1.497,-1.769, PHS= 0.250,-1.467, 0.229, RAW= 149.4, 11.6, CAL= 149.2, 12.7, ROT= 0.8, -12.7
2025-08-20T02:43:35.170Z,1755657815.170 [DAT](INFO): got valid direction response:
02:43:33.2025 LVL= 23536, 30097, 19794, 32755, AGC= 50, IDX= 499, 0.09,-1.621, 3.002,-1.497,-1.769, PHS= 0.250,-1.467, 0.229, RAW= 149.4, 11.6, CAL= 149.2, 12.7, ROT= 0.8, -12.7
2025-08-20T02:43:35.170Z,1755657815.170 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-20T02:43:35.172Z,1755657815.172 [DAT](INFO): direction in FSK: [0.975439,0.013621,0.219846]
2025-08-20T02:43:35.172Z,1755657815.172 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:35.177Z,1755657815.177 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.647957
2025-08-20T02:43:35.319Z,1755657815.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.400000 m,
deltaT: 0.504643 s,
deltaX: -0.100000 m,
approachRate: -0.198161 m/s,
rangeRepo size: 4
2025-08-20T02:43:35.327Z,1755657815.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.400000 m,
bearing: 0.173124 deg,
lat: 36.779357 deg,
lon: -121.859513 deg,
deltaT: 0.504643 s,
deltaX: -0.100000 m,
approachRate: -0.198161 m/s,
posRepo size: 4
2025-08-20T02:43:35.329Z,1755657815.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-08-20T02:43:35.341Z,1755657815.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.400000 m,
nav range: 10.143325 m,
bearing: 0.173124 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.272436 deg/s,
cmd heading: 353.981439 deg,
new cmd heading: 354.294256 deg.
2025-08-20T02:43:35.344Z,1755657815.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183601 target range: 10.400000 and range: 10.40 m.
2025-08-20T02:43:35.407Z,1755657815.407 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.877710
2025-08-20T02:43:35.647Z,1755657815.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:35.650Z,1755657815.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-08-20T02:43:35.653Z,1755657815.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.400000 m,
nav range: 9.925077 m,
bearing: 0.355638 deg,
approach rate: -0.660050 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 354.294261 deg,
new cmd heading: 354.853826 deg.
2025-08-20T02:43:35.654Z,1755657815.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193367 target range: 10.400000 and range: 10.40 m.
2025-08-20T02:43:35.659Z,1755657815.659 [DAT](INFO): DAT read: Rx Time:02:43:33.7022
2025-08-20T02:43:35.660Z,1755657815.660 [DAT](INFO): Rx dataTimestamp_ set to:1755657815.659295
2025-08-20T02:43:35.661Z,1755657815.661 [DAT](INFO): DAT read: Bearing 169.1, -1.9 (Local)
2025-08-20T02:43:35.661Z,1755657815.661 [DAT](INFO): Local bearing/azimuth received:
Bearing 169.1, -1.9 (Local)
2025-08-20T02:43:35.664Z,1755657815.664 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.5
2025-08-20T02:43:35.668Z,1755657815.668 [DAT](INFO): DAT read: 02:43:33.7022 LVL= 30416, 30289, 25954, 32755, AGC= 51, IDX= 496, 0.13,-2.621, 1.915,-2.476,-2.789, PHS= 0.270,-1.534, 0.269, RAW= 150.0, 11.0, CAL= 149.8, 12.1, ROT= 0.2, -12.1
2025-08-20T02:43:35.669Z,1755657815.669 [DAT](INFO): got valid direction response:
02:43:33.7022 LVL= 30416, 30289, 25954, 32755, AGC= 51, IDX= 496, 0.13,-2.621, 1.915,-2.476,-2.789, PHS= 0.270,-1.534, 0.269, RAW= 150.0, 11.0, CAL= 149.8, 12.1, ROT= 0.2, -12.1
2025-08-20T02:43:35.670Z,1755657815.670 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-20T02:43:35.671Z,1755657815.671 [DAT](INFO): direction in FSK: [0.977777,0.003413,0.209619]
2025-08-20T02:43:35.671Z,1755657815.671 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:35.675Z,1755657815.675 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.145561
2025-08-20T02:43:35.911Z,1755657815.911 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.381561
2025-08-20T02:43:36.164Z,1755657816.164 [DAT](INFO): DAT read: Rx Time:02:43:34.2021
2025-08-20T02:43:36.165Z,1755657816.165 [DAT](INFO): Rx dataTimestamp_ set to:1755657816.164317
2025-08-20T02:43:36.167Z,1755657816.167 [DAT](INFO): DAT read: Bearing 168.0, -2.7 (Local)
2025-08-20T02:43:36.167Z,1755657816.167 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.0, -2.7 (Local)
2025-08-20T02:43:36.171Z,1755657816.171 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.5
2025-08-20T02:43:36.182Z,1755657816.182 [DAT](INFO): DAT read: 02:43:34.2021 LVL= 31664, 28641, 25458, 32755, AGC= 50, IDX= 511, 0.28,-1.830, 2.721,-1.657,-2.000, PHS= 0.272,-1.517, 0.299, RAW= 150.8, 10.5, CAL= 150.5, 11.5, ROT= 359.5, -11.5
2025-08-20T02:43:36.183Z,1755657816.183 [DAT](INFO): got valid direction response:
02:43:34.2021 LVL= 31664, 28641, 25458, 32755, AGC= 50, IDX= 511, 0.28,-1.830, 2.721,-1.657,-2.000, PHS= 0.272,-1.517, 0.299, RAW= 150.8, 10.5, CAL= 150.5, 11.5, ROT= 359.5, -11.5
2025-08-20T02:43:36.184Z,1755657816.184 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-20T02:43:36.194Z,1755657816.194 [DAT](INFO): direction in FSK: [0.979887,-0.008551,0.199368]
2025-08-20T02:43:36.194Z,1755657816.194 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:36.213Z,1755657816.213 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.668201
2025-08-20T02:43:36.213Z,1755657816.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.800000 m,
deltaT: 1.008202 s,
deltaX: -0.599999 m,
approachRate: -0.595118 m/s,
rangeRepo size: 4
2025-08-20T02:43:36.228Z,1755657816.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.900000 m,
bearing: 0.301703 deg,
lat: 36.779358 deg,
lon: -121.859514 deg,
deltaT: 0.503180 s,
deltaX: -0.500000 m,
approachRate: -0.993680 m/s,
posRepo size: 4
2025-08-20T02:43:36.228Z,1755657816.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.90 m.
2025-08-20T02:43:36.229Z,1755657816.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-08-20T02:43:36.229Z,1755657816.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-20T02:43:36.237Z,1755657816.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 9.695182 m,
bearing: 0.301703 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 354.853818 deg,
new cmd heading: 355.806832 deg.
2025-08-20T02:43:36.246Z,1755657816.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210001 target range: 9.900000 and range: 9.80 m.
2025-08-20T02:43:36.414Z,1755657816.414 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.885345
2025-08-20T02:43:36.607Z,1755657816.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:36.614Z,1755657816.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 9.421997 m,
bearing: 0.561023 deg,
approach rate: -0.692329 m/s,
LOS rate: 0.676243 deg/s,
cmd heading: 355.806820 deg,
new cmd heading: 356.607280 deg.
2025-08-20T02:43:36.615Z,1755657816.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223971 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:36.667Z,1755657816.667 [DAT](INFO): DAT read: Rx Time:02:43:34.7019
2025-08-20T02:43:36.668Z,1755657816.668 [DAT](INFO): Rx dataTimestamp_ set to:1755657816.667362
2025-08-20T02:43:36.669Z,1755657816.669 [DAT](INFO): DAT read: Bearing 168.2, -3.6 (Local)
2025-08-20T02:43:36.669Z,1755657816.669 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.2, -3.6 (Local)
2025-08-20T02:43:36.671Z,1755657816.671 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.5
2025-08-20T02:43:36.676Z,1755657816.676 [DAT](INFO): DAT read: 02:43:34.7019 LVL= 32128, 28849, 24658, 32755, AGC= 49, IDX= 509,-0.45, 1.219,-0.453, 1.418, 1.082, PHS= 0.239,-1.490, 0.291, RAW= 151.5, 10.9, CAL= 151.3, 12.0, ROT= 358.7, -12.0
2025-08-20T02:43:36.677Z,1755657816.677 [DAT](INFO): got valid direction response:
02:43:34.7019 LVL= 32128, 28849, 24658, 32755, AGC= 49, IDX= 509,-0.45, 1.219,-0.453, 1.418, 1.082, PHS= 0.239,-1.490, 0.291, RAW= 151.5, 10.9, CAL= 151.3, 12.0, ROT= 358.7, -12.0
2025-08-20T02:43:36.677Z,1755657816.677 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-20T02:43:36.678Z,1755657816.678 [DAT](INFO): direction in FSK: [0.977896,-0.022191,0.207912]
2025-08-20T02:43:36.679Z,1755657816.679 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:36.682Z,1755657816.682 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.153313
2025-08-20T02:43:36.919Z,1755657816.919 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.389532
2025-08-20T02:43:37.074Z,1755657817.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.503045 s,
deltaX: -0.300000 m,
approachRate: -0.596368 m/s,
rangeRepo size: 4
2025-08-20T02:43:37.076Z,1755657817.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.500000 m,
bearing: 357.849818 deg,
lat: 36.779358 deg,
lon: -121.859519 deg,
deltaT: 1.008067 s,
deltaX: -0.400000 m,
approachRate: -0.396799 m/s,
posRepo size: 4
2025-08-20T02:43:37.077Z,1755657817.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.50 m. 9.90 m.
2025-08-20T02:43:37.083Z,1755657817.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 9.153063 m,
bearing: 0.861038 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 356.607291 deg,
new cmd heading: 357.388625 deg.
2025-08-20T02:43:37.084Z,1755657817.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237608 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:37.172Z,1755657817.172 [DAT](INFO): DAT read: Rx Time:02:43:35.2017
2025-08-20T02:43:37.173Z,1755657817.173 [DAT](INFO): Rx dataTimestamp_ set to:1755657817.172460
2025-08-20T02:43:37.175Z,1755657817.175 [DAT](INFO): DAT read: Bearing 168.7, -4.3 (Local)
2025-08-20T02:43:37.175Z,1755657817.175 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.7, -4.3 (Local)
2025-08-20T02:43:37.178Z,1755657817.178 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.5
2025-08-20T02:43:37.185Z,1755657817.185 [DAT](INFO): DAT read: 02:43:35.2017 LVL= 29856, 27633, 23170, 32755, AGC= 48, IDX= 507,-0.20, 0.118,-1.465, 0.333, 0.022, PHS= 0.198,-1.441, 0.268, RAW= 152.1, 11.6, CAL= 152.0, 12.8, ROT= 358.0, -12.8
2025-08-20T02:43:37.194Z,1755657817.194 [DAT](INFO): got valid direction response:
02:43:35.2017 LVL= 29856, 27633, 23170, 32755, AGC= 48, IDX= 507,-0.20, 0.118,-1.465, 0.333, 0.022, PHS= 0.198,-1.441, 0.268, RAW= 152.1, 11.6, CAL= 152.0, 12.8, ROT= 358.0, -12.8
2025-08-20T02:43:37.195Z,1755657817.195 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-20T02:43:37.196Z,1755657817.196 [DAT](INFO): direction in FSK: [0.974555,-0.034032,0.221548]
2025-08-20T02:43:37.196Z,1755657817.196 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:37.204Z,1755657817.204 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.674862
2025-08-20T02:43:37.426Z,1755657817.426 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.896980
2025-08-20T02:43:37.579Z,1755657817.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.505098 s,
deltaX: -0.300000 m,
approachRate: -0.593945 m/s,
rangeRepo size: 4
2025-08-20T02:43:37.586Z,1755657817.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.200000 m,
bearing: 356.043180 deg,
lat: 36.779359 deg,
lon: -121.859523 deg,
deltaT: 1.513165 s,
deltaX: -0.700000 m,
approachRate: -0.462606 m/s,
posRepo size: 4
2025-08-20T02:43:37.587Z,1755657817.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.20 m. 9.90 m.
2025-08-20T02:43:37.593Z,1755657817.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 8.835358 m,
bearing: 1.247255 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 357.388637 deg,
new cmd heading: 358.251602 deg.
2025-08-20T02:43:37.594Z,1755657817.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252670 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:37.675Z,1755657817.675 [DAT](INFO): DAT read: Rx Time:02:43:35.7014
2025-08-20T02:43:37.676Z,1755657817.676 [DAT](INFO): Rx dataTimestamp_ set to:1755657817.675483
2025-08-20T02:43:37.677Z,1755657817.677 [DAT](INFO): DAT read: Bearing 166.6, -5.2 (Local)
2025-08-20T02:43:37.677Z,1755657817.677 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.6, -5.2 (Local)
2025-08-20T02:43:37.679Z,1755657817.679 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.5
2025-08-20T02:43:37.684Z,1755657817.684 [DAT](INFO): DAT read: 02:43:35.7014 LVL= 26912, 31377, 20514, 32755, AGC= 47, IDX= 504, 0.02,-1.064,-2.589,-0.817,-1.179, PHS= 0.217,-1.366, 0.318, RAW= 153.1, 10.2, CAL= 152.9, 11.1, ROT= 357.1, -11.1
2025-08-20T02:43:37.685Z,1755657817.685 [DAT](INFO): got valid direction response:
02:43:35.7014 LVL= 26912, 31377, 20514, 32755, AGC= 47, IDX= 504, 0.02,-1.064,-2.589,-0.817,-1.179, PHS= 0.217,-1.366, 0.318, RAW= 153.1, 10.2, CAL= 152.9, 11.1, ROT= 357.1, -11.1
2025-08-20T02:43:37.686Z,1755657817.686 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-20T02:43:37.687Z,1755657817.687 [DAT](INFO): direction in FSK: [0.980036,-0.049647,0.192522]
2025-08-20T02:43:37.687Z,1755657817.687 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:37.691Z,1755657817.691 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.162094
2025-08-20T02:43:37.927Z,1755657817.927 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.397594
2025-08-20T02:43:37.941Z,1755657817.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.503023 s,
deltaX: -0.500000 m,
approachRate: -0.993990 m/s,
rangeRepo size: 4
2025-08-20T02:43:37.944Z,1755657817.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.700000 m,
bearing: 354.896904 deg,
lat: 36.779359 deg,
lon: -121.859525 deg,
deltaT: 2.016188 s,
deltaX: -1.200000 m,
approachRate: -0.595182 m/s,
posRepo size: 4
2025-08-20T02:43:37.945Z,1755657817.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 9.90 m.
2025-08-20T02:43:37.948Z,1755657817.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 8.612060 m,
bearing: 1.519608 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 358.251591 deg,
new cmd heading: 358.863320 deg.
2025-08-20T02:43:37.948Z,1755657817.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263347 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:38.180Z,1755657818.180 [DAT](INFO): DAT read: Rx Time:02:43:36.2013
2025-08-20T02:43:38.181Z,1755657818.181 [DAT](INFO): Rx dataTimestamp_ set to:1755657818.180431
2025-08-20T02:43:38.183Z,1755657818.183 [DAT](INFO): DAT read: Bearing 165.2, -4.7 (Local)
2025-08-20T02:43:38.183Z,1755657818.183 [DAT](INFO): Local bearing/azimuth received:
Bearing 165.2, -4.7 (Local)
2025-08-20T02:43:38.186Z,1755657818.186 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4
2025-08-20T02:43:38.192Z,1755657818.192 [DAT](INFO): DAT read: 02:43:36.2013 LVL= 26432, 29137, 20690, 32755, AGC= 47, IDX= 503, 0.20, 0.437,-1.104, 0.669, 0.284, PHS= 0.255,-1.343, 0.341, RAW= 152.6, 9.1, CAL= 152.2, 9.8, ROT= 357.8, -9.8
2025-08-20T02:43:38.198Z,1755657818.198 [DAT](INFO): got valid direction response:
02:43:36.2013 LVL= 26432, 29137, 20690, 32755, AGC= 47, IDX= 503, 0.20, 0.437,-1.104, 0.669, 0.284, PHS= 0.255,-1.343, 0.341, RAW= 152.6, 9.1, CAL= 152.2, 9.8, ROT= 357.8, -9.8
2025-08-20T02:43:38.198Z,1755657818.198 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-20T02:43:38.200Z,1755657818.200 [DAT](INFO): direction in FSK: [0.984682,-0.037828,0.170209]
2025-08-20T02:43:38.200Z,1755657818.200 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:38.233Z,1755657818.233 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.676081
2025-08-20T02:43:38.352Z,1755657818.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.600000 m,
deltaT: 0.504948 s,
deltaX: -0.099999 m,
approachRate: -0.198039 m/s,
rangeRepo size: 4
2025-08-20T02:43:38.359Z,1755657818.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.600000 m,
bearing: 353.865643 deg,
lat: 36.779359 deg,
lon: -121.859527 deg,
deltaT: 2.521136 s,
deltaX: -1.299999 m,
approachRate: -0.515640 m/s,
posRepo size: 4
2025-08-20T02:43:38.360Z,1755657818.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.60 m. 9.90 m.
2025-08-20T02:43:38.366Z,1755657818.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 8.373786 m,
bearing: 1.826538 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 358.863330 deg,
new cmd heading: 359.558519 deg.
2025-08-20T02:43:38.367Z,1755657818.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275480 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:38.432Z,1755657818.432 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.903181
2025-08-20T02:43:38.683Z,1755657818.683 [DAT](INFO): DAT read: Rx Time:02:43:36.7011
2025-08-20T02:43:38.683Z,1755657818.683 [DAT](INFO): Rx dataTimestamp_ set to:1755657818.683162
2025-08-20T02:43:38.685Z,1755657818.685 [DAT](INFO): DAT read: Bearing 164.7, -3.6 (Local)
2025-08-20T02:43:38.685Z,1755657818.685 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.7, -3.6 (Local)
2025-08-20T02:43:38.687Z,1755657818.687 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4
2025-08-20T02:43:38.692Z,1755657818.692 [DAT](INFO): DAT read: 02:43:36.7011 LVL= 25904, 26017, 20162, 32755, AGC= 47, IDX= 500, 0.46,-0.941,-2.464,-0.743,-1.114, PHS= 0.275,-1.304, 0.327, RAW= 151.6, 8.8, CAL= 151.2, 9.4, ROT= 358.8, -9.4
2025-08-20T02:43:38.693Z,1755657818.693 [DAT](INFO): got valid direction response:
02:43:36.7011 LVL= 25904, 26017, 20162, 32755, AGC= 47, IDX= 500, 0.46,-0.941,-2.464,-0.743,-1.114, PHS= 0.275,-1.304, 0.327, RAW= 151.6, 8.8, CAL= 151.2, 9.4, ROT= 358.8, -9.4
2025-08-20T02:43:38.693Z,1755657818.693 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-20T02:43:38.694Z,1755657818.694 [DAT](INFO): direction in FSK: [0.986356,-0.020661,0.163326]
2025-08-20T02:43:38.695Z,1755657818.695 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:38.698Z,1755657818.698 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.169039
2025-08-20T02:43:38.856Z,1755657818.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.502731 s,
deltaX: -0.300000 m,
approachRate: -0.596741 m/s,
rangeRepo size: 4
2025-08-20T02:43:38.862Z,1755657818.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.300000 m,
bearing: 353.957744 deg,
lat: 36.779359 deg,
lon: -121.859527 deg,
deltaT: 3.023867 s,
deltaX: -1.599999 m,
approachRate: -0.529124 m/s,
posRepo size: 4
2025-08-20T02:43:38.863Z,1755657818.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.30 m. 9.90 m.
2025-08-20T02:43:38.870Z,1755657818.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 8.078368 m,
bearing: 2.245428 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 359.558507 deg,
new cmd heading: 0.411615 deg.
2025-08-20T02:43:38.871Z,1755657818.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007184 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:38.938Z,1755657818.938 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.408878
2025-08-20T02:43:39.188Z,1755657819.188 [DAT](INFO): DAT read: Rx Time:02:43:37.2010
2025-08-20T02:43:39.188Z,1755657819.188 [DAT](INFO): Rx dataTimestamp_ set to:1755657819.187713
2025-08-20T02:43:39.190Z,1755657819.190 [DAT](INFO): DAT read: Bearing 162.8, -1.8 (Local)
2025-08-20T02:43:39.190Z,1755657819.190 [DAT](INFO): Local bearing/azimuth received:
Bearing 162.8, -1.8 (Local)
2025-08-20T02:43:39.192Z,1755657819.192 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4
2025-08-20T02:43:39.197Z,1755657819.197 [DAT](INFO): DAT read: 02:43:37.2010 LVL= 25584, 25313, 20082, 32755, AGC= 47, IDX= 500,-0.26,-0.363,-1.935,-0.220,-0.615, PHS= 0.354,-1.275, 0.351, RAW= 149.9, 7.1, CAL= 149.3, 7.5, ROT= 0.7, -7.5
2025-08-20T02:43:39.198Z,1755657819.198 [DAT](INFO): got valid direction response:
02:43:37.2010 LVL= 25584, 25313, 20082, 32755, AGC= 47, IDX= 500,-0.26,-0.363,-1.935,-0.220,-0.615, PHS= 0.354,-1.275, 0.351, RAW= 149.9, 7.1, CAL= 149.3, 7.5, ROT= 0.7, -7.5
2025-08-20T02:43:39.199Z,1755657819.199 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-20T02:43:39.200Z,1755657819.200 [DAT](INFO): direction in FSK: [0.991371,0.012112,0.130526]
2025-08-20T02:43:39.200Z,1755657819.200 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:39.204Z,1755657819.204 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.674618
2025-08-20T02:43:39.220Z,1755657819.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.504551 s,
deltaX: -0.200000 m,
approachRate: -0.396392 m/s,
rangeRepo size: 4
2025-08-20T02:43:39.247Z,1755657819.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.100000 m,
bearing: 354.066984 deg,
lat: 36.779359 deg,
lon: -121.859527 deg,
deltaT: 3.528418 s,
deltaX: -1.799999 m,
approachRate: -0.510143 m/s,
posRepo size: 4
2025-08-20T02:43:39.249Z,1755657819.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 9.90 m.
2025-08-20T02:43:39.262Z,1755657819.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 7.847937 m,
bearing: 2.603347 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 0.411615 deg,
new cmd heading: 1.028001 deg.
2025-08-20T02:43:39.265Z,1755657819.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017942 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:39.439Z,1755657819.439 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.910318
2025-08-20T02:43:39.608Z,1755657819.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:39.615Z,1755657819.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:39.622Z,1755657819.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 7.614366 m,
bearing: 2.985330 deg,
approach rate: -0.590792 m/s,
LOS rate: 0.995813 deg/s,
cmd heading: 1.028001 deg,
new cmd heading: 2.208927 deg.
2025-08-20T02:43:39.623Z,1755657819.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038553 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:39.693Z,1755657819.693 [DAT](INFO): DAT read: Rx Time:02:43:37.7007
2025-08-20T02:43:39.694Z,1755657819.694 [DAT](INFO): Rx dataTimestamp_ set to:1755657819.693103
2025-08-20T02:43:39.695Z,1755657819.695 [DAT](INFO): DAT read: Bearing 161.5, 1.1 (Local)
2025-08-20T02:43:39.696Z,1755657819.696 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.5, 1.1 (Local)
2025-08-20T02:43:39.699Z,1755657819.699 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4
2025-08-20T02:43:39.705Z,1755657819.705 [DAT](INFO): DAT read: 02:43:37.7007 LVL= 22624, 24049, 17090, 32755, AGC= 47, IDX= 497,-0.08,-0.562,-2.270,-0.522,-0.919, PHS= 0.459,-1.306, 0.353, RAW= 146.9, 5.8, CAL= 146.4, 6.2, ROT= 3.6, -6.2
2025-08-20T02:43:39.711Z,1755657819.711 [DAT](INFO): got valid direction response:
02:43:37.7007 LVL= 22624, 24049, 17090, 32755, AGC= 47, IDX= 497,-0.08,-0.562,-2.270,-0.522,-0.919, PHS= 0.459,-1.306, 0.353, RAW= 146.9, 5.8, CAL= 146.4, 6.2, ROT= 3.6, -6.2
2025-08-20T02:43:39.712Z,1755657819.712 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-20T02:43:39.713Z,1755657819.713 [DAT](INFO): direction in FSK: [0.992189,0.062423,0.107999]
2025-08-20T02:43:39.713Z,1755657819.713 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:39.721Z,1755657819.721 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.191828
2025-08-20T02:43:39.959Z,1755657819.959 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.429792
2025-08-20T02:43:40.065Z,1755657820.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.505390 s,
deltaX: -0.400001 m,
approachRate: -0.791469 m/s,
rangeRepo size: 4
2025-08-20T02:43:40.068Z,1755657820.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.700000 m,
bearing: 354.302316 deg,
lat: 36.779359 deg,
lon: -121.859527 deg,
deltaT: 4.033808 s,
deltaX: -2.200000 m,
approachRate: -0.545390 m/s,
posRepo size: 4
2025-08-20T02:43:40.069Z,1755657820.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.70 m. 9.90 m.
2025-08-20T02:43:40.071Z,1755657820.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 7.344958 m,
bearing: 3.427137 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 2.208927 deg,
new cmd heading: 2.970176 deg.
2025-08-20T02:43:40.072Z,1755657820.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051839 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:40.211Z,1755657820.211 [DAT](INFO): DAT read: Rx Time:02:43:38.2005
2025-08-20T02:43:40.212Z,1755657820.212 [DAT](INFO): Rx dataTimestamp_ set to:1755657820.211403
2025-08-20T02:43:40.213Z,1755657820.213 [DAT](INFO): DAT read: Bearing 161.6, 4.0 (Local)
2025-08-20T02:43:40.213Z,1755657820.213 [DAT](INFO): Local bearing/azimuth received:
Bearing 161.6, 4.0 (Local)
2025-08-20T02:43:40.215Z,1755657820.215 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4
2025-08-20T02:43:40.233Z,1755657820.233 [DAT](INFO): DAT read: 02:43:38.2005 LVL= 25072, 30705, 24754, 32755, AGC= 48, IDX= 511, 0.04, 2.121, 0.207, 2.036, 1.661, PHS= 0.562,-1.409, 0.330, RAW= 143.8, 5.6, CAL= 143.4, 6.2, ROT= 6.6, -6.2
2025-08-20T02:43:40.255Z,1755657820.255 [DAT](INFO): got valid direction response:
02:43:38.2005 LVL= 25072, 30705, 24754, 32755, AGC= 48, IDX= 511, 0.04, 2.121, 0.207, 2.036, 1.661, PHS= 0.562,-1.409, 0.330, RAW= 143.8, 5.6, CAL= 143.4, 6.2, ROT= 6.6, -6.2
2025-08-20T02:43:40.256Z,1755657820.256 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-20T02:43:40.257Z,1755657820.257 [DAT](INFO): direction in FSK: [0.987562,0.114265,0.107999]
2025-08-20T02:43:40.262Z,1755657820.262 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:40.273Z,1755657820.273 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.743279
2025-08-20T02:43:40.403Z,1755657820.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.518300 s,
deltaX: -0.300000 m,
approachRate: -0.578815 m/s,
rangeRepo size: 4
2025-08-20T02:43:40.410Z,1755657820.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.400000 m,
bearing: 356.329328 deg,
lat: 36.779360 deg,
lon: -121.859524 deg,
deltaT: 4.552108 s,
deltaX: -2.500000 m,
approachRate: -0.549196 m/s,
posRepo size: 4
2025-08-20T02:43:40.411Z,1755657820.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.40 m. 9.90 m.
2025-08-20T02:43:40.413Z,1755657820.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 7.151728 m,
bearing: 3.757940 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 2.970176 deg,
new cmd heading: 3.542508 deg.
2025-08-20T02:43:40.418Z,1755657820.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061828 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:40.463Z,1755657820.463 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.934130
2025-08-20T02:43:40.715Z,1755657820.715 [DAT](INFO): DAT read: Rx Time:02:43:38.7002
2025-08-20T02:43:40.716Z,1755657820.716 [DAT](INFO): Rx dataTimestamp_ set to:1755657820.715220
2025-08-20T02:43:40.717Z,1755657820.717 [DAT](INFO): DAT read: Bearing 164.1, 7.9 (Local)
2025-08-20T02:43:40.717Z,1755657820.717 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.1, 7.9 (Local)
2025-08-20T02:43:40.719Z,1755657820.719 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4
2025-08-20T02:43:40.724Z,1755657820.724 [DAT](INFO): DAT read: 02:43:38.7002 LVL= 27296, 32753, 25810, 32755, AGC= 48, IDX= 508, 0.16, 2.909, 0.918, 2.674, 2.440, PHS= 0.571,-1.477, 0.190, RAW= 139.9, 7.6, CAL= 139.6, 8.5, ROT= 10.4, -8.5
2025-08-20T02:43:40.725Z,1755657820.725 [DAT](INFO): got valid direction response:
02:43:38.7002 LVL= 27296, 32753, 25810, 32755, AGC= 48, IDX= 508, 0.16, 2.909, 0.918, 2.674, 2.440, PHS= 0.571,-1.477, 0.190, RAW= 139.9, 7.6, CAL= 139.6, 8.5, ROT= 10.4, -8.5
2025-08-20T02:43:40.725Z,1755657820.725 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-20T02:43:40.726Z,1755657820.726 [DAT](INFO): direction in FSK: [0.972768,0.178536,0.147809]
2025-08-20T02:43:40.727Z,1755657820.727 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:40.733Z,1755657820.733 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.203640
2025-08-20T02:43:40.897Z,1755657820.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.503817 s,
deltaX: -0.500000 m,
approachRate: -0.992424 m/s,
rangeRepo size: 4
2025-08-20T02:43:40.907Z,1755657820.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.900000 m,
bearing: 359.425415 deg,
lat: 36.779360 deg,
lon: -121.859520 deg,
deltaT: 5.055925 s,
deltaX: -3.000000 m,
approachRate: -0.593363 m/s,
posRepo size: 4
2025-08-20T02:43:40.908Z,1755657820.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.90 m. 9.90 m.
2025-08-20T02:43:40.915Z,1755657820.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 6.865581 m,
bearing: 4.282884 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 3.542508 deg,
new cmd heading: 4.377614 deg.
2025-08-20T02:43:40.916Z,1755657820.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076404 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:40.967Z,1755657820.967 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.437584
2025-08-20T02:43:41.219Z,1755657821.219 [DAT](INFO): DAT read: Rx Time:02:43:39.2001
2025-08-20T02:43:41.220Z,1755657821.220 [DAT](INFO): Rx dataTimestamp_ set to:1755657821.219307
2025-08-20T02:43:41.221Z,1755657821.221 [DAT](INFO): DAT read: Bearing 166.9, 13.1 (Local)
2025-08-20T02:43:41.221Z,1755657821.221 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.9, 13.1 (Local)
2025-08-20T02:43:41.223Z,1755657821.223 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4
2025-08-20T02:43:41.229Z,1755657821.229 [DAT](INFO): DAT read: 02:43:39.2001 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 507, 0.37,-0.922,-2.947,-1.340,-1.391, PHS= 0.571,-1.511, 0.007, RAW= 134.8, 10.0, CAL= 134.5, 11.1, ROT= 15.5, -11.1
2025-08-20T02:43:41.232Z,1755657821.232 [DAT](INFO): got valid direction response:
02:43:39.2001 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 507, 0.37,-0.922,-2.947,-1.340,-1.391, PHS= 0.571,-1.511, 0.007, RAW= 134.8, 10.0, CAL= 134.5, 11.1, ROT= 15.5, -11.1
2025-08-20T02:43:41.232Z,1755657821.232 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-20T02:43:41.239Z,1755657821.239 [DAT](INFO): direction in FSK: [0.945603,0.262239,0.192522]
2025-08-20T02:43:41.239Z,1755657821.239 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:41.274Z,1755657821.274 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.720373
2025-08-20T02:43:41.276Z,1755657821.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.504087 s,
deltaX: -0.100000 m,
approachRate: -0.198378 m/s,
rangeRepo size: 4
2025-08-20T02:43:41.283Z,1755657821.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.800000 m,
bearing: 2.859621 deg,
lat: 36.779360 deg,
lon: -121.859516 deg,
deltaT: 5.560012 s,
deltaX: -3.099999 m,
approachRate: -0.557553 m/s,
posRepo size: 4
2025-08-20T02:43:41.284Z,1755657821.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.80 m. 9.90 m.
2025-08-20T02:43:41.294Z,1755657821.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 6.658412 m,
bearing: 4.682852 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 4.377614 deg,
new cmd heading: 5.019552 deg.
2025-08-20T02:43:41.295Z,1755657821.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087608 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:41.471Z,1755657821.471 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.941792
2025-08-20T02:43:41.659Z,1755657821.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:41.662Z,1755657821.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:41.664Z,1755657821.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 6.401461 m,
bearing: 5.193695 deg,
approach rate: -0.666322 m/s,
LOS rate: 1.377862 deg/s,
cmd heading: 5.019552 deg,
new cmd heading: 6.613163 deg.
2025-08-20T02:43:41.665Z,1755657821.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115421 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:41.723Z,1755657821.723 [DAT](INFO): DAT read: Rx Time:02:43:39.6999
2025-08-20T02:43:41.724Z,1755657821.724 [DAT](INFO): Rx dataTimestamp_ set to:1755657821.723286
2025-08-20T02:43:41.725Z,1755657821.725 [DAT](INFO): DAT read: Bearing 168.0, 17.7 (Local)
2025-08-20T02:43:41.725Z,1755657821.725 [DAT](INFO): Local bearing/azimuth received:
Bearing 168.0, 17.7 (Local)
2025-08-20T02:43:41.729Z,1755657821.729 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4
2025-08-20T02:43:41.740Z,1755657821.740 [DAT](INFO): DAT read: 02:43:39.6999 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 505,-0.20, 2.197, 0.070, 1.591, 1.665, PHS= 0.634,-1.550,-0.118, RAW= 130.2, 10.8, CAL= 129.9, 12.0, ROT= 20.1, -12.0
2025-08-20T02:43:41.762Z,1755657821.762 [DAT](INFO): got valid direction response:
02:43:39.6999 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 505,-0.20, 2.197, 0.070, 1.591, 1.665, PHS= 0.634,-1.550,-0.118, RAW= 130.2, 10.8, CAL= 129.9, 12.0, ROT= 20.1, -12.0
2025-08-20T02:43:41.762Z,1755657821.762 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-20T02:43:41.763Z,1755657821.763 [DAT](INFO): direction in FSK: [0.918573,0.336150,0.207912]
2025-08-20T02:43:41.763Z,1755657821.763 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:41.775Z,1755657821.775 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.246412
2025-08-20T02:43:41.974Z,1755657821.974 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.445370
2025-08-20T02:43:42.109Z,1755657822.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 0.503979 s,
deltaX: -0.500000 m,
approachRate: -0.992105 m/s,
rangeRepo size: 4
2025-08-20T02:43:42.123Z,1755657822.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.300000 m,
bearing: 7.292964 deg,
lat: 36.779358 deg,
lon: -121.859512 deg,
deltaT: 6.063991 s,
deltaX: -3.599999 m,
approachRate: -0.593668 m/s,
posRepo size: 4
2025-08-20T02:43:42.124Z,1755657822.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.30 m. 9.90 m.
2025-08-20T02:43:42.138Z,1755657822.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 6.144640 m,
bearing: 5.682232 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 6.613163 deg,
new cmd heading: 7.368999 deg.
2025-08-20T02:43:42.139Z,1755657822.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128613 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:42.230Z,1755657822.230 [DAT](INFO): DAT read: Rx Time:02:43:40.2000
2025-08-20T02:43:42.231Z,1755657822.231 [DAT](INFO): Rx dataTimestamp_ set to:1755657822.229959
2025-08-20T02:43:42.233Z,1755657822.233 [DAT](INFO): DAT read: Bearing 172.8, 25.2 (Local)
2025-08-20T02:43:42.236Z,1755657822.236 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.8, 25.2 (Local)
2025-08-20T02:43:42.241Z,1755657822.241 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.5
2025-08-20T02:43:42.261Z,1755657822.261 [DAT](INFO): DAT read: 02:43:40.2000 LVL= 32752, 32753, 31890, 32755, AGC= 53, IDX= 504, 0.14,-2.790, 1.381, 2.621, 3.002, PHS= 0.593,-1.576,-0.425, RAW= 122.0, 14.8, CAL= 122.3, 16.1, ROT= 27.7, -16.1
2025-08-20T02:43:42.275Z,1755657822.275 [DAT](INFO): got valid direction response:
02:43:40.2000 LVL= 32752, 32753, 31890, 32755, AGC= 53, IDX= 504, 0.14,-2.790, 1.381, 2.621, 3.002, PHS= 0.593,-1.576,-0.425, RAW= 122.0, 14.8, CAL= 122.3, 16.1, ROT= 27.7, -16.1
2025-08-20T02:43:42.276Z,1755657822.276 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-20T02:43:42.277Z,1755657822.277 [DAT](INFO): direction in FSK: [0.850668,0.446611,0.277315]
2025-08-20T02:43:42.277Z,1755657822.277 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:42.285Z,1755657822.285 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.755678
2025-08-20T02:43:42.436Z,1755657822.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.600000 m,
deltaT: 0.506673 s,
deltaX: 0.300000 m,
approachRate: 0.592097 m/s,
rangeRepo size: 4
2025-08-20T02:43:42.443Z,1755657822.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.600000 m,
bearing: 13.152009 deg,
lat: 36.779358 deg,
lon: -121.859505 deg,
deltaT: 6.570664 s,
deltaX: -3.300000 m,
approachRate: -0.502232 m/s,
posRepo size: 4
2025-08-20T02:43:42.444Z,1755657822.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.60 m. 9.90 m.
2025-08-20T02:43:42.450Z,1755657822.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 5.962187 m,
bearing: 6.019961 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 7.368999 deg,
new cmd heading: 7.922740 deg.
2025-08-20T02:43:42.451Z,1755657822.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138278 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:42.479Z,1755657822.479 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.949533
2025-08-20T02:43:42.733Z,1755657822.733 [DAT](INFO): DAT read: Rx Time:02:43:40.6998
2025-08-20T02:43:42.734Z,1755657822.734 [DAT](INFO): Rx dataTimestamp_ set to:1755657822.733051
2025-08-20T02:43:42.736Z,1755657822.736 [DAT](INFO): DAT read: Bearing 190.5, 12.9 (Local)
2025-08-20T02:43:42.736Z,1755657822.736 [DAT](INFO): Local bearing/azimuth received:
Bearing 190.5, 12.9 (Local)
2025-08-20T02:43:42.740Z,1755657822.740 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4
2025-08-20T02:43:42.747Z,1755657822.747 [DAT](INFO): DAT read: 02:43:40.6998 LVL= 32752, 31009, 31394, 32755, AGC= 53, IDX= 502, 0.08, 1.653,-0.275, 1.187, 1.651, PHS= 0.104,-1.881,-0.508, RAW= 132.5, 24.6, CAL= 135.5, 32.9, ROT= 14.5, -32.9
2025-08-20T02:43:42.749Z,1755657822.749 [DAT](INFO): got valid direction response:
02:43:40.6998 LVL= 32752, 31009, 31394, 32755, AGC= 53, IDX= 502, 0.08, 1.653,-0.275, 1.187, 1.651, PHS= 0.104,-1.881,-0.508, RAW= 132.5, 24.6, CAL= 135.5, 32.9, ROT= 14.5, -32.9
2025-08-20T02:43:42.749Z,1755657822.749 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-20T02:43:42.751Z,1755657822.751 [DAT](INFO): direction in FSK: [0.812876,0.210224,0.543174]
2025-08-20T02:43:42.752Z,1755657822.752 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:42.775Z,1755657822.775 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.246122
2025-08-20T02:43:42.986Z,1755657822.986 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.455807
2025-08-20T02:43:43.070Z,1755657823.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.503092 s,
deltaX: -0.400000 m,
approachRate: -0.795083 m/s,
rangeRepo size: 4
2025-08-20T02:43:43.073Z,1755657823.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.200000 m,
bearing: 14.537397 deg,
lat: 36.779357 deg,
lon: -121.859505 deg,
deltaT: 7.073756 s,
deltaX: -3.700000 m,
approachRate: -0.523060 m/s,
posRepo size: 4
2025-08-20T02:43:43.074Z,1755657823.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.20 m. 9.90 m.
2025-08-20T02:43:43.076Z,1755657823.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 5.572067 m,
bearing: 6.741327 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 7.922740 deg,
new cmd heading: 8.996419 deg.
2025-08-20T02:43:43.077Z,1755657823.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157017 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:43.236Z,1755657823.236 [DAT](INFO): DAT read: Rx Time:02:43:41.1997
2025-08-20T02:43:43.237Z,1755657823.237 [DAT](INFO): Rx dataTimestamp_ set to:1755657823.236601
2025-08-20T02:43:43.239Z,1755657823.239 [DAT](INFO): DAT read: Bearing 219.2, 0.8 (Local)
2025-08-20T02:43:43.240Z,1755657823.240 [DAT](INFO): Local bearing/azimuth received:
Bearing 219.2, 0.8 (Local)
2025-08-20T02:43:43.244Z,1755657823.244 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.7
2025-08-20T02:43:43.263Z,1755657823.263 [DAT](INFO): DAT read: 02:43:41.1997 LVL= 30272, 23329, 32754, 32755, AGC= 53, IDX= 502,-0.04, 1.849, 1.126, 2.059, 2.683, PHS=-0.732,-1.512,-0.668, RAW= 153.9, 51.7, CAL= 156.8, 59.8, ROT= 353.2, -59.8
2025-08-20T02:43:43.264Z,1755657823.264 [DAT](INFO): got valid direction response:
02:43:41.1997 LVL= 30272, 23329, 32754, 32755, AGC= 53, IDX= 502,-0.04, 1.849, 1.126, 2.059, 2.683, PHS=-0.732,-1.512,-0.668, RAW= 153.9, 51.7, CAL= 156.8, 59.8, ROT= 353.2, -59.8
2025-08-20T02:43:43.265Z,1755657823.265 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-20T02:43:43.276Z,1755657823.276 [DAT](INFO): direction in FSK: [0.499481,-0.059559,0.864275]
2025-08-20T02:43:43.277Z,1755657823.277 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:43.284Z,1755657823.284 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.755228
2025-08-20T02:43:43.376Z,1755657823.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.503550 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-20T02:43:43.397Z,1755657823.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.200000 m,
bearing: 15.239462 deg,
lat: 36.779356 deg,
lon: -121.859505 deg,
deltaT: 7.577306 s,
deltaX: -3.700000 m,
approachRate: -0.488300 m/s,
posRepo size: 4
2025-08-20T02:43:43.426Z,1755657823.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.20 m. 9.90 m.
2025-08-20T02:43:43.428Z,1755657823.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 5.392347 m,
bearing: 7.085561 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 8.996419 deg,
new cmd heading: 9.513228 deg.
2025-08-20T02:43:43.433Z,1755657823.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166037 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:43.490Z,1755657823.490 [DAT](INFO): DAT read: Rx Time:02:43:41.6995
2025-08-20T02:43:43.492Z,1755657823.492 [DAT](INFO): Rx dataTimestamp_ set to:1755657823.490627
2025-08-20T02:43:43.494Z,1755657823.494 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.964235
2025-08-20T02:43:43.578Z,1755657823.578 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-20T02:43:43.578Z,1755657823.578 [DockingStepper] No Fault, FailCount= 1
2025-08-20T02:43:43.741Z,1755657823.741 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4
2025-08-20T02:43:43.742Z,1755657823.742 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-08-20T02:43:43.744Z,1755657823.744 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.214581
2025-08-20T02:43:43.794Z,1755657823.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:43.803Z,1755657823.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.900000 m,
deltaT: 0.502468 s,
deltaX: -0.300000 m,
approachRate: -0.597052 m/s,
rangeRepo size: 4
2025-08-20T02:43:43.804Z,1755657823.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:43.807Z,1755657823.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 5.134860 m,
bearing: 7.584372 deg,
approach rate: -0.610204 m/s,
LOS rate: 1.241365 deg/s,
cmd heading: 9.513227 deg,
new cmd heading: 11.084286 deg.
2025-08-20T02:43:43.808Z,1755657823.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.193457 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:43.880Z,1755657823.880 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-20T02:43:43.993Z,1755657823.993 [DAT](INFO): DAT read: Rx Time:02:43:42.1992
2025-08-20T02:43:43.995Z,1755657823.995 [DAT](INFO): Rx dataTimestamp_ set to:1755657823.993717
2025-08-20T02:43:43.997Z,1755657823.997 [DAT](INFO): DAT read: Bearing 285.0, -11.4 (Local)
2025-08-20T02:43:43.998Z,1755657823.998 [DAT](INFO): Local bearing/azimuth received:
Bearing 285.0, -11.4 (Local)
2025-08-20T02:43:43.000Z,1755657824.000 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.470215
2025-08-20T02:43:44.006Z,1755657824.006 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-20T02:43:44.245Z,1755657824.245 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4
2025-08-20T02:43:44.252Z,1755657824.252 [DAT](INFO): DAT read: 02:43:42.1992 LVL= 26656, 15985, 32754, 32611, AGC= 50, IDX= 498,-0.17,-2.111,-1.070,-1.409,-0.658, PHS=-1.351,-0.367,-0.795, RAW= 295.7, 46.1, CAL= 298.1, 50.7, ROT= 211.9, -50.7
2025-08-20T02:43:44.253Z,1755657824.253 [DAT](INFO): got valid direction response:
02:43:42.1992 LVL= 26656, 15985, 32754, 32611, AGC= 50, IDX= 498,-0.17,-2.111,-1.070,-1.409,-0.658, PHS=-1.351,-0.367,-0.795, RAW= 295.7, 46.1, CAL= 298.1, 50.7, ROT= 211.9, -50.7
2025-08-20T02:43:44.254Z,1755657824.254 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-20T02:43:44.255Z,1755657824.255 [DAT](INFO): direction in FSK: [-0.537722,-0.334703,0.773840]
2025-08-20T02:43:44.255Z,1755657824.255 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:44.267Z,1755657824.267 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.737797
2025-08-20T02:43:44.356Z,1755657824.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.502870 s,
deltaX: -0.500000 m,
approachRate: -0.994293 m/s,
rangeRepo size: 4
2025-08-20T02:43:44.363Z,1755657824.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.400000 m,
bearing: 10.588025 deg,
lat: 36.779355 deg,
lon: -121.859512 deg,
deltaT: 8.582644 s,
deltaX: -4.500000 m,
approachRate: -0.524314 m/s,
posRepo size: 4
2025-08-20T02:43:44.364Z,1755657824.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.40 m. 9.90 m.
2025-08-20T02:43:44.371Z,1755657824.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 4.800609 m,
bearing: 8.185542 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 11.084286 deg,
new cmd heading: 12.029594 deg.
2025-08-20T02:43:44.371Z,1755657824.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.209956 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:44.497Z,1755657824.497 [DAT](INFO): DAT read: Rx Time:02:43:42.6989
2025-08-20T02:43:44.498Z,1755657824.498 [DAT](INFO): Rx dataTimestamp_ set to:1755657824.497066
2025-08-20T02:43:44.499Z,1755657824.499 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4
2025-08-20T02:43:44.499Z,1755657824.499 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-08-20T02:43:44.500Z,1755657824.500 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.971331
2025-08-20T02:43:44.651Z,1755657824.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.000000 m,
deltaT: 0.255127 s,
deltaX: -0.400000 m,
approachRate: -1.567847 m/s,
rangeRepo size: 4
2025-08-20T02:43:44.652Z,1755657824.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:44.655Z,1755657824.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 4.614237 m,
bearing: 8.529385 deg,
approach rate: -0.632891 m/s,
LOS rate: 1.214793 deg/s,
cmd heading: 12.029594 deg,
new cmd heading: 13.102654 deg.
2025-08-20T02:43:44.656Z,1755657824.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228684 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:44.747Z,1755657824.747 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.218306
2025-08-20T02:43:45.002Z,1755657825.002 [DAT](INFO): DAT read: Rx Time:02:43:43.1989
2025-08-20T02:43:45.003Z,1755657825.003 [DAT](INFO): Rx dataTimestamp_ set to:1755657825.002159
2025-08-20T02:43:45.006Z,1755657825.006 [DAT](INFO): DAT read: Bearing 271.1, -34.6 (Local)
2025-08-20T02:43:45.007Z,1755657825.007 [DAT](INFO): Local bearing/azimuth received:
Bearing 271.1, -34.6 (Local)
2025-08-20T02:43:45.054Z,1755657825.054 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4
2025-08-20T02:43:45.059Z,1755657825.059 [DAT](INFO): DAT read: 02:43:43.1989 LVL= 27712, 32753, 27410, 32755, AGC= 48, IDX= 510, 0.35, 1.820, 3.046,-2.756,-2.540, PHS=-1.822,-0.653,-0.261, RAW= 256.0, 34.5, CAL= 258.5, 43.3, ROT= 251.5, -43.3
2025-08-20T02:43:45.060Z,1755657825.060 [DAT](INFO): got valid direction response:
02:43:43.1989 LVL= 27712, 32753, 27410, 32755, AGC= 48, IDX= 510, 0.35, 1.820, 3.046,-2.756,-2.540, PHS=-1.822,-0.653,-0.261, RAW= 256.0, 34.5, CAL= 258.5, 43.3, ROT= 251.5, -43.3
2025-08-20T02:43:45.060Z,1755657825.060 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-20T02:43:45.087Z,1755657825.087 [DAT](INFO): direction in FSK: [-0.230926,-0.690164,0.685818]
2025-08-20T02:43:45.087Z,1755657825.087 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:45.091Z,1755657825.091 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.561905
2025-08-20T02:43:45.204Z,1755657825.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.000000 m,
deltaT: 0.505093 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-20T02:43:45.210Z,1755657825.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.000000 m,
bearing: 335.378973 deg,
lat: 36.779340 deg,
lon: -121.859533 deg,
deltaT: 9.342864 s,
deltaX: -4.900000 m,
approachRate: -0.524464 m/s,
posRepo size: 4
2025-08-20T02:43:45.211Z,1755657825.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.00 m. 9.90 m.
2025-08-20T02:43:45.219Z,1755657825.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 4.303045 m,
bearing: 9.137364 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 13.102654 deg,
new cmd heading: 14.038795 deg.
2025-08-20T02:43:45.221Z,1755657825.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.245023 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:45.251Z,1755657825.251 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.721584
2025-08-20T02:43:45.472Z,1755657825.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:45.474Z,1755657825.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 4.132582 m,
bearing: 9.509714 deg,
approach rate: -0.635567 m/s,
LOS rate: 1.445546 deg/s,
cmd heading: 14.038795 deg,
new cmd heading: 15.201752 deg.
2025-08-20T02:43:45.475Z,1755657825.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265321 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:45.503Z,1755657825.503 [DAT](INFO): DAT read: Rx Time:02:43:43.6987
2025-08-20T02:43:45.503Z,1755657825.503 [DAT](INFO): Rx dataTimestamp_ set to:1755657825.502747
2025-08-20T02:43:45.504Z,1755657825.504 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4
2025-08-20T02:43:45.505Z,1755657825.505 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-08-20T02:43:45.506Z,1755657825.506 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.976883
2025-08-20T02:43:45.754Z,1755657825.754 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.225494
2025-08-20T02:43:45.917Z,1755657825.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:45.924Z,1755657825.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.700000 m,
deltaT: 0.500588 s,
deltaX: -0.300000 m,
approachRate: -0.599296 m/s,
rangeRepo size: 4
2025-08-20T02:43:45.925Z,1755657825.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:45.932Z,1755657825.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 3.891463 m,
bearing: 9.952481 deg,
approach rate: -0.533858 m/s,
LOS rate: 1.041055 deg/s,
cmd heading: 15.201752 deg,
new cmd heading: 16.612057 deg.
2025-08-20T02:43:45.933Z,1755657825.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289935 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:46.007Z,1755657826.007 [DAT](INFO): DAT read: Rx Time:02:43:44.1985
2025-08-20T02:43:46.007Z,1755657826.007 [DAT](INFO): Rx dataTimestamp_ set to:1755657826.007082
2025-08-20T02:43:46.009Z,1755657826.009 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.2
2025-08-20T02:43:46.009Z,1755657826.009 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-08-20T02:43:46.010Z,1755657826.010 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.481350
2025-08-20T02:43:46.259Z,1755657826.259 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.729513
2025-08-20T02:43:46.291Z,1755657826.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.400000 m,
deltaT: 0.504335 s,
deltaX: -0.300000 m,
approachRate: -0.594842 m/s,
rangeRepo size: 4
2025-08-20T02:43:46.292Z,1755657826.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:46.311Z,1755657826.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 3.636489 m,
bearing: 10.420454 deg,
approach rate: -0.695750 m/s,
LOS rate: 1.366486 deg/s,
cmd heading: 16.612057 deg,
new cmd heading: 18.114053 deg.
2025-08-20T02:43:46.312Z,1755657826.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316150 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:46.511Z,1755657826.511 [DAT](INFO): DAT read: Rx Time:02:43:44.6983
2025-08-20T02:43:46.511Z,1755657826.511 [DAT](INFO): Rx dataTimestamp_ set to:1755657826.510883
2025-08-20T02:43:46.512Z,1755657826.512 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4
2025-08-20T02:43:46.513Z,1755657826.513 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-08-20T02:43:46.518Z,1755657826.518 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.988876
2025-08-20T02:43:46.667Z,1755657826.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.100000 m,
deltaT: 0.503801 s,
deltaX: -0.300000 m,
approachRate: -0.595474 m/s,
rangeRepo size: 4
2025-08-20T02:43:46.668Z,1755657826.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:46.671Z,1755657826.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 3.400770 m,
bearing: 10.868003 deg,
approach rate: -0.625134 m/s,
LOS rate: 1.269171 deg/s,
cmd heading: 18.114053 deg,
new cmd heading: 19.549447 deg.
2025-08-20T02:43:46.672Z,1755657826.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341202 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:46.763Z,1755657826.763 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.233721
2025-08-20T02:43:47.021Z,1755657827.021 [DAT](INFO): DAT read: Rx Time:02:43:45.1982
2025-08-20T02:43:47.023Z,1755657827.023 [DAT](INFO): Rx dataTimestamp_ set to:1755657827.021819
2025-08-20T02:43:47.027Z,1755657827.027 [DAT](INFO): DAT read: Bearing 300.1, 27.9 (Local)
2025-08-20T02:43:47.029Z,1755657827.029 [DAT](INFO): Local bearing/azimuth received:
Bearing 300.1, 27.9 (Local)
2025-08-20T02:43:47.043Z,1755657827.043 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4
2025-08-20T02:43:47.048Z,1755657827.048 [DAT](INFO): DAT read: 02:43:45.1982 LVL= 11424, 9441, 14274, 19251, AGC= 43, IDX= 505,-0.19,-1.383,-0.550,-1.995,-0.250, PHS=-1.031,-0.255,-1.789, RAW= 359.6, 39.3, CAL= 358.1, 44.3, ROT= 151.9, -44.3
2025-08-20T02:43:47.049Z,1755657827.049 [DAT](INFO): got valid direction response:
02:43:45.1982 LVL= 11424, 9441, 14274, 19251, AGC= 43, IDX= 505,-0.19,-1.383,-0.550,-1.995,-0.250, PHS=-1.031,-0.255,-1.789, RAW= 359.6, 39.3, CAL= 358.1, 44.3, ROT= 151.9, -44.3
2025-08-20T02:43:47.049Z,1755657827.049 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-20T02:43:47.078Z,1755657827.078 [DAT](INFO): direction in FSK: [-0.631332,0.337100,0.698415]
2025-08-20T02:43:47.079Z,1755657827.079 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:47.090Z,1755657827.090 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.561380
2025-08-20T02:43:47.206Z,1755657827.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.900000 m,
deltaT: 0.510936 s,
deltaX: -0.200000 m,
approachRate: -0.391438 m/s,
rangeRepo size: 4
2025-08-20T02:43:47.208Z,1755657827.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.900000 m,
bearing: 208.252465 deg,
lat: 36.779312 deg,
lon: -121.859533 deg,
deltaT: 11.362524 s,
deltaX: -6.000000 m,
approachRate: -0.528052 m/s,
posRepo size: 4
2025-08-20T02:43:47.209Z,1755657827.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.90 m. 9.90 m.
2025-08-20T02:43:47.230Z,1755657827.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 3.095778 m,
bearing: 11.462165 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 19.549448 deg,
new cmd heading: 20.453209 deg.
2025-08-20T02:43:47.232Z,1755657827.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.356976 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:47.268Z,1755657827.268 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.738745
2025-08-20T02:43:47.506Z,1755657827.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:47.508Z,1755657827.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 2.917840 m,
bearing: 11.819660 deg,
approach rate: -0.591896 m/s,
LOS rate: 1.261690 deg/s,
cmd heading: 20.453208 deg,
new cmd heading: 21.590938 deg.
2025-08-20T02:43:47.514Z,1755657827.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.376833 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:47.519Z,1755657827.519 [DAT](INFO): DAT read: Rx Time:02:43:45.6980
2025-08-20T02:43:47.519Z,1755657827.519 [DAT](INFO): Rx dataTimestamp_ set to:1755657827.518871
2025-08-20T02:43:47.520Z,1755657827.520 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.2
2025-08-20T02:43:47.521Z,1755657827.521 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-08-20T02:43:47.522Z,1755657827.522 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.993000
2025-08-20T02:43:47.674Z,1755657827.674 [DockingStepper](INFO): Changing to mode: 2
2025-08-20T02:43:47.771Z,1755657827.771 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.241545
2025-08-20T02:43:48.026Z,1755657828.026 [DAT](INFO): DAT read: Rx Time:02:43:46.1979
2025-08-20T02:43:48.028Z,1755657828.028 [DAT](INFO): Rx dataTimestamp_ set to:1755657828.027012
2025-08-20T02:43:48.032Z,1755657828.032 [DAT](INFO): DAT read: Bearing 317.9, 27.3 (Local)
2025-08-20T02:43:48.033Z,1755657828.033 [DAT](INFO): Local bearing/azimuth received:
Bearing 317.9, 27.3 (Local)
2025-08-20T02:43:48.035Z,1755657828.035 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:43:48.042Z,1755657828.042 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4
2025-08-20T02:43:48.047Z,1755657828.047 [DAT](INFO): DAT read: 02:43:46.1979 LVL= 31888, 20193, 22914, 25699, AGC= 49, IDX= 501, 0.43,-1.299, 0.093,-2.111,-0.152, PHS=-1.045, 0.290,-2.002, RAW= 354.6, 26.0, CAL= 353.9, 30.9, ROT= 156.1, -30.9
2025-08-20T02:43:48.048Z,1755657828.048 [DAT](INFO): got valid direction response:
02:43:46.1979 LVL= 31888, 20193, 22914, 25699, AGC= 49, IDX= 501, 0.43,-1.299, 0.093,-2.111,-0.152, PHS=-1.045, 0.290,-2.002, RAW= 354.6, 26.0, CAL= 353.9, 30.9, ROT= 156.1, -30.9
2025-08-20T02:43:48.048Z,1755657828.048 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-20T02:43:48.050Z,1755657828.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:48.053Z,1755657828.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.600000 m,
deltaT: 0.497052 s,
deltaX: -0.300000 m,
approachRate: -0.603559 m/s,
rangeRepo size: 4
2025-08-20T02:43:48.049Z,1755657828.049 [DAT](INFO): direction in FSK: [-0.784489,0.347638,0.513541]
2025-08-20T02:43:48.054Z,1755657828.054 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:48.057Z,1755657828.057 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.528065
2025-08-20T02:43:48.062Z,1755657828.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:48.065Z,1755657828.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 2.609056 m,
bearing: 12.520554 deg,
approach rate: -0.560791 m/s,
LOS rate: 1.423524 deg/s,
cmd heading: 21.590938 deg,
new cmd heading: 23.941099 deg.
2025-08-20T02:43:48.070Z,1755657828.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417851 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:48.275Z,1755657828.275 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.745672
2025-08-20T02:43:48.363Z,1755657828.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.508141 s,
deltaX: -0.100000 m,
approachRate: -0.196796 m/s,
rangeRepo size: 4
2025-08-20T02:43:48.370Z,1755657828.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.500000 m,
bearing: 203.054872 deg,
lat: 36.779312 deg,
lon: -121.859533 deg,
deltaT: 12.367717 s,
deltaX: -6.400000 m,
approachRate: -0.517476 m/s,
posRepo size: 4
2025-08-20T02:43:48.371Z,1755657828.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.50 m. 9.90 m.
2025-08-20T02:43:48.373Z,1755657828.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 2.396388 m,
bearing: 13.031981 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 23.941099 deg,
new cmd heading: 24.466750 deg.
2025-08-20T02:43:48.378Z,1755657828.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427025 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:48.532Z,1755657828.532 [DAT](INFO): DAT read: Rx Time:02:43:46.6978
2025-08-20T02:43:48.544Z,1755657828.544 [DAT](INFO): Rx dataTimestamp_ set to:1755657828.532222
2025-08-20T02:43:48.546Z,1755657828.546 [DAT](INFO): DAT read: Bearing 321.5, 30.7 (Local)
2025-08-20T02:43:48.546Z,1755657828.546 [DAT](INFO): Local bearing/azimuth received:
Bearing 321.5, 30.7 (Local)
2025-08-20T02:43:48.548Z,1755657828.548 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.3
2025-08-20T02:43:48.553Z,1755657828.553 [DAT](INFO): DAT read: 02:43:46.6978 LVL= 32752, 14833, 21714, 31587, AGC= 52, IDX= 500,-0.31, 0.189, 1.469,-0.743, 1.169, PHS=-0.878, 0.346,-1.955, RAW= 357.9, 23.8, CAL= 357.5, 28.6, ROT= 152.5, -28.6
2025-08-20T02:43:48.554Z,1755657828.554 [DAT](INFO): got valid direction response:
02:43:46.6978 LVL= 32752, 14833, 21714, 31587, AGC= 52, IDX= 500,-0.31, 0.189, 1.469,-0.743, 1.169, PHS=-0.878, 0.346,-1.955, RAW= 357.9, 23.8, CAL= 357.5, 28.6, ROT= 152.5, -28.6
2025-08-20T02:43:48.554Z,1755657828.554 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-20T02:43:48.555Z,1755657828.555 [DAT](INFO): direction in FSK: [-0.778780,0.405407,0.478692]
2025-08-20T02:43:48.555Z,1755657828.555 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:48.569Z,1755657828.569 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.040169
2025-08-20T02:43:48.779Z,1755657828.779 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.249613
2025-08-20T02:43:48.806Z,1755657828.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 0.505210 s,
deltaX: -0.200000 m,
approachRate: -0.395875 m/s,
rangeRepo size: 4
2025-08-20T02:43:48.808Z,1755657828.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.300000 m,
bearing: 172.054379 deg,
lat: 36.779312 deg,
lon: -121.859515 deg,
deltaT: 12.872927 s,
deltaX: -6.599999 m,
approachRate: -0.512704 m/s,
posRepo size: 4
2025-08-20T02:43:48.809Z,1755657828.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.30 m. 9.90 m.
2025-08-20T02:43:48.816Z,1755657828.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 2.131111 m,
bearing: 13.700858 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 24.466750 deg,
new cmd heading: 25.208349 deg.
2025-08-20T02:43:48.817Z,1755657828.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439969 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:49.035Z,1755657829.035 [DAT](INFO): DAT read: Rx Time:02:43:47.1979
2025-08-20T02:43:49.036Z,1755657829.036 [DAT](INFO): Rx dataTimestamp_ set to:1755657829.035561
2025-08-20T02:43:49.039Z,1755657829.039 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:43:49.043Z,1755657829.043 [DAT](INFO): DAT read: Bearing 319.9, 14.3 (Local)
2025-08-20T02:43:49.043Z,1755657829.043 [DAT](INFO): Local bearing/azimuth received:
Bearing 319.9, 14.3 (Local)
2025-08-20T02:43:49.045Z,1755657829.045 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.2
2025-08-20T02:43:49.051Z,1755657829.051 [DAT](INFO): DAT read: 02:43:47.1979 LVL= 30368, 23153, 23938, 32755, AGC= 51, IDX= 505, 0.38,-2.854,-1.654,-2.945,-1.843, PHS=-0.909, 0.233,-1.146, RAW= 339.2, 26.8, CAL= 338.7, 31.7, ROT= 171.3, -31.7
2025-08-20T02:43:49.052Z,1755657829.052 [DAT](INFO): got valid direction response:
02:43:47.1979 LVL= 30368, 23153, 23938, 32755, AGC= 51, IDX= 505, 0.38,-2.854,-1.654,-2.945,-1.843, PHS=-0.909, 0.233,-1.146, RAW= 339.2, 26.8, CAL= 338.7, 31.7, ROT= 171.3, -31.7
2025-08-20T02:43:49.052Z,1755657829.052 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-20T02:43:49.053Z,1755657829.053 [DAT](INFO): direction in FSK: [-0.841022,0.128694,0.525472]
2025-08-20T02:43:49.058Z,1755657829.058 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:49.061Z,1755657829.061 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.531897
2025-08-20T02:43:49.260Z,1755657829.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.503339 s,
deltaX: 0.200000 m,
approachRate: 0.397347 m/s,
rangeRepo size: 4
2025-08-20T02:43:49.267Z,1755657829.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.500000 m,
bearing: 173.302427 deg,
lat: 36.779312 deg,
lon: -121.859515 deg,
deltaT: 13.376266 s,
deltaX: -6.400000 m,
approachRate: -0.478459 m/s,
posRepo size: 4
2025-08-20T02:43:49.268Z,1755657829.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.50 m. 9.90 m.
2025-08-20T02:43:49.274Z,1755657829.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 1.855854 m,
bearing: 14.597271 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 25.208350 deg,
new cmd heading: 25.984904 deg.
2025-08-20T02:43:49.275Z,1755657829.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453522 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:49.283Z,1755657829.283 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.753597
2025-08-20T02:43:49.545Z,1755657829.545 [DAT](INFO): DAT read: Rx Time:02:43:47.6978
2025-08-20T02:43:49.545Z,1755657829.545 [DAT](INFO): Rx dataTimestamp_ set to:1755657829.544879
2025-08-20T02:43:49.547Z,1755657829.547 [DAT](INFO): DAT read: Bearing 325.0, 28.2 (Local)
2025-08-20T02:43:49.547Z,1755657829.547 [DAT](INFO): Local bearing/azimuth received:
Bearing 325.0, 28.2 (Local)
2025-08-20T02:43:49.549Z,1755657829.549 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:43:49.554Z,1755657829.554 [DAT](INFO): DAT read: 02:43:47.6978 LVL= 21488, 19329, 13954, 27315, AGC= 49, IDX= 500,-0.02, 2.936,-2.033, 2.113,-2.401, PHS=-0.844, 0.413,-1.813, RAW= 355.7, 22.3, CAL= 355.5, 27.0, ROT= 154.5, -27.0
2025-08-20T02:43:49.555Z,1755657829.555 [DAT](INFO): got valid direction response:
02:43:47.6978 LVL= 21488, 19329, 13954, 27315, AGC= 49, IDX= 500,-0.02, 2.936,-2.033, 2.113,-2.401, PHS=-0.844, 0.413,-1.813, RAW= 355.7, 22.3, CAL= 355.5, 27.0, ROT= 154.5, -27.0
2025-08-20T02:43:49.555Z,1755657829.555 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-20T02:43:49.556Z,1755657829.556 [DAT](INFO): direction in FSK: [-0.804209,0.383588,0.453991]
2025-08-20T02:43:49.556Z,1755657829.556 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:49.572Z,1755657829.572 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.043074
2025-08-20T02:43:49.616Z,1755657829.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 0.509318 s,
deltaX: -0.200000 m,
approachRate: -0.392682 m/s,
rangeRepo size: 4
2025-08-20T02:43:49.630Z,1755657829.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.300000 m,
bearing: 172.551012 deg,
lat: 36.779316 deg,
lon: -121.859514 deg,
deltaT: 13.885584 s,
deltaX: -6.599999 m,
approachRate: -0.475313 m/s,
posRepo size: 4
2025-08-20T02:43:49.631Z,1755657829.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.30 m.
2025-08-20T02:43:49.631Z,1755657829.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.30 m. 9.90 m.
2025-08-20T02:43:49.642Z,1755657829.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 1.635064 m,
bearing: 15.381461 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 25.984903 deg,
new cmd heading: 26.586254 deg.
2025-08-20T02:43:49.643Z,1755657829.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464018 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:49.787Z,1755657829.787 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.257694
2025-08-20T02:43:50.038Z,1755657830.038 [DAT](INFO): DAT read: Rx Time:02:43:48.1980
2025-08-20T02:43:50.039Z,1755657830.039 [DAT](INFO): Rx dataTimestamp_ set to:1755657830.038643
2025-08-20T02:43:50.040Z,1755657830.040 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.0
2025-08-20T02:43:50.041Z,1755657830.041 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-08-20T02:43:50.043Z,1755657830.043 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.513603
2025-08-20T02:43:50.051Z,1755657830.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:50.058Z,1755657830.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.600000 m,
deltaT: 0.493764 s,
deltaX: 0.300000 m,
approachRate: 0.607578 m/s,
rangeRepo size: 4
2025-08-20T02:43:50.059Z,1755657830.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-08-20T02:43:50.060Z,1755657830.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:50.066Z,1755657830.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 1.405086 m,
bearing: 17.056459 deg,
approach rate: -0.524499 m/s,
LOS rate: 4.444699 deg/s,
cmd heading: 26.586254 deg,
new cmd heading: 32.412715 deg.
2025-08-20T02:43:50.067Z,1755657830.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565709 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:50.292Z,1755657830.292 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.763309
2025-08-20T02:43:50.416Z,1755657830.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-08-20T02:43:50.417Z,1755657830.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:50.420Z,1755657830.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 1.214113 m,
bearing: 19.092385 deg,
approach rate: -0.526338 m/s,
LOS rate: 6.492417 deg/s,
cmd heading: 32.412714 deg,
new cmd heading: 39.444209 deg.
2025-08-20T02:43:50.421Z,1755657830.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.688431 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:50.546Z,1755657830.546 [DAT](INFO): DAT read: Rx Time:02:43:48.6979
2025-08-20T02:43:50.546Z,1755657830.546 [DAT](INFO): Rx dataTimestamp_ set to:1755657830.545976
2025-08-20T02:43:50.548Z,1755657830.548 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.0
2025-08-20T02:43:50.549Z,1755657830.549 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-08-20T02:43:50.551Z,1755657830.551 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.021774
2025-08-20T02:43:50.794Z,1755657830.794 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.265499
2025-08-20T02:43:50.810Z,1755657830.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.500000 m,
deltaT: 0.507333 s,
deltaX: -0.100000 m,
approachRate: -0.197109 m/s,
rangeRepo size: 4
2025-08-20T02:43:50.811Z,1755657830.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:50.813Z,1755657830.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 1.005002 m,
bearing: 22.384101 deg,
approach rate: -0.532848 m/s,
LOS rate: 10.127500 deg/s,
cmd heading: 39.444209 deg,
new cmd heading: 51.199740 deg.
2025-08-20T02:43:50.814Z,1755657830.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893604 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:51.047Z,1755657831.047 [DAT](INFO): DAT read: Rx Time:02:43:49.1978
2025-08-20T02:43:51.047Z,1755657831.047 [DAT](INFO): Rx dataTimestamp_ set to:1755657831.046810
2025-08-20T02:43:51.048Z,1755657831.048 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:43:51.049Z,1755657831.049 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-20T02:43:51.050Z,1755657831.050 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.520954
2025-08-20T02:43:51.252Z,1755657831.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 0.500834 s,
deltaX: -0.200000 m,
approachRate: -0.399334 m/s,
rangeRepo size: 4
2025-08-20T02:43:51.252Z,1755657831.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.30 m.
2025-08-20T02:43:51.253Z,1755657831.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:51.255Z,1755657831.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.661112 deg/s. Setting heading cmd to target acoustic bearing of 0.301703 deg.
2025-08-20T02:43:51.255Z,1755657831.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005266 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:51.300Z,1755657831.300 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.770519
2025-08-20T02:43:51.551Z,1755657831.551 [DAT](INFO): DAT read: Rx Time:02:43:49.6977
2025-08-20T02:43:51.551Z,1755657831.551 [DAT](INFO): Rx dataTimestamp_ set to:1755657831.550733
2025-08-20T02:43:51.552Z,1755657831.552 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:43:51.553Z,1755657831.553 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-08-20T02:43:51.558Z,1755657831.558 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.028610
2025-08-20T02:43:51.668Z,1755657831.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.503923 s,
deltaX: -0.100000 m,
approachRate: -0.198443 m/s,
rangeRepo size: 4
2025-08-20T02:43:51.668Z,1755657831.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.20 m.
2025-08-20T02:43:51.669Z,1755657831.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:51.674Z,1755657831.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.896067 deg/s. Setting heading cmd to target acoustic bearing of 0.301703 deg.
2025-08-20T02:43:51.675Z,1755657831.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005266 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:51.802Z,1755657831.802 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.273460
2025-08-20T02:43:52.055Z,1755657832.055 [DAT](INFO): DAT read: Rx Time:02:43:50.1977
2025-08-20T02:43:52.056Z,1755657832.056 [DAT](INFO): Rx dataTimestamp_ set to:1755657832.055304
2025-08-20T02:43:52.057Z,1755657832.057 [DAT](INFO): DAT read: Bearing 278.1, 45.4 (Local)
2025-08-20T02:43:52.057Z,1755657832.057 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.1, 45.4 (Local)
2025-08-20T02:43:52.059Z,1755657832.059 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:43:52.064Z,1755657832.064 [DAT](INFO): DAT read: 02:43:50.1977 LVL= 18208, 13809, 22978, 23251, AGC= 46, IDX= 499, 0.31, 1.752, 1.545, 0.492, 2.375, PHS=-0.522,-0.785,-1.928, RAW= 40.1, 41.5, CAL= 37.9, 47.1, ROT= 112.1, -47.1
2025-08-20T02:43:52.065Z,1755657832.065 [DAT](INFO): got valid direction response:
02:43:50.1977 LVL= 18208, 13809, 22978, 23251, AGC= 46, IDX= 499, 0.31, 1.752, 1.545, 0.492, 2.375, PHS=-0.522,-0.785,-1.928, RAW= 40.1, 41.5, CAL= 37.9, 47.1, ROT= 112.1, -47.1
2025-08-20T02:43:52.065Z,1755657832.065 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-20T02:43:52.066Z,1755657832.066 [DAT](INFO): direction in FSK: [-0.256104,0.630707,0.732543]
2025-08-20T02:43:52.067Z,1755657832.067 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:52.071Z,1755657832.071 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.542091
2025-08-20T02:43:52.148Z,1755657832.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.504571 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-20T02:43:52.166Z,1755657832.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 171.936421 deg,
lat: 36.779316 deg,
lon: -121.859513 deg,
deltaT: 16.396009 s,
deltaX: -6.700000 m,
approachRate: -0.408636 m/s,
posRepo size: 4
2025-08-20T02:43:52.167Z,1755657832.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.20 m.
2025-08-20T02:43:52.168Z,1755657832.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.20 m. 9.90 m.
2025-08-20T02:43:52.176Z,1755657832.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.900000 m,
nav range: 0.744852 m,
bearing: 43.297392 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.564118 deg/s,
cmd heading: 0.301703 deg,
new cmd heading: 1.102423 deg.
2025-08-20T02:43:52.187Z,1755657832.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019241 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:52.307Z,1755657832.307 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.777969
2025-08-20T02:43:52.452Z,1755657832.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:52.459Z,1755657832.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.20 m.
2025-08-20T02:43:52.459Z,1755657832.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.90 m. 9.90 m.
2025-08-20T02:43:52.461Z,1755657832.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.281598 deg/s. Setting heading cmd to target acoustic bearing of 0.301703 deg.
2025-08-20T02:43:52.465Z,1755657832.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005266 target range: 9.900000 and range: 9.90 m.
2025-08-20T02:43:52.561Z,1755657832.560 [DAT](INFO): DAT read: Rx Time:02:43:50.6976
2025-08-20T02:43:52.561Z,1755657832.561 [DAT](INFO): Rx dataTimestamp_ set to:1755657832.560690
2025-08-20T02:43:52.563Z,1755657832.563 [DAT](INFO): DAT read: Bearing 290.0, 40.6 (Local)
2025-08-20T02:43:52.564Z,1755657832.564 [DAT](INFO): Local bearing/azimuth received:
Bearing 290.0, 40.6 (Local)
2025-08-20T02:43:52.567Z,1755657832.567 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:43:52.573Z,1755657832.573 [DAT](INFO): DAT read: 02:43:50.6976 LVL= 24720, 15121, 26722, 31699, AGC= 48, IDX= 498, 0.22, 1.991, 2.178, 0.779, 2.796, PHS=-0.703,-0.573,-2.061, RAW= 25.5, 39.6, CAL= 23.7, 45.2, ROT= 126.3, -45.2
2025-08-20T02:43:52.583Z,1755657832.583 [DAT](INFO): got valid direction response:
02:43:50.6976 LVL= 24720, 15121, 26722, 31699, AGC= 48, IDX= 498, 0.22, 1.991, 2.178, 0.779, 2.796, PHS=-0.703,-0.573,-2.061, RAW= 25.5, 39.6, CAL= 23.7, 45.2, ROT= 126.3, -45.2
2025-08-20T02:43:52.583Z,1755657832.583 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-20T02:43:52.584Z,1755657832.584 [DAT](INFO): direction in FSK: [-0.417153,0.567885,0.709571]
2025-08-20T02:43:52.584Z,1755657832.584 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:52.606Z,1755657832.606 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.077099
2025-08-20T02:43:52.810Z,1755657832.810 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.281467
2025-08-20T02:43:52.838Z,1755657832.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.505386 s,
deltaX: -0.200000 m,
approachRate: -0.395737 m/s,
rangeRepo size: 4
2025-08-20T02:43:52.841Z,1755657832.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.000000 m,
bearing: 170.366366 deg,
lat: 36.779319 deg,
lon: -121.859513 deg,
deltaT: 16.901395 s,
deltaX: -6.900000 m,
approachRate: -0.408250 m/s,
posRepo size: 4
2025-08-20T02:43:52.841Z,1755657832.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m.
2025-08-20T02:43:52.842Z,1755657832.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m.
2025-08-20T02:43:52.842Z,1755657832.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-20T02:43:53.067Z,1755657833.067 [DAT](INFO): DAT read: Rx Time:02:43:51.1978
2025-08-20T02:43:53.068Z,1755657833.068 [DAT](INFO): Rx dataTimestamp_ set to:1755657833.067801
2025-08-20T02:43:53.071Z,1755657833.071 [DAT](INFO): DAT read: Bearing 288.3, 41.2 (Local)
2025-08-20T02:43:53.071Z,1755657833.071 [DAT](INFO): Local bearing/azimuth received:
Bearing 288.3, 41.2 (Local)
2025-08-20T02:43:53.076Z,1755657833.076 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:43:53.082Z,1755657833.082 [DAT](INFO): DAT read: 02:43:51.1978 LVL= 22768, 15937, 31890, 28067, AGC= 46, IDX= 500,-0.47,-0.062, 0.047,-1.324, 0.745, PHS=-0.705,-0.653,-2.113, RAW= 28.2, 40.6, CAL= 26.3, 46.0, ROT= 123.7, -46.0
2025-08-20T02:43:53.083Z,1755657833.083 [DAT](INFO): got valid direction response:
02:43:51.1978 LVL= 22768, 15937, 31890, 28067, AGC= 46, IDX= 500,-0.47,-0.062, 0.047,-1.324, 0.745, PHS=-0.705,-0.653,-2.113, RAW= 28.2, 40.6, CAL= 26.3, 46.0, ROT= 123.7, -46.0
2025-08-20T02:43:53.083Z,1755657833.083 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-20T02:43:53.084Z,1755657833.084 [DAT](INFO): direction in FSK: [-0.385427,0.577924,0.719340]
2025-08-20T02:43:53.084Z,1755657833.084 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:53.088Z,1755657833.088 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.559376
2025-08-20T02:43:53.289Z,1755657833.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 0.507111 s,
deltaX: 0.300000 m,
approachRate: 0.591586 m/s,
rangeRepo size: 4
2025-08-20T02:43:53.291Z,1755657833.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.300000 m,
bearing: 139.134990 deg,
lat: 36.779342 deg,
lon: -121.859506 deg,
deltaT: 0.507111 s,
deltaX: 0.300000 m,
approachRate: 0.591586 m/s,
posRepo size: 4
2025-08-20T02:43:53.315Z,1755657833.315 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.785500
2025-08-20T02:43:53.567Z,1755657833.567 [DAT](INFO): DAT read: Rx Time:02:43:51.6977
2025-08-20T02:43:53.568Z,1755657833.568 [DAT](INFO): Rx dataTimestamp_ set to:1755657833.567241
2025-08-20T02:43:53.569Z,1755657833.569 [DAT](INFO): DAT read: Bearing 289.0, 39.6 (Local)
2025-08-20T02:43:53.569Z,1755657833.569 [DAT](INFO): Local bearing/azimuth received:
Bearing 289.0, 39.6 (Local)
2025-08-20T02:43:53.571Z,1755657833.571 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:43:53.576Z,1755657833.576 [DAT](INFO): DAT read: 02:43:51.6977 LVL= 24560, 16801, 31954, 28819, AGC= 47, IDX= 499,-0.33,-1.332,-1.208,-2.560,-0.443, PHS=-0.787,-0.720,-2.161, RAW= 27.6, 42.6, CAL= 25.9, 47.9, ROT= 124.1, -47.9
2025-08-20T02:43:53.577Z,1755657833.577 [DAT](INFO): got valid direction response:
02:43:51.6977 LVL= 24560, 16801, 31954, 28819, AGC= 47, IDX= 499,-0.33,-1.332,-1.208,-2.560,-0.443, PHS=-0.787,-0.720,-2.161, RAW= 27.6, 42.6, CAL= 25.9, 47.9, ROT= 124.1, -47.9
2025-08-20T02:43:53.586Z,1755657833.586 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-20T02:43:53.587Z,1755657833.587 [DAT](INFO): direction in FSK: [-0.375867,0.555154,0.741976]
2025-08-20T02:43:53.587Z,1755657833.587 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:53.593Z,1755657833.593 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.064003
2025-08-20T02:43:53.727Z,1755657833.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.499440 s,
deltaX: -0.100000 m,
approachRate: -0.200224 m/s,
rangeRepo size: 4
2025-08-20T02:43:53.729Z,1755657833.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 139.743329 deg,
lat: 36.779343 deg,
lon: -121.859506 deg,
deltaT: 0.499440 s,
deltaX: -0.100000 m,
approachRate: -0.200224 m/s,
posRepo size: 4
2025-08-20T02:43:53.734Z,1755657833.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.20 m.
2025-08-20T02:43:53.819Z,1755657833.819 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.290009
2025-08-20T02:43:54.071Z,1755657834.071 [DAT](INFO): DAT read: Rx Time:02:43:52.1978
2025-08-20T02:43:54.072Z,1755657834.072 [DAT](INFO): Rx dataTimestamp_ set to:1755657834.071284
2025-08-20T02:43:54.073Z,1755657834.073 [DAT](INFO): DAT read: Bearing 290.7, 39.8 (Local)
2025-08-20T02:43:54.073Z,1755657834.073 [DAT](INFO): Local bearing/azimuth received:
Bearing 290.7, 39.8 (Local)
2025-08-20T02:43:54.075Z,1755657834.075 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:43:54.081Z,1755657834.081 [DAT](INFO): DAT read: 02:43:52.1978 LVL= 24000, 17521, 29522, 32755, AGC= 48, IDX= 500,-0.24, 0.153, 0.250,-1.072, 1.038, PHS=-0.784,-0.743,-2.154, RAW= 28.6, 43.1, CAL= 26.8, 48.3, ROT= 123.2, -48.3
2025-08-20T02:43:54.082Z,1755657834.082 [DAT](INFO): got valid direction response:
02:43:52.1978 LVL= 24000, 17521, 29522, 32755, AGC= 48, IDX= 500,-0.24, 0.153, 0.250,-1.072, 1.038, PHS=-0.784,-0.743,-2.154, RAW= 28.6, 43.1, CAL= 26.8, 48.3, ROT= 123.2, -48.3
2025-08-20T02:43:54.082Z,1755657834.082 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-20T02:43:54.083Z,1755657834.083 [DAT](INFO): direction in FSK: [-0.364256,0.556641,0.746638]
2025-08-20T02:43:54.083Z,1755657834.083 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:54.091Z,1755657834.091 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.562012
2025-08-20T02:43:54.231Z,1755657834.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 0.504043 s,
deltaX: 0.100000 m,
approachRate: 0.198396 m/s,
rangeRepo size: 4
2025-08-20T02:43:54.237Z,1755657834.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.300000 m,
bearing: 138.939715 deg,
lat: 36.779344 deg,
lon: -121.859506 deg,
deltaT: 0.504043 s,
deltaX: 0.100000 m,
approachRate: 0.198396 m/s,
posRepo size: 4
2025-08-20T02:43:54.323Z,1755657834.323 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.793747
2025-08-20T02:43:54.479Z,1755657834.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:54.576Z,1755657834.576 [DAT](INFO): DAT read: Rx Time:02:43:52.6977
2025-08-20T02:43:54.577Z,1755657834.577 [DAT](INFO): Rx dataTimestamp_ set to:1755657834.576459
2025-08-20T02:43:54.579Z,1755657834.579 [DAT](INFO): DAT read: Bearing 292.4, 39.3 (Local)
2025-08-20T02:43:54.579Z,1755657834.579 [DAT](INFO): Local bearing/azimuth received:
Bearing 292.4, 39.3 (Local)
2025-08-20T02:43:54.587Z,1755657834.587 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:43:54.594Z,1755657834.594 [DAT](INFO): DAT read: 02:43:52.6977 LVL= 27440, 15137, 25426, 32755, AGC= 45, IDX= 499,-0.08,-0.749,-0.652,-1.961, 0.173, PHS=-0.820,-0.780,-2.179, RAW= 28.6, 44.1, CAL= 26.8, 49.2, ROT= 123.2, -49.2
2025-08-20T02:43:54.596Z,1755657834.596 [DAT](INFO): got valid direction response:
02:43:52.6977 LVL= 27440, 15137, 25426, 32755, AGC= 45, IDX= 499,-0.08,-0.749,-0.652,-1.961, 0.173, PHS=-0.820,-0.780,-2.179, RAW= 28.6, 44.1, CAL= 26.8, 49.2, ROT= 123.2, -49.2
2025-08-20T02:43:54.596Z,1755657834.596 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-20T02:43:54.606Z,1755657834.606 [DAT](INFO): direction in FSK: [-0.357789,0.546759,0.756995]
2025-08-20T02:43:54.606Z,1755657834.606 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:54.614Z,1755657834.614 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.080166
2025-08-20T02:43:54.826Z,1755657834.826 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.297470
2025-08-20T02:43:54.960Z,1755657834.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.505175 s,
deltaX: -0.100000 m,
approachRate: -0.197951 m/s,
rangeRepo size: 4
2025-08-20T02:43:54.963Z,1755657834.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 143.059820 deg,
lat: 36.779344 deg,
lon: -121.859507 deg,
deltaT: 0.505175 s,
deltaX: -0.100000 m,
approachRate: -0.197951 m/s,
posRepo size: 4
2025-08-20T02:43:54.963Z,1755657834.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 3.20 m.
2025-08-20T02:43:54.963Z,1755657834.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-20T02:43:55.080Z,1755657835.080 [DAT](INFO): DAT read: Rx Time:02:43:53.1978
2025-08-20T02:43:55.081Z,1755657835.081 [DAT](INFO): Rx dataTimestamp_ set to:1755657835.080666
2025-08-20T02:43:55.084Z,1755657835.084 [DAT](INFO): DAT read: Bearing 295.1, 37.6 (Local)
2025-08-20T02:43:55.084Z,1755657835.084 [DAT](INFO): Local bearing/azimuth received:
Bearing 295.1, 37.6 (Local)
2025-08-20T02:43:55.087Z,1755657835.087 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:43:55.091Z,1755657835.091 [DAT](INFO): DAT read: 02:43:53.1978 LVL= 31024, 16065, 29426, 32755, AGC= 45, IDX= 500, 0.04, 1.309, 1.482, 0.109, 2.319, PHS=-0.908,-0.792,-2.254, RAW= 25.9, 44.8, CAL= 24.3, 49.8, ROT= 125.7, -49.8
2025-08-20T02:43:55.092Z,1755657835.092 [DAT](INFO): got valid direction response:
02:43:53.1978 LVL= 31024, 16065, 29426, 32755, AGC= 45, IDX= 500, 0.04, 1.309, 1.482, 0.109, 2.319, PHS=-0.908,-0.792,-2.254, RAW= 25.9, 44.8, CAL= 24.3, 49.8, ROT= 125.7, -49.8
2025-08-20T02:43:55.093Z,1755657835.093 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-20T02:43:55.094Z,1755657835.094 [DAT](INFO): direction in FSK: [-0.376651,0.524166,0.763796]
2025-08-20T02:43:55.094Z,1755657835.094 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:55.098Z,1755657835.098 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.568855
2025-08-20T02:43:55.331Z,1755657835.331 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.801548
2025-08-20T02:43:55.381Z,1755657835.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 0.504207 s,
deltaX: 0.100000 m,
approachRate: 0.198331 m/s,
rangeRepo size: 4
2025-08-20T02:43:55.383Z,1755657835.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.300000 m,
bearing: 143.762564 deg,
lat: 36.779344 deg,
lon: -121.859507 deg,
deltaT: 0.504207 s,
deltaX: 0.100000 m,
approachRate: 0.198331 m/s,
posRepo size: 4
2025-08-20T02:43:55.583Z,1755657835.583 [DAT](INFO): DAT read: Rx Time:02:43:53.6977
2025-08-20T02:43:55.583Z,1755657835.583 [DAT](INFO): Rx dataTimestamp_ set to:1755657835.583192
2025-08-20T02:43:55.585Z,1755657835.585 [DAT](INFO): DAT read: Bearing 295.6, 37.9 (Local)
2025-08-20T02:43:55.585Z,1755657835.585 [DAT](INFO): Local bearing/azimuth received:
Bearing 295.6, 37.9 (Local)
2025-08-20T02:43:55.592Z,1755657835.592 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:43:55.597Z,1755657835.597 [DAT](INFO): DAT read: 02:43:53.6977 LVL= 28528, 16801, 25938, 31475, AGC= 46, IDX= 499, 0.14, 0.457, 0.589,-0.775, 1.457, PHS=-0.898,-0.824,-2.276, RAW= 27.4, 44.9, CAL= 25.7, 49.9, ROT= 124.3, -49.9
2025-08-20T02:43:55.602Z,1755657835.602 [DAT](INFO): got valid direction response:
02:43:53.6977 LVL= 28528, 16801, 25938, 31475, AGC= 46, IDX= 499, 0.14, 0.457, 0.589,-0.775, 1.457, PHS=-0.898,-0.824,-2.276, RAW= 27.4, 44.9, CAL= 25.7, 49.9, ROT= 124.3, -49.9
2025-08-20T02:43:55.604Z,1755657835.604 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-20T02:43:55.607Z,1755657835.607 [DAT](INFO): direction in FSK: [-0.362980,0.532109,0.764921]
2025-08-20T02:43:55.607Z,1755657835.607 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:55.611Z,1755657835.611 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.081745
2025-08-20T02:43:55.814Z,1755657835.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.502526 s,
deltaX: -0.100000 m,
approachRate: -0.198994 m/s,
rangeRepo size: 4
2025-08-20T02:43:55.817Z,1755657835.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 146.688432 deg,
lat: 36.779345 deg,
lon: -121.859508 deg,
deltaT: 0.502526 s,
deltaX: -0.100000 m,
approachRate: -0.198994 m/s,
posRepo size: 4
2025-08-20T02:43:55.835Z,1755657835.835 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.305634
2025-08-20T02:43:56.087Z,1755657836.087 [DAT](INFO): DAT read: Rx Time:02:43:54.1977
2025-08-20T02:43:56.087Z,1755657836.087 [DAT](INFO): Rx dataTimestamp_ set to:1755657836.087109
2025-08-20T02:43:56.089Z,1755657836.089 [DAT](INFO): DAT read: Bearing 295.3, 37.4 (Local)
2025-08-20T02:43:56.089Z,1755657836.089 [DAT](INFO): Local bearing/azimuth received:
Bearing 295.3, 37.4 (Local)
2025-08-20T02:43:56.091Z,1755657836.091 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:43:56.096Z,1755657836.096 [DAT](INFO): DAT read: 02:43:54.1977 LVL= 24816, 17265, 20002, 30707, AGC= 46, IDX= 499, 0.30, 0.772, 0.843,-0.471, 1.768, PHS=-0.894,-0.880,-2.282, RAW= 29.5, 45.8, CAL= 27.8, 50.7, ROT= 122.2, -50.7
2025-08-20T02:43:56.097Z,1755657836.097 [DAT](INFO): got valid direction response:
02:43:54.1977 LVL= 24816, 17265, 20002, 30707, AGC= 46, IDX= 499, 0.30, 0.772, 0.843,-0.471, 1.768, PHS=-0.894,-0.880,-2.282, RAW= 29.5, 45.8, CAL= 27.8, 50.7, ROT= 122.2, -50.7
2025-08-20T02:43:56.097Z,1755657836.097 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-20T02:43:56.098Z,1755657836.098 [DAT](INFO): direction in FSK: [-0.337514,0.535963,0.773840]
2025-08-20T02:43:56.098Z,1755657836.098 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:56.106Z,1755657836.106 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.577396
2025-08-20T02:43:56.291Z,1755657836.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.503917 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-20T02:43:56.293Z,1755657836.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 146.767358 deg,
lat: 36.779345 deg,
lon: -121.859508 deg,
deltaT: 0.503917 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-20T02:43:56.340Z,1755657836.340 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.810539
2025-08-20T02:43:56.577Z,1755657836.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:56.591Z,1755657836.591 [DAT](INFO): DAT read: Rx Time:02:43:54.6976
2025-08-20T02:43:56.592Z,1755657836.592 [DAT](INFO): Rx dataTimestamp_ set to:1755657836.591355
2025-08-20T02:43:56.593Z,1755657836.593 [DAT](INFO): DAT read: Bearing 295.1, 34.2 (Local)
2025-08-20T02:43:56.593Z,1755657836.593 [DAT](INFO): Local bearing/azimuth received:
Bearing 295.1, 34.2 (Local)
2025-08-20T02:43:56.595Z,1755657836.595 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:43:56.600Z,1755657836.600 [DAT](INFO): DAT read: 02:43:54.6976 LVL= 26720, 16977, 20306, 32755, AGC= 47, IDX= 498, 0.43,-0.328,-0.262,-1.433, 0.696, PHS=-0.922,-0.913,-2.173, RAW= 29.6, 48.5, CAL= 28.0, 53.1, ROT= 122.0, -53.1
2025-08-20T02:43:56.601Z,1755657836.601 [DAT](INFO): got valid direction response:
02:43:54.6976 LVL= 26720, 16977, 20306, 32755, AGC= 47, IDX= 498, 0.43,-0.328,-0.262,-1.433, 0.696, PHS=-0.922,-0.913,-2.173, RAW= 29.6, 48.5, CAL= 28.0, 53.1, ROT= 122.0, -53.1
2025-08-20T02:43:56.602Z,1755657836.602 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-20T02:43:56.602Z,1755657836.602 [DAT](INFO): direction in FSK: [-0.318174,0.509185,0.799685]
2025-08-20T02:43:56.603Z,1755657836.603 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:56.618Z,1755657836.618 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.089352
2025-08-20T02:43:56.842Z,1755657836.842 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.313477
2025-08-20T02:43:56.968Z,1755657836.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.504246 s,
deltaX: -0.200000 m,
approachRate: -0.396632 m/s,
rangeRepo size: 4
2025-08-20T02:43:56.970Z,1755657836.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.000000 m,
bearing: 148.729566 deg,
lat: 36.779345 deg,
lon: -121.859509 deg,
deltaT: 0.504246 s,
deltaX: -0.200000 m,
approachRate: -0.396632 m/s,
posRepo size: 4
2025-08-20T02:43:57.096Z,1755657837.096 [DAT](INFO): DAT read: Rx Time:02:43:55.1977
2025-08-20T02:43:57.096Z,1755657837.096 [DAT](INFO): Rx dataTimestamp_ set to:1755657837.096210
2025-08-20T02:43:57.098Z,1755657837.098 [DAT](INFO): DAT read: Bearing 296.4, 30.4 (Local)
2025-08-20T02:43:57.099Z,1755657837.099 [DAT](INFO): Local bearing/azimuth received:
Bearing 296.4, 30.4 (Local)
2025-08-20T02:43:57.103Z,1755657837.103 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:43:57.109Z,1755657837.109 [DAT](INFO): DAT read: 02:43:55.1977 LVL= 24480, 15601, 19170, 32755, AGC= 47, IDX= 500,-0.34,-1.273,-1.161,-2.152,-0.249, PHS=-0.922,-0.867,-1.947, RAW= 27.4, 51.4, CAL= 26.0, 55.7, ROT= 124.0, -55.7
2025-08-20T02:43:57.134Z,1755657837.134 [DAT](INFO): got valid direction response:
02:43:55.1977 LVL= 24480, 15601, 19170, 32755, AGC= 47, IDX= 500,-0.34,-1.273,-1.161,-2.152,-0.249, PHS=-0.922,-0.867,-1.947, RAW= 27.4, 51.4, CAL= 26.0, 55.7, ROT= 124.0, -55.7
2025-08-20T02:43:57.135Z,1755657837.135 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-20T02:43:57.136Z,1755657837.136 [DAT](INFO): direction in FSK: [-0.315120,0.467184,0.826098]
2025-08-20T02:43:57.137Z,1755657837.137 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:57.166Z,1755657837.166 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.637196
2025-08-20T02:43:57.349Z,1755657837.349 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.819118
2025-08-20T02:43:57.453Z,1755657837.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.504855 s,
deltaX: 0.200000 m,
approachRate: 0.396153 m/s,
rangeRepo size: 4
2025-08-20T02:43:57.455Z,1755657837.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 148.890770 deg,
lat: 36.779346 deg,
lon: -121.859509 deg,
deltaT: 0.504855 s,
deltaX: 0.200000 m,
approachRate: 0.396153 m/s,
posRepo size: 4
2025-08-20T02:43:57.598Z,1755657837.598 [DAT](INFO): DAT read: 56.8
2025-08-20T02:43:57.599Z,1755657837.599 [DAT](INFO): unknown deviceResponse_: 56.8
2025-08-20T02:43:57.599Z,1755657837.599 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.070324
2025-08-20T02:43:57.851Z,1755657837.851 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.321964
2025-08-20T02:43:58.103Z,1755657838.103 [DAT](INFO): DAT read: Rx Time:02:43:56.1978
2025-08-20T02:43:58.103Z,1755657838.103 [DAT](INFO): Rx dataTimestamp_ set to:1755657838.103181
2025-08-20T02:43:58.105Z,1755657838.105 [DAT](INFO): DAT read: Bearing 300.1, 30.6 (Local)
2025-08-20T02:43:58.105Z,1755657838.105 [DAT](INFO): Local bearing/azimuth received:
Bearing 300.1, 30.6 (Local)
2025-08-20T02:43:58.107Z,1755657838.107 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:43:58.112Z,1755657838.112 [DAT](INFO): DAT read: 02:43:56.1978 LVL= 30880, 15505, 23394, 32755, AGC= 47, IDX= 500,-0.06,-1.444,-1.339,-2.291,-0.409, PHS=-0.933,-0.885,-1.926, RAW= 27.7, 52.5, CAL= 26.3, 56.6, ROT= 123.7, -56.6
2025-08-20T02:43:58.113Z,1755657838.113 [DAT](INFO): got valid direction response:
02:43:56.1978 LVL= 30880, 15505, 23394, 32755, AGC= 47, IDX= 500,-0.06,-1.444,-1.339,-2.291,-0.409, PHS=-0.933,-0.885,-1.926, RAW= 27.7, 52.5, CAL= 26.3, 56.6, ROT= 123.7, -56.6
2025-08-20T02:43:58.113Z,1755657838.113 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-20T02:43:58.115Z,1755657838.115 [DAT](INFO): direction in FSK: [-0.305431,0.457975,0.834848]
2025-08-20T02:43:58.115Z,1755657838.115 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:58.119Z,1755657838.119 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.589626
2025-08-20T02:43:58.330Z,1755657838.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 1.006971 s,
deltaX: 0.100000 m,
approachRate: 0.099308 m/s,
rangeRepo size: 4
2025-08-20T02:43:58.333Z,1755657838.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.300000 m,
bearing: 150.035255 deg,
lat: 36.779346 deg,
lon: -121.859509 deg,
deltaT: 1.006971 s,
deltaX: 0.100000 m,
approachRate: 0.099308 m/s,
posRepo size: 4
2025-08-20T02:43:58.355Z,1755657838.355 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.825535
2025-08-20T02:43:58.604Z,1755657838.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:43:58.607Z,1755657838.607 [DAT](INFO): DAT read: Rx Time:02:43:56.6977
2025-08-20T02:43:58.608Z,1755657838.608 [DAT](INFO): Rx dataTimestamp_ set to:1755657838.607308
2025-08-20T02:43:58.609Z,1755657838.609 [DAT](INFO): DAT read: Bearing 303.0, 34.4 (Local)
2025-08-20T02:43:58.609Z,1755657838.609 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.0, 34.4 (Local)
2025-08-20T02:43:58.611Z,1755657838.611 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:43:58.628Z,1755657838.628 [DAT](INFO): DAT read: 02:43:56.6977 LVL= 27936, 16657, 21954, 32755, AGC= 47, IDX= 499, 0.09,-1.669,-1.592,-2.695,-0.606, PHS=-0.961,-0.942,-2.133, RAW= 29.2, 50.4, CAL= 27.7, 54.7, ROT= 122.3, -54.7
2025-08-20T02:43:58.629Z,1755657838.629 [DAT](INFO): got valid direction response:
02:43:56.6977 LVL= 27936, 16657, 21954, 32755, AGC= 47, IDX= 499, 0.09,-1.669,-1.592,-2.695,-0.606, PHS=-0.961,-0.942,-2.133, RAW= 29.2, 50.4, CAL= 27.7, 54.7, ROT= 122.3, -54.7
2025-08-20T02:43:58.630Z,1755657838.630 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-20T02:43:58.631Z,1755657838.631 [DAT](INFO): direction in FSK: [-0.308780,0.488441,0.816138]
2025-08-20T02:43:58.631Z,1755657838.631 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:58.654Z,1755657838.654 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.125462
2025-08-20T02:43:58.858Z,1755657838.858 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.329475
2025-08-20T02:43:59.077Z,1755657839.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.504127 s,
deltaX: -0.100000 m,
approachRate: -0.198363 m/s,
rangeRepo size: 4
2025-08-20T02:43:59.093Z,1755657839.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 151.457351 deg,
lat: 36.779346 deg,
lon: -121.859510 deg,
deltaT: 0.504127 s,
deltaX: -0.100000 m,
approachRate: -0.198363 m/s,
posRepo size: 4
2025-08-20T02:43:59.115Z,1755657839.115 [DAT](INFO): DAT read: Rx Time:02:43:57.1978
2025-08-20T02:43:59.117Z,1755657839.117 [DAT](INFO): Rx dataTimestamp_ set to:1755657839.116003
2025-08-20T02:43:59.121Z,1755657839.121 [DAT](INFO): DAT read: Bearing 305.5, 35.8 (Local)
2025-08-20T02:43:59.122Z,1755657839.122 [DAT](INFO): Local bearing/azimuth received:
Bearing 305.5, 35.8 (Local)
2025-08-20T02:43:59.124Z,1755657839.124 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:43:59.132Z,1755657839.132 [DAT](INFO): DAT read: 02:43:57.1978 LVL= 28496, 18737, 21202, 32755, AGC= 48, IDX= 500, 0.25,-0.108,-0.028,-1.229, 0.993, PHS=-1.000,-0.976,-2.266, RAW= 29.1, 49.5, CAL= 27.5, 54.0, ROT= 122.5, -54.0
2025-08-20T02:43:59.138Z,1755657839.138 [DAT](INFO): got valid direction response:
02:43:57.1978 LVL= 28496, 18737, 21202, 32755, AGC= 48, IDX= 500, 0.25,-0.108,-0.028,-1.229, 0.993, PHS=-1.000,-0.976,-2.266, RAW= 29.1, 49.5, CAL= 27.5, 54.0, ROT= 122.5, -54.0
2025-08-20T02:43:59.138Z,1755657839.138 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-20T02:43:59.139Z,1755657839.139 [DAT](INFO): direction in FSK: [-0.315817,0.495733,0.809017]
2025-08-20T02:43:59.140Z,1755657839.140 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:59.144Z,1755657839.144 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.615234
2025-08-20T02:43:59.363Z,1755657839.363 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.833794
2025-08-20T02:43:59.501Z,1755657839.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 0.508695 s,
deltaX: 0.100000 m,
approachRate: 0.196581 m/s,
rangeRepo size: 4
2025-08-20T02:43:59.522Z,1755657839.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.300000 m,
bearing: 158.014865 deg,
lat: 36.779345 deg,
lon: -121.859512 deg,
deltaT: 0.508695 s,
deltaX: 0.100000 m,
approachRate: 0.196581 m/s,
posRepo size: 4
2025-08-20T02:43:59.615Z,1755657839.615 [DAT](INFO): DAT read: Rx Time:02:43:57.6977
2025-08-20T02:43:59.616Z,1755657839.616 [DAT](INFO): Rx dataTimestamp_ set to:1755657839.615580
2025-08-20T02:43:59.617Z,1755657839.617 [DAT](INFO): DAT read: Bearing 307.0, 35.3 (Local)
2025-08-20T02:43:59.622Z,1755657839.622 [DAT](INFO): Local bearing/azimuth received:
Bearing 307.0, 35.3 (Local)
2025-08-20T02:43:59.624Z,1755657839.624 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:43:59.629Z,1755657839.629 [DAT](INFO): DAT read: 02:43:57.6977 LVL= 26912, 20017, 20466, 31203, AGC= 47, IDX= 499, 0.43,-1.735,-1.649,-2.806,-0.624, PHS=-1.009,-0.980,-2.226, RAW= 28.8, 50.4, CAL= 27.3, 54.8, ROT= 122.7, -54.8
2025-08-20T02:43:59.630Z,1755657839.630 [DAT](INFO): got valid direction response:
02:43:57.6977 LVL= 26912, 20017, 20466, 31203, AGC= 47, IDX= 499, 0.43,-1.735,-1.649,-2.806,-0.624, PHS=-1.009,-0.980,-2.226, RAW= 28.8, 50.4, CAL= 27.3, 54.8, ROT= 122.7, -54.8
2025-08-20T02:43:59.630Z,1755657839.630 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-20T02:43:59.631Z,1755657839.631 [DAT](INFO): direction in FSK: [-0.311412,0.485074,0.817145]
2025-08-20T02:43:59.631Z,1755657839.631 [DAT](INFO): publishing direction and range info
2025-08-20T02:43:59.641Z,1755657839.641 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.111774
2025-08-20T02:43:59.863Z,1755657839.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.499577 s,
deltaX: -0.100000 m,
approachRate: -0.200169 m/s,
rangeRepo size: 4
2025-08-20T02:43:59.865Z,1755657839.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 160.066124 deg,
lat: 36.779345 deg,
lon: -121.859512 deg,
deltaT: 0.499577 s,
deltaX: -0.100000 m,
approachRate: -0.200169 m/s,
posRepo size: 4
2025-08-20T02:43:59.867Z,1755657839.867 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.337585
2025-08-20T02:44:00.122Z,1755657840.122 [DAT](INFO): DAT read: Rx Time:02:43:58.1978
2025-08-20T02:44:00.123Z,1755657840.123 [DAT](INFO): Rx dataTimestamp_ set to:1755657840.122502
2025-08-20T02:44:00.124Z,1755657840.124 [DAT](INFO): DAT read: Bearing 308.2, 34.6 (Local)
2025-08-20T02:44:00.124Z,1755657840.124 [DAT](INFO): Local bearing/azimuth received:
Bearing 308.2, 34.6 (Local)
2025-08-20T02:44:00.126Z,1755657840.126 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:44:00.131Z,1755657840.131 [DAT](INFO): DAT read: 02:43:58.1978 LVL= 25904, 18081, 21058, 31219, AGC= 47, IDX= 500,-0.38,-2.860,-2.788, 2.428,-1.786, PHS=-0.973,-0.957,-2.114, RAW= 29.3, 51.2, CAL= 27.8, 55.5, ROT= 122.2, -55.5
2025-08-20T02:44:00.132Z,1755657840.132 [DAT](INFO): got valid direction response:
02:43:58.1978 LVL= 25904, 18081, 21058, 31219, AGC= 47, IDX= 500,-0.38,-2.860,-2.788, 2.428,-1.786, PHS=-0.973,-0.957,-2.114, RAW= 29.3, 51.2, CAL= 27.8, 55.5, ROT= 122.2, -55.5
2025-08-20T02:44:00.133Z,1755657840.133 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-20T02:44:00.134Z,1755657840.134 [DAT](INFO): direction in FSK: [-0.301824,0.479289,0.824126]
2025-08-20T02:44:00.134Z,1755657840.134 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:00.142Z,1755657840.142 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.608372
2025-08-20T02:44:00.349Z,1755657840.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 0.506922 s,
deltaX: 0.100000 m,
approachRate: 0.197269 m/s,
rangeRepo size: 4
2025-08-20T02:44:00.359Z,1755657840.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.300000 m,
bearing: 161.960611 deg,
lat: 36.779344 deg,
lon: -121.859512 deg,
deltaT: 0.506922 s,
deltaX: 0.100000 m,
approachRate: 0.197269 m/s,
posRepo size: 4
2025-08-20T02:44:00.371Z,1755657840.371 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.841652
2025-08-20T02:44:00.623Z,1755657840.623 [DAT](INFO): DAT read: Rx Time:02:43:58.6977
2025-08-20T02:44:00.623Z,1755657840.623 [DAT](INFO): Rx dataTimestamp_ set to:1755657840.623119
2025-08-20T02:44:00.625Z,1755657840.625 [DAT](INFO): DAT read: Bearing 310.2, 34.7 (Local)
2025-08-20T02:44:00.625Z,1755657840.625 [DAT](INFO): Local bearing/azimuth received:
Bearing 310.2, 34.7 (Local)
2025-08-20T02:44:00.627Z,1755657840.627 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:00.632Z,1755657840.632 [DAT](INFO): DAT read: 02:43:58.6977 LVL= 26320, 18097, 19282, 32755, AGC= 48, IDX= 499,-0.20, 1.833, 1.894, 0.830, 2.879, PHS=-0.944,-0.940,-2.093, RAW= 29.8, 50.7, CAL= 28.3, 55.0, ROT= 121.7, -55.0
2025-08-20T02:44:00.633Z,1755657840.633 [DAT](INFO): got valid direction response:
02:43:58.6977 LVL= 26320, 18097, 19282, 32755, AGC= 48, IDX= 499,-0.20, 1.833, 1.894, 0.830, 2.879, PHS=-0.944,-0.940,-2.093, RAW= 29.8, 50.7, CAL= 28.3, 55.0, ROT= 121.7, -55.0
2025-08-20T02:44:00.633Z,1755657840.633 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-20T02:44:00.638Z,1755657840.638 [DAT](INFO): direction in FSK: [-0.301398,0.488005,0.819152]
2025-08-20T02:44:00.638Z,1755657840.638 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:00.642Z,1755657840.642 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.112877
2025-08-20T02:44:00.774Z,1755657840.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.500617 s,
deltaX: -0.100000 m,
approachRate: -0.199753 m/s,
rangeRepo size: 4
2025-08-20T02:44:00.777Z,1755657840.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 164.365044 deg,
lat: 36.779343 deg,
lon: -121.859513 deg,
deltaT: 0.500617 s,
deltaX: -0.100000 m,
approachRate: -0.199753 m/s,
posRepo size: 4
2025-08-20T02:44:00.875Z,1755657840.875 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.346119
2025-08-20T02:44:01.131Z,1755657841.131 [DAT](INFO): DAT read: Rx Time:02:43:59.1978
2025-08-20T02:44:01.132Z,1755657841.132 [DAT](INFO): Rx dataTimestamp_ set to:1755657841.131558
2025-08-20T02:44:01.137Z,1755657841.137 [DAT](INFO): DAT read: Bearing 312.4, 35.3 (Local)
2025-08-20T02:44:01.138Z,1755657841.138 [DAT](INFO): Local bearing/azimuth received:
Bearing 312.4, 35.3 (Local)
2025-08-20T02:44:01.150Z,1755657841.150 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:44:01.156Z,1755657841.156 [DAT](INFO): DAT read: 02:43:59.1978 LVL= 28000, 17521, 22626, 32755, AGC= 48, IDX= 500,-0.09,-2.908,-2.849, 2.356,-1.881, PHS=-0.925,-0.923,-2.090, RAW= 29.9, 50.0, CAL= 28.3, 54.5, ROT= 121.7, -54.5
2025-08-20T02:44:01.179Z,1755657841.179 [DAT](INFO): got valid direction response:
02:43:59.1978 LVL= 28000, 17521, 22626, 32755, AGC= 48, IDX= 500,-0.09,-2.908,-2.849, 2.356,-1.881, PHS=-0.925,-0.923,-2.090, RAW= 29.9, 50.0, CAL= 28.3, 54.5, ROT= 121.7, -54.5
2025-08-20T02:44:01.180Z,1755657841.180 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-20T02:44:01.190Z,1755657841.190 [DAT](INFO): direction in FSK: [-0.305143,0.494069,0.814116]
2025-08-20T02:44:01.190Z,1755657841.190 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:01.242Z,1755657841.242 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.684261
2025-08-20T02:44:01.303Z,1755657841.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.300000 m,
deltaT: 0.508439 s,
deltaX: 0.100000 m,
approachRate: 0.196680 m/s,
rangeRepo size: 4
2025-08-20T02:44:01.310Z,1755657841.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.300000 m,
bearing: 163.830413 deg,
lat: 36.779343 deg,
lon: -121.859513 deg,
deltaT: 0.508439 s,
deltaX: 0.100000 m,
approachRate: 0.196680 m/s,
posRepo size: 4
2025-08-20T02:44:01.379Z,1755657841.379 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.850044
2025-08-20T02:44:01.631Z,1755657841.631 [DAT](INFO): DAT read: Rx Time:02:43:59.6977
2025-08-20T02:44:01.632Z,1755657841.632 [DAT](INFO): Rx dataTimestamp_ set to:1755657841.631323
2025-08-20T02:44:01.633Z,1755657841.633 [DAT](INFO): DAT read: Bearing 313.6, 36.3 (Local)
2025-08-20T02:44:01.633Z,1755657841.633 [DAT](INFO): Local bearing/azimuth received:
Bearing 313.6, 36.3 (Local)
2025-08-20T02:44:01.635Z,1755657841.635 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:01.640Z,1755657841.640 [DAT](INFO): DAT read: 02:43:59.6977 LVL= 26304, 15889, 19954, 32755, AGC= 46, IDX= 499,-0.01,-2.990,-2.956, 2.261,-1.988, PHS=-0.900,-0.923,-2.078, RAW= 31.0, 49.8, CAL= 29.4, 54.2, ROT= 120.6, -54.2
2025-08-20T02:44:01.641Z,1755657841.641 [DAT](INFO): got valid direction response:
02:43:59.6977 LVL= 26304, 15889, 19954, 32755, AGC= 46, IDX= 499,-0.01,-2.990,-2.956, 2.261,-1.988, PHS=-0.900,-0.923,-2.078, RAW= 31.0, 49.8, CAL= 29.4, 54.2, ROT= 120.6, -54.2
2025-08-20T02:44:01.641Z,1755657841.641 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-20T02:44:01.642Z,1755657841.642 [DAT](INFO): direction in FSK: [-0.297768,0.503498,0.811064]
2025-08-20T02:44:01.643Z,1755657841.643 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:01.658Z,1755657841.658 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.129341
2025-08-20T02:44:01.743Z,1755657841.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.499765 s,
deltaX: -0.100000 m,
approachRate: -0.200094 m/s,
rangeRepo size: 4
2025-08-20T02:44:01.755Z,1755657841.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 163.543786 deg,
lat: 36.779343 deg,
lon: -121.859513 deg,
deltaT: 0.499765 s,
deltaX: -0.100000 m,
approachRate: -0.200094 m/s,
posRepo size: 4
2025-08-20T02:44:01.795Z,1755657841.795 [DockingStepper](INFO): Changing to mode: 1
2025-08-20T02:44:01.887Z,1755657841.887 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.358334
2025-08-20T02:44:02.142Z,1755657842.142 [DAT](INFO): DAT read: Rx Time:02:44:00.1977
2025-08-20T02:44:02.144Z,1755657842.144 [DAT](INFO): Rx dataTimestamp_ set to:1755657842.142601
2025-08-20T02:44:02.147Z,1755657842.147 [DAT](INFO): DAT read: Bearing 315.2, 36.8 (Local)
2025-08-20T02:44:02.149Z,1755657842.149 [DAT](INFO): Local bearing/azimuth received:
Bearing 315.2, 36.8 (Local)
2025-08-20T02:44:02.157Z,1755657842.157 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:02.188Z,1755657842.188 [DAT](INFO): DAT read: 02:44:00.1977 LVL= 26384, 16849, 21618, 32755, AGC= 47, IDX= 500, 0.10,-0.791,-0.757,-1.856, 0.231, PHS=-0.920,-0.943,-2.131, RAW= 30.9, 49.6, CAL= 29.3, 54.1, ROT= 120.7, -54.1
2025-08-20T02:44:02.199Z,1755657842.199 [DAT](INFO): got valid direction response:
02:44:00.1977 LVL= 26384, 16849, 21618, 32755, AGC= 47, IDX= 500, 0.10,-0.791,-0.757,-1.856, 0.231, PHS=-0.920,-0.943,-2.131, RAW= 30.9, 49.6, CAL= 29.3, 54.1, ROT= 120.7, -54.1
2025-08-20T02:44:02.200Z,1755657842.200 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-20T02:44:02.212Z,1755657842.212 [DAT](INFO): direction in FSK: [-0.299368,0.504194,0.810042]
2025-08-20T02:44:02.212Z,1755657842.212 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:02.224Z,1755657842.224 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.695312
2025-08-20T02:44:02.347Z,1755657842.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.511278 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-20T02:44:02.349Z,1755657842.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 164.163458 deg,
lat: 36.779342 deg,
lon: -121.859513 deg,
deltaT: 0.511278 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-20T02:44:02.391Z,1755657842.391 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.861584
2025-08-20T02:44:02.643Z,1755657842.643 [DAT](INFO): DAT read: Rx Time:02:44:00.6976
2025-08-20T02:44:02.644Z,1755657842.644 [DAT](INFO): Rx dataTimestamp_ set to:1755657842.643317
2025-08-20T02:44:02.645Z,1755657842.645 [DAT](INFO): DAT read: Bearing 318.0, 36.0 (Local)
2025-08-20T02:44:02.645Z,1755657842.645 [DAT](INFO): Local bearing/azimuth received:
Bearing 318.0, 36.0 (Local)
2025-08-20T02:44:02.647Z,1755657842.647 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:02.668Z,1755657842.668 [DAT](INFO): DAT read: 02:44:00.6976 LVL= 29872, 16849, 23602, 32755, AGC= 47, IDX= 499, 0.24,-1.774,-1.667,-2.811,-0.692, PHS=-0.980,-0.930,-2.163, RAW= 28.0, 50.0, CAL= 26.5, 54.4, ROT= 123.5, -54.4
2025-08-20T02:44:02.669Z,1755657842.669 [DAT](INFO): got valid direction response:
02:44:00.6976 LVL= 29872, 16849, 23602, 32755, AGC= 47, IDX= 499, 0.24,-1.774,-1.667,-2.811,-0.692, PHS=-0.980,-0.930,-2.163, RAW= 28.0, 50.0, CAL= 26.5, 54.4, ROT= 123.5, -54.4
2025-08-20T02:44:02.670Z,1755657842.670 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-20T02:44:02.672Z,1755657842.672 [DAT](INFO): direction in FSK: [-0.321295,0.485424,0.813101]
2025-08-20T02:44:02.672Z,1755657842.672 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:02.730Z,1755657842.730 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.201443
2025-08-20T02:44:02.774Z,1755657842.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.500716 s,
deltaX: -0.200000 m,
approachRate: -0.399428 m/s,
rangeRepo size: 4
2025-08-20T02:44:02.776Z,1755657842.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.000000 m,
bearing: 163.836837 deg,
lat: 36.779342 deg,
lon: -121.859513 deg,
deltaT: 0.500716 s,
deltaX: -0.200000 m,
approachRate: -0.399428 m/s,
posRepo size: 4
2025-08-20T02:44:02.895Z,1755657842.895 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.365677
2025-08-20T02:44:03.151Z,1755657843.151 [DAT](INFO): DAT read: Rx Time:02:44:01.1977
2025-08-20T02:44:03.153Z,1755657843.153 [DAT](INFO): Rx dataTimestamp_ set to:1755657843.151635
2025-08-20T02:44:03.160Z,1755657843.160 [DAT](INFO): DAT read: Bearing 319.2, 37.5 (Local)
2025-08-20T02:44:03.161Z,1755657843.161 [DAT](INFO): Local bearing/azimuth received:
Bearing 319.2, 37.5 (Local)
2025-08-20T02:44:03.168Z,1755657843.168 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:03.198Z,1755657843.198 [DAT](INFO): DAT read: 02:44:01.1977 LVL= 26096, 17585, 21154, 32755, AGC= 48, IDX= 500, 0.48,-1.633,-1.557,-2.739,-0.573, PHS=-0.958,-0.938,-2.209, RAW= 29.2, 49.0, CAL= 27.6, 53.5, ROT= 122.4, -53.5
2025-08-20T02:44:03.200Z,1755657843.200 [DAT](INFO): got valid direction response:
02:44:01.1977 LVL= 26096, 17585, 21154, 32755, AGC= 48, IDX= 500, 0.48,-1.633,-1.557,-2.739,-0.573, PHS=-0.958,-0.938,-2.209, RAW= 29.2, 49.0, CAL= 27.6, 53.5, ROT= 122.4, -53.5
2025-08-20T02:44:03.201Z,1755657843.201 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-20T02:44:03.210Z,1755657843.210 [DAT](INFO): direction in FSK: [-0.318722,0.502226,0.803857]
2025-08-20T02:44:03.210Z,1755657843.210 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:03.222Z,1755657843.222 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.692905
2025-08-20T02:44:03.239Z,1755657843.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.508318 s,
deltaX: 0.200000 m,
approachRate: 0.393455 m/s,
rangeRepo size: 4
2025-08-20T02:44:03.246Z,1755657843.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 166.065809 deg,
lat: 36.779342 deg,
lon: -121.859514 deg,
deltaT: 0.508318 s,
deltaX: 0.200000 m,
approachRate: 0.393455 m/s,
posRepo size: 4
2025-08-20T02:44:03.399Z,1755657843.399 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.869675
2025-08-20T02:44:03.636Z,1755657843.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:44:03.651Z,1755657843.651 [DAT](INFO): DAT read: Rx Time:02:44:01.6976
2025-08-20T02:44:03.651Z,1755657843.651 [DAT](INFO): Rx dataTimestamp_ set to:1755657843.651064
2025-08-20T02:44:03.653Z,1755657843.653 [DAT](INFO): DAT read: Bearing 321.0, 37.1 (Local)
2025-08-20T02:44:03.653Z,1755657843.653 [DAT](INFO): Local bearing/azimuth received:
Bearing 321.0, 37.1 (Local)
2025-08-20T02:44:03.659Z,1755657843.659 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:03.663Z,1755657843.663 [DAT](INFO): DAT read: 02:44:01.6976 LVL= 25840, 17169, 21394, 32755, AGC= 47, IDX= 500,-0.32, 2.447, 2.561, 1.391,-2.779, PHS=-0.956,-0.899,-2.157, RAW= 27.7, 49.0, CAL= 26.2, 53.6, ROT= 123.8, -53.6
2025-08-20T02:44:03.664Z,1755657843.664 [DAT](INFO): got valid direction response:
02:44:01.6976 LVL= 25840, 17169, 21394, 32755, AGC= 47, IDX= 500,-0.32, 2.447, 2.561, 1.391,-2.779, PHS=-0.956,-0.899,-2.157, RAW= 27.7, 49.0, CAL= 26.2, 53.6, ROT= 123.8, -53.6
2025-08-20T02:44:03.665Z,1755657843.665 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-20T02:44:03.666Z,1755657843.666 [DAT](INFO): direction in FSK: [-0.330116,0.493122,0.804894]
2025-08-20T02:44:03.666Z,1755657843.666 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:03.674Z,1755657843.674 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.145092
2025-08-20T02:44:03.903Z,1755657843.903 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.374302
2025-08-20T02:44:04.164Z,1755657844.164 [DAT](INFO): DAT read: Rx Time:02:44:02.1977
2025-08-20T02:44:04.166Z,1755657844.166 [DAT](INFO): Rx dataTimestamp_ set to:1755657844.164312
2025-08-20T02:44:04.182Z,1755657844.182 [DAT](INFO): DAT read: Bearing 322.9, 35.8 (Local)
2025-08-20T02:44:04.183Z,1755657844.183 [DAT](INFO): Local bearing/azimuth received:
Bearing 322.9, 35.8 (Local)
2025-08-20T02:44:04.194Z,1755657844.194 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:04.208Z,1755657844.208 [DAT](INFO): DAT read: 02:44:02.1977 LVL= 28544, 19921, 22610, 32755, AGC= 45, IDX= 500,-0.20, 2.751, 2.923, 1.760,-2.460, PHS=-0.971,-0.856,-2.108, RAW= 25.2, 49.2, CAL= 23.8, 53.8, ROT= 126.2, -53.8
2025-08-20T02:44:04.214Z,1755657844.214 [DAT](INFO): got valid direction response:
02:44:02.1977 LVL= 28544, 19921, 22610, 32755, AGC= 45, IDX= 500,-0.20, 2.751, 2.923, 1.760,-2.460, PHS=-0.971,-0.856,-2.108, RAW= 25.2, 49.2, CAL= 23.8, 53.8, ROT= 126.2, -53.8
2025-08-20T02:44:04.214Z,1755657844.214 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-20T02:44:04.215Z,1755657844.215 [DAT](INFO): direction in FSK: [-0.348815,0.476595,0.806960]
2025-08-20T02:44:04.215Z,1755657844.215 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:04.223Z,1755657844.223 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.694000
2025-08-20T02:44:04.353Z,1755657844.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 1.012677 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-20T02:44:04.359Z,1755657844.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 170.268621 deg,
lat: 36.779341 deg,
lon: -121.859515 deg,
deltaT: 1.012677 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-20T02:44:04.407Z,1755657844.407 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.878242
2025-08-20T02:44:04.659Z,1755657844.659 [DAT](INFO): DAT read: Rx Time:02:44:02.6976
2025-08-20T02:44:04.659Z,1755657844.659 [DAT](INFO): Rx dataTimestamp_ set to:1755657844.659172
2025-08-20T02:44:04.661Z,1755657844.661 [DAT](INFO): DAT read: Bearing 323.1, 35.8 (Local)
2025-08-20T02:44:04.661Z,1755657844.661 [DAT](INFO): Local bearing/azimuth received:
Bearing 323.1, 35.8 (Local)
2025-08-20T02:44:04.663Z,1755657844.663 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:04.674Z,1755657844.674 [DAT](INFO): DAT read: 02:44:02.6976 LVL= 26336, 16753, 21458, 32755, AGC= 47, IDX= 499,-0.04, 1.243, 1.397, 0.243, 2.297, PHS=-0.953,-0.856,-2.098, RAW= 26.0, 49.1, CAL= 24.5, 53.6, ROT= 125.5, -53.6
2025-08-20T02:44:04.675Z,1755657844.675 [DAT](INFO): got valid direction response:
02:44:02.6976 LVL= 26336, 16753, 21458, 32755, AGC= 47, IDX= 499,-0.04, 1.243, 1.397, 0.243, 2.297, PHS=-0.953,-0.856,-2.098, RAW= 26.0, 49.1, CAL= 24.5, 53.6, ROT= 125.5, -53.6
2025-08-20T02:44:04.676Z,1755657844.676 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-20T02:44:04.706Z,1755657844.706 [DAT](INFO): direction in FSK: [-0.344600,0.483112,0.804894]
2025-08-20T02:44:04.706Z,1755657844.706 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:04.714Z,1755657844.714 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.180206
2025-08-20T02:44:04.880Z,1755657844.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.494860 s,
deltaX: -0.200000 m,
approachRate: -0.404155 m/s,
rangeRepo size: 4
2025-08-20T02:44:04.887Z,1755657844.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.000000 m,
bearing: 170.917715 deg,
lat: 36.779340 deg,
lon: -121.859516 deg,
deltaT: 0.494860 s,
deltaX: -0.200000 m,
approachRate: -0.404155 m/s,
posRepo size: 4
2025-08-20T02:44:04.911Z,1755657844.911 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.381638
2025-08-20T02:44:05.168Z,1755657845.168 [DAT](INFO): DAT read: Rx Time:02:44:03.1977
2025-08-20T02:44:05.171Z,1755657845.171 [DAT](INFO): Rx dataTimestamp_ set to:1755657845.170024
2025-08-20T02:44:05.176Z,1755657845.176 [DAT](INFO): DAT read: Bearing 323.4, 35.1 (Local)
2025-08-20T02:44:05.180Z,1755657845.180 [DAT](INFO): Local bearing/azimuth received:
Bearing 323.4, 35.1 (Local)
2025-08-20T02:44:05.219Z,1755657845.219 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:05.243Z,1755657845.243 [DAT](INFO): DAT read: 02:44:03.1977 LVL= 27792, 16449, 20418, 32755, AGC= 47, IDX= 500, 0.06,-2.123,-1.962,-3.107,-1.059, PHS=-0.962,-0.858,-2.092, RAW= 25.7, 49.4, CAL= 24.2, 53.9, ROT= 125.8, -53.9
2025-08-20T02:44:05.244Z,1755657845.244 [DAT](INFO): got valid direction response:
02:44:03.1977 LVL= 27792, 16449, 20418, 32755, AGC= 47, IDX= 500, 0.06,-2.123,-1.962,-3.107,-1.059, PHS=-0.962,-0.858,-2.092, RAW= 25.7, 49.4, CAL= 24.2, 53.9, ROT= 125.8, -53.9
2025-08-20T02:44:05.244Z,1755657845.244 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-20T02:44:05.255Z,1755657845.254 [DAT](INFO): direction in FSK: [-0.344655,0.477876,0.807990]
2025-08-20T02:44:05.255Z,1755657845.255 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:05.268Z,1755657845.268 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.738796
2025-08-20T02:44:05.415Z,1755657845.415 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.885597
2025-08-20T02:44:05.442Z,1755657845.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.510852 s,
deltaX: 0.200000 m,
approachRate: 0.391503 m/s,
rangeRepo size: 4
2025-08-20T02:44:05.444Z,1755657845.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 175.816773 deg,
lat: 36.779339 deg,
lon: -121.859517 deg,
deltaT: 0.510852 s,
deltaX: 0.200000 m,
approachRate: 0.391503 m/s,
posRepo size: 4
2025-08-20T02:44:05.669Z,1755657845.669 [DAT](INFO): DAT read: Rx Time:02:44:03.6976
2025-08-20T02:44:05.670Z,1755657845.670 [DAT](INFO): Rx dataTimestamp_ set to:1755657845.669084
2025-08-20T02:44:05.672Z,1755657845.672 [DAT](INFO): DAT read: Bearing 323.5, 34.0 (Local)
2025-08-20T02:44:05.673Z,1755657845.673 [DAT](INFO): Local bearing/azimuth received:
Bearing 323.5, 34.0 (Local)
2025-08-20T02:44:05.676Z,1755657845.676 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:05.692Z,1755657845.692 [DAT](INFO): DAT read: 02:44:03.6976 LVL= 26784, 17217, 22002, 32755, AGC= 45, IDX= 499, 0.17,-2.974,-2.802, 2.379,-1.913, PHS=-0.959,-0.844,-2.034, RAW= 25.0, 50.0, CAL= 23.6, 54.5, ROT= 126.4, -54.5
2025-08-20T02:44:05.694Z,1755657845.694 [DAT](INFO): got valid direction response:
02:44:03.6976 LVL= 26784, 17217, 22002, 32755, AGC= 45, IDX= 499, 0.17,-2.974,-2.802, 2.379,-1.913, PHS=-0.959,-0.844,-2.034, RAW= 25.0, 50.0, CAL= 23.6, 54.5, ROT= 126.4, -54.5
2025-08-20T02:44:05.694Z,1755657845.694 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-20T02:44:05.695Z,1755657845.695 [DAT](INFO): direction in FSK: [-0.344600,0.467404,0.814116]
2025-08-20T02:44:05.695Z,1755657845.695 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:05.705Z,1755657845.705 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.175934
2025-08-20T02:44:05.854Z,1755657845.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.499060 s,
deltaX: -0.200000 m,
approachRate: -0.400753 m/s,
rangeRepo size: 4
2025-08-20T02:44:05.856Z,1755657845.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.000000 m,
bearing: 175.518225 deg,
lat: 36.779339 deg,
lon: -121.859517 deg,
deltaT: 0.499060 s,
deltaX: -0.200000 m,
approachRate: -0.400753 m/s,
posRepo size: 4
2025-08-20T02:44:05.919Z,1755657845.919 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.389938
2025-08-20T02:44:06.176Z,1755657846.176 [DAT](INFO): DAT read: Rx Time:02:44:04.1977
2025-08-20T02:44:06.178Z,1755657846.178 [DAT](INFO): Rx dataTimestamp_ set to:1755657846.176687
2025-08-20T02:44:06.186Z,1755657846.186 [DAT](INFO): DAT read: Bearing 324.0, 33.4 (Local)
2025-08-20T02:44:06.187Z,1755657846.187 [DAT](INFO): Local bearing/azimuth received:
Bearing 324.0, 33.4 (Local)
2025-08-20T02:44:06.202Z,1755657846.202 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:06.221Z,1755657846.221 [DAT](INFO): DAT read: 02:44:04.1977 LVL= 28000, 18209, 21042, 32755, AGC= 45, IDX= 500, 0.34,-2.221,-2.028,-3.130,-1.153, PHS=-0.967,-0.830,-2.022, RAW= 24.0, 50.1, CAL= 22.6, 54.5, ROT= 127.4, -54.5
2025-08-20T02:44:06.258Z,1755657846.258 [DAT](INFO): got valid direction response:
02:44:04.1977 LVL= 28000, 18209, 21042, 32755, AGC= 45, IDX= 500, 0.34,-2.221,-2.028,-3.130,-1.153, PHS=-0.967,-0.830,-2.022, RAW= 24.0, 50.1, CAL= 22.6, 54.5, ROT= 127.4, -54.5
2025-08-20T02:44:06.258Z,1755657846.258 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-20T02:44:06.259Z,1755657846.259 [DAT](INFO): direction in FSK: [-0.352705,0.461319,0.814116]
2025-08-20T02:44:06.260Z,1755657846.260 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:06.271Z,1755657846.271 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.742214
2025-08-20T02:44:06.383Z,1755657846.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.507603 s,
deltaX: 0.200000 m,
approachRate: 0.394009 m/s,
rangeRepo size: 4
2025-08-20T02:44:06.385Z,1755657846.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 175.520411 deg,
lat: 36.779339 deg,
lon: -121.859517 deg,
deltaT: 0.507603 s,
deltaX: 0.200000 m,
approachRate: 0.394009 m/s,
posRepo size: 4
2025-08-20T02:44:06.423Z,1755657846.423 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.893719
2025-08-20T02:44:06.656Z,1755657846.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:44:06.676Z,1755657846.676 [DAT](INFO): DAT read: Rx Time:02:44:04.6976
2025-08-20T02:44:06.677Z,1755657846.677 [DAT](INFO): Rx dataTimestamp_ set to:1755657846.676413
2025-08-20T02:44:06.679Z,1755657846.679 [DAT](INFO): DAT read: Bearing 324.4, 33.6 (Local)
2025-08-20T02:44:06.680Z,1755657846.680 [DAT](INFO): Local bearing/azimuth received:
Bearing 324.4, 33.6 (Local)
2025-08-20T02:44:06.683Z,1755657846.683 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:06.705Z,1755657846.705 [DAT](INFO): DAT read: 02:44:04.6976 LVL= 28448, 19121, 20914, 32755, AGC= 46, IDX= 500,-0.40, 1.160, 1.354, 0.249, 2.208, PHS=-0.946,-0.810,-2.003, RAW= 24.0, 49.6, CAL= 22.6, 54.1, ROT= 127.4, -54.1
2025-08-20T02:44:06.710Z,1755657846.710 [DAT](INFO): got valid direction response:
02:44:04.6976 LVL= 28448, 19121, 20914, 32755, AGC= 46, IDX= 500,-0.40, 1.160, 1.354, 0.249, 2.208, PHS=-0.946,-0.810,-2.003, RAW= 24.0, 49.6, CAL= 22.6, 54.1, ROT= 127.4, -54.1
2025-08-20T02:44:06.710Z,1755657846.710 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-20T02:44:06.711Z,1755657846.711 [DAT](INFO): direction in FSK: [-0.356148,0.465823,0.810042]
2025-08-20T02:44:06.712Z,1755657846.712 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:06.734Z,1755657846.734 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.205303
2025-08-20T02:44:06.927Z,1755657846.927 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.397999
2025-08-20T02:44:07.083Z,1755657847.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.000000 m,
deltaT: 0.499726 s,
deltaX: -0.200000 m,
approachRate: -0.400219 m/s,
rangeRepo size: 4
2025-08-20T02:44:07.085Z,1755657847.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.000000 m,
bearing: 176.542290 deg,
lat: 36.779338 deg,
lon: -121.859518 deg,
deltaT: 0.499726 s,
deltaX: -0.200000 m,
approachRate: -0.400219 m/s,
posRepo size: 4
2025-08-20T02:44:07.184Z,1755657847.184 [DAT](INFO): DAT read: Rx Time:02:44:05.1977
2025-08-20T02:44:07.189Z,1755657847.189 [DAT](INFO): Rx dataTimestamp_ set to:1755657847.185046
2025-08-20T02:44:07.193Z,1755657847.193 [DAT](INFO): DAT read: Bearing 324.5, 34.2 (Local)
2025-08-20T02:44:07.195Z,1755657847.195 [DAT](INFO): Local bearing/azimuth received:
Bearing 324.5, 34.2 (Local)
2025-08-20T02:44:07.205Z,1755657847.205 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:07.262Z,1755657847.262 [DAT](INFO): DAT read: 02:44:05.1977 LVL= 27936, 20321, 24418, 32755, AGC= 46, IDX= 501,-0.22, 1.992, 2.178, 1.060, 3.023, PHS=-0.929,-0.800,-2.007, RAW= 24.4, 49.0, CAL= 23.0, 53.5, ROT= 127.0, -53.5
2025-08-20T02:44:07.263Z,1755657847.263 [DAT](INFO): got valid direction response:
02:44:05.1977 LVL= 27936, 20321, 24418, 32755, AGC= 46, IDX= 501,-0.22, 1.992, 2.178, 1.060, 3.023, PHS=-0.929,-0.800,-2.007, RAW= 24.4, 49.0, CAL= 23.0, 53.5, ROT= 127.0, -53.5
2025-08-20T02:44:07.264Z,1755657847.264 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-20T02:44:07.265Z,1755657847.265 [DAT](INFO): direction in FSK: [-0.357973,0.475047,0.803857]
2025-08-20T02:44:07.265Z,1755657847.265 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:07.286Z,1755657847.286 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.757259
2025-08-20T02:44:07.430Z,1755657847.430 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.901447
2025-08-20T02:44:07.554Z,1755657847.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.508633 s,
deltaX: 0.200000 m,
approachRate: 0.393211 m/s,
rangeRepo size: 4
2025-08-20T02:44:07.556Z,1755657847.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 178.081160 deg,
lat: 36.779338 deg,
lon: -121.859518 deg,
deltaT: 0.508633 s,
deltaX: 0.200000 m,
approachRate: 0.393211 m/s,
posRepo size: 4
2025-08-20T02:44:07.685Z,1755657847.685 [DAT](INFO): DAT read: Rx Time:02:44:05.6977
2025-08-20T02:44:07.685Z,1755657847.685 [DAT](INFO): Rx dataTimestamp_ set to:1755657847.685009
2025-08-20T02:44:07.687Z,1755657847.687 [DAT](INFO): DAT read: Bearing 324.7, 34.5 (Local)
2025-08-20T02:44:07.688Z,1755657847.688 [DAT](INFO): Local bearing/azimuth received:
Bearing 324.7, 34.5 (Local)
2025-08-20T02:44:07.691Z,1755657847.691 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:07.700Z,1755657847.700 [DAT](INFO): DAT read: 02:44:05.6977 LVL= 26992, 18417, 19794, 32755, AGC= 46, IDX= 500,-0.09, 1.116, 1.307, 0.154, 2.153, PHS=-0.935,-0.801,-2.044, RAW= 24.4, 48.5, CAL= 22.9, 53.1, ROT= 127.1, -53.1
2025-08-20T02:44:07.701Z,1755657847.701 [DAT](INFO): got valid direction response:
02:44:05.6977 LVL= 26992, 18417, 19794, 32755, AGC= 46, IDX= 500,-0.09, 1.116, 1.307, 0.154, 2.153, PHS=-0.935,-0.801,-2.044, RAW= 24.4, 48.5, CAL= 22.9, 53.1, ROT= 127.1, -53.1
2025-08-20T02:44:07.702Z,1755657847.702 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-20T02:44:07.703Z,1755657847.703 [DAT](INFO): direction in FSK: [-0.362178,0.478886,0.799685]
2025-08-20T02:44:07.703Z,1755657847.703 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:07.711Z,1755657847.711 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.181896
2025-08-20T02:44:07.904Z,1755657847.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.499963 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-08-20T02:44:07.907Z,1755657847.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.200000 m,
bearing: 178.077942 deg,
lat: 36.779338 deg,
lon: -121.859518 deg,
deltaT: 0.499963 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-08-20T02:44:07.908Z,1755657847.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 3.20 m. Lat: 36.779338 Lon: -121.859518 Cable present.
2025-08-20T02:44:07.908Z,1755657847.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-20T02:44:07.908Z,1755657847.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-20T02:44:07.909Z,1755657847.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-20T02:44:07.934Z,1755657847.934 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.405449
2025-08-20T02:44:08.194Z,1755657848.194 [DAT](INFO): DAT read: Rx Time:02:44:06.1977
2025-08-20T02:44:08.195Z,1755657848.195 [DAT](INFO): Rx dataTimestamp_ set to:1755657848.194508
2025-08-20T02:44:08.199Z,1755657848.199 [DAT](INFO): DAT read: Bearing 323.9, 35.6 (Local)
2025-08-20T02:44:08.200Z,1755657848.200 [DAT](INFO): Local bearing/azimuth received:
Bearing 323.9, 35.6 (Local)
2025-08-20T02:44:08.207Z,1755657848.207 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:08.241Z,1755657848.241 [DAT](INFO): DAT read: 02:44:06.1977 LVL= 28480, 18145, 19682, 32755, AGC= 46, IDX= 500, 0.03, 2.200, 2.355, 1.177,-3.059, PHS=-0.922,-0.824,-2.091, RAW= 26.0, 48.0, CAL= 24.5, 52.7, ROT= 125.5, -52.7
2025-08-20T02:44:08.278Z,1755657848.278 [DAT](INFO): got valid direction response:
02:44:06.1977 LVL= 28480, 18145, 19682, 32755, AGC= 46, IDX= 500, 0.03, 2.200, 2.355, 1.177,-3.059, PHS=-0.922,-0.824,-2.091, RAW= 26.0, 48.0, CAL= 24.5, 52.7, ROT= 125.5, -52.7
2025-08-20T02:44:08.278Z,1755657848.278 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-20T02:44:08.279Z,1755657848.279 [DAT](INFO): direction in FSK: [-0.351899,0.493345,0.795473]
2025-08-20T02:44:08.280Z,1755657848.280 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:08.291Z,1755657848.291 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.762390
2025-08-20T02:44:08.438Z,1755657848.438 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.909481
2025-08-20T02:44:08.544Z,1755657848.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-20T02:44:08.544Z,1755657848.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-20T02:44:08.544Z,1755657848.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-20T02:44:08.691Z,1755657848.691 [DAT](INFO): DAT read: Rx Time:02:44:06.6976
2025-08-20T02:44:08.692Z,1755657848.692 [DAT](INFO): Rx dataTimestamp_ set to:1755657848.691348
2025-08-20T02:44:08.693Z,1755657848.693 [DAT](INFO): DAT read: Bearing 323.5, 36.0 (Local)
2025-08-20T02:44:08.693Z,1755657848.693 [DAT](INFO): Local bearing/azimuth received:
Bearing 323.5, 36.0 (Local)
2025-08-20T02:44:08.695Z,1755657848.695 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:08.708Z,1755657848.708 [DAT](INFO): DAT read: 02:44:06.6976 LVL= 28896, 16625, 22066, 32755, AGC= 46, IDX= 499, 0.13, 1.367, 1.514, 0.333, 2.385, PHS=-0.916,-0.826,-2.096, RAW= 26.4, 47.9, CAL= 24.8, 52.5, ROT= 125.2, -52.5
2025-08-20T02:44:08.709Z,1755657848.709 [DAT](INFO): got valid direction response:
02:44:06.6976 LVL= 28896, 16625, 22066, 32755, AGC= 46, IDX= 499, 0.13, 1.367, 1.514, 0.333, 2.385, PHS=-0.916,-0.826,-2.096, RAW= 26.4, 47.9, CAL= 24.8, 52.5, ROT= 125.2, -52.5
2025-08-20T02:44:08.714Z,1755657848.714 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-20T02:44:08.715Z,1755657848.715 [DAT](INFO): direction in FSK: [-0.350910,0.497446,0.793353]
2025-08-20T02:44:08.715Z,1755657848.715 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:08.731Z,1755657848.731 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.201645
2025-08-20T02:44:08.864Z,1755657848.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-20T02:44:08.869Z,1755657848.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-20T02:44:08.869Z,1755657848.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-20T02:44:08.870Z,1755657848.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-20T02:44:08.870Z,1755657848.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-20T02:44:08.870Z,1755657848.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-20T02:44:08.870Z,1755657848.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-20T02:44:08.870Z,1755657848.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-20T02:44:08.870Z,1755657848.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-20T02:44:08.870Z,1755657848.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-20T02:44:08.870Z,1755657848.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-20T02:44:08.947Z,1755657848.947 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.418304
2025-08-20T02:44:09.199Z,1755657849.199 [DAT](INFO): DAT read: Rx Time:02:44:07.1977
2025-08-20T02:44:09.199Z,1755657849.199 [DAT](INFO): Rx dataTimestamp_ set to:1755657849.199096
2025-08-20T02:44:09.201Z,1755657849.201 [DAT](INFO): DAT read: Bearing 323.4, 36.4 (Local)
2025-08-20T02:44:09.201Z,1755657849.201 [DAT](INFO): Local bearing/azimuth received:
Bearing 323.4, 36.4 (Local)
2025-08-20T02:44:09.204Z,1755657849.204 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:09.222Z,1755657849.222 [DAT](INFO): DAT read: 02:44:07.1977 LVL= 29392, 16625, 22706, 32755, AGC= 46, IDX= 500, 0.27, 2.818, 2.959, 1.760,-2.455, PHS=-0.909,-0.825,-2.113, RAW= 26.7, 47.5, CAL= 25.1, 52.2, ROT= 124.9, -52.2
2025-08-20T02:44:09.238Z,1755657849.238 [DAT](INFO): got valid direction response:
02:44:07.1977 LVL= 29392, 16625, 22706, 32755, AGC= 46, IDX= 500, 0.27, 2.818, 2.959, 1.760,-2.455, PHS=-0.909,-0.825,-2.113, RAW= 26.7, 47.5, CAL= 25.1, 52.2, ROT= 124.9, -52.2
2025-08-20T02:44:09.239Z,1755657849.239 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-20T02:44:09.260Z,1755657849.260 [DAT](INFO): direction in FSK: [-0.350672,0.502677,0.790155]
2025-08-20T02:44:09.261Z,1755657849.261 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:09.277Z,1755657849.277 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.747669
2025-08-20T02:44:09.406Z,1755657849.406 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-20T02:44:09.406Z,1755657849.406 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-20T02:44:09.406Z,1755657849.406 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-20T02:44:09.406Z,1755657849.406 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-20T02:44:09.406Z,1755657849.406 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-20T02:44:09.406Z,1755657849.406 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-20T02:44:09.407Z,1755657849.407 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2025-08-20T02:44:09.407Z,1755657849.407 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-20T02:44:09.407Z,1755657849.407 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-20T02:44:09.416Z,1755657849.416 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-20T02:44:09.416Z,1755657849.416 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-20T02:44:09.416Z,1755657849.416 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-20T02:44:09.416Z,1755657849.416 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-20T02:44:09.416Z,1755657849.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-20T02:44:09.416Z,1755657849.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-20T02:44:09.417Z,1755657849.417 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-20T02:44:09.417Z,1755657849.417 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-20T02:44:09.451Z,1755657849.451 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.921669
2025-08-20T02:44:09.703Z,1755657849.703 [DAT](INFO): DAT read: Rx Time:02:44:07.6976
2025-08-20T02:44:09.703Z,1755657849.703 [DAT](INFO): Rx dataTimestamp_ set to:1755657849.703027
2025-08-20T02:44:09.705Z,1755657849.705 [DAT](INFO): DAT read: Bearing 323.4, 37.1 (Local)
2025-08-20T02:44:09.705Z,1755657849.705 [DAT](INFO): Local bearing/azimuth received:
Bearing 323.4, 37.1 (Local)
2025-08-20T02:44:09.707Z,1755657849.707 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:09.712Z,1755657849.712 [DAT](INFO): DAT read: 02:44:07.6976 LVL= 29584, 15937, 22002, 32755, AGC= 45, IDX= 499, 0.45, 1.254, 1.383, 0.171, 2.249, PHS=-0.892,-0.821,-2.121, RAW= 27.2, 47.0, CAL= 25.6, 51.7, ROT= 124.4, -51.7
2025-08-20T02:44:09.713Z,1755657849.713 [DAT](INFO): got valid direction response:
02:44:07.6976 LVL= 29584, 15937, 22002, 32755, AGC= 45, IDX= 499, 0.45, 1.254, 1.383, 0.171, 2.249, PHS=-0.892,-0.821,-2.121, RAW= 27.2, 47.0, CAL= 25.6, 51.7, ROT= 124.4, -51.7
2025-08-20T02:44:09.713Z,1755657849.713 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-20T02:44:09.714Z,1755657849.714 [DAT](INFO): direction in FSK: [-0.350155,0.511388,0.784776]
2025-08-20T02:44:09.714Z,1755657849.714 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:09.722Z,1755657849.722 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.192650
2025-08-20T02:44:09.818Z,1755657849.818 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-20T02:44:09.818Z,1755657849.818 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-20T02:44:09.954Z,1755657849.954 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.425446
2025-08-20T02:44:10.083Z,1755657850.083 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-20T02:44:10.083Z,1755657850.083 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-20T02:44:10.083Z,1755657850.083 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-20T02:44:10.084Z,1755657850.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:44:10.211Z,1755657850.211 [DAT](INFO): DAT read: Rx Time:02:44:08.1977
2025-08-20T02:44:10.212Z,1755657850.212 [DAT](INFO): Rx dataTimestamp_ set to:1755657850.211244
2025-08-20T02:44:10.216Z,1755657850.216 [DAT](INFO): DAT read: Bearing 323.6, 38.4 (Local)
2025-08-20T02:44:10.217Z,1755657850.217 [DAT](INFO): Local bearing/azimuth received:
Bearing 323.6, 38.4 (Local)
2025-08-20T02:44:10.223Z,1755657850.223 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:10.243Z,1755657850.243 [DAT](INFO): DAT read: 02:44:08.1977 LVL= 31728, 15265, 22802, 32755, AGC= 46, IDX= 501,-0.31, 1.408, 1.513, 0.280, 2.362, PHS=-0.852,-0.804,-2.126, RAW= 28.2, 45.8, CAL= 26.5, 50.7, ROT= 123.5, -50.7
2025-08-20T02:44:10.247Z,1755657850.247 [DAT](INFO): got valid direction response:
02:44:08.1977 LVL= 31728, 15265, 22802, 32755, AGC= 46, IDX= 501,-0.31, 1.408, 1.513, 0.280, 2.362, PHS=-0.852,-0.804,-2.126, RAW= 28.2, 45.8, CAL= 26.5, 50.7, ROT= 123.5, -50.7
2025-08-20T02:44:10.248Z,1755657850.248 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-20T02:44:10.275Z,1755657850.275 [DAT](INFO): direction in FSK: [-0.349586,0.528167,0.773840]
2025-08-20T02:44:10.276Z,1755657850.276 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:10.284Z,1755657850.284 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.754517
2025-08-20T02:44:10.458Z,1755657850.458 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.929443
2025-08-20T02:44:10.711Z,1755657850.711 [DAT](INFO): DAT read: Rx Time:02:44:08.6977
2025-08-20T02:44:10.712Z,1755657850.712 [DAT](INFO): Rx dataTimestamp_ set to:1755657850.711229
2025-08-20T02:44:10.713Z,1755657850.713 [DAT](INFO): DAT read: Bearing 322.7, 39.5 (Local)
2025-08-20T02:44:10.713Z,1755657850.713 [DAT](INFO): Local bearing/azimuth received:
Bearing 322.7, 39.5 (Local)
2025-08-20T02:44:10.715Z,1755657850.715 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:10.720Z,1755657850.720 [DAT](INFO): DAT read: 02:44:08.6977 LVL= 30768, 15617, 22690, 32755, AGC= 47, IDX= 500,-0.18,-0.135,-0.073,-1.283, 0.779, PHS=-0.812,-0.807,-2.107, RAW= 29.8, 45.4, CAL= 28.1, 50.4, ROT= 121.9, -50.4
2025-08-20T02:44:10.721Z,1755657850.721 [DAT](INFO): got valid direction response:
02:44:08.6977 LVL= 30768, 15617, 22690, 32755, AGC= 47, IDX= 500,-0.18,-0.135,-0.073,-1.283, 0.779, PHS=-0.812,-0.807,-2.107, RAW= 29.8, 45.4, CAL= 28.1, 50.4, ROT= 121.9, -50.4
2025-08-20T02:44:10.730Z,1755657850.730 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-20T02:44:10.733Z,1755657850.733 [DAT](INFO): direction in FSK: [-0.336839,0.541155,0.770513]
2025-08-20T02:44:10.733Z,1755657850.733 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:10.762Z,1755657850.762 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.233170
2025-08-20T02:44:10.966Z,1755657850.966 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.437351
2025-08-20T02:44:11.215Z,1755657851.215 [DAT](INFO): DAT read: Rx Time:02:44:09.1978
2025-08-20T02:44:11.215Z,1755657851.215 [DAT](INFO): Rx dataTimestamp_ set to:1755657851.215169
2025-08-20T02:44:11.217Z,1755657851.217 [DAT](INFO): DAT read: Bearing 322.1, 39.7 (Local)
2025-08-20T02:44:11.217Z,1755657851.217 [DAT](INFO): Local bearing/azimuth received:
Bearing 322.1, 39.7 (Local)
2025-08-20T02:44:11.223Z,1755657851.223 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:44:11.227Z,1755657851.227 [DAT](INFO): DAT read: 02:44:09.1978 LVL= 31136, 15537, 22994, 32755, AGC= 45, IDX= 501,-0.07, 2.135, 2.175, 0.968, 3.044, PHS=-0.807,-0.824,-2.121, RAW= 30.7, 45.5, CAL= 28.9, 50.4, ROT= 121.1, -50.4
2025-08-20T02:44:11.228Z,1755657851.228 [DAT](INFO): got valid direction response:
02:44:09.1978 LVL= 31136, 15537, 22994, 32755, AGC= 45, IDX= 501,-0.07, 2.135, 2.175, 0.968, 3.044, PHS=-0.807,-0.824,-2.121, RAW= 30.7, 45.5, CAL= 28.9, 50.4, ROT= 121.1, -50.4
2025-08-20T02:44:11.229Z,1755657851.229 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-20T02:44:11.230Z,1755657851.230 [DAT](INFO): direction in FSK: [-0.329251,0.545805,0.770513]
2025-08-20T02:44:11.230Z,1755657851.230 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:11.237Z,1755657851.237 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.707115
2025-08-20T02:44:11.467Z,1755657851.467 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.937538
2025-08-20T02:44:11.719Z,1755657851.719 [DAT](INFO): DAT read: Rx Time:02:44:09.6977
2025-08-20T02:44:11.720Z,1755657851.720 [DAT](INFO): Rx dataTimestamp_ set to:1755657851.719227
2025-08-20T02:44:11.721Z,1755657851.721 [DAT](INFO): DAT read: Bearing 320.1, 40.1 (Local)
2025-08-20T02:44:11.721Z,1755657851.721 [DAT](INFO): Local bearing/azimuth received:
Bearing 320.1, 40.1 (Local)
2025-08-20T02:44:11.723Z,1755657851.723 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:11.732Z,1755657851.732 [DAT](INFO): DAT read: 02:44:09.6977 LVL= 32752, 15793, 23666, 32755, AGC= 47, IDX= 500, 0.04, 2.017, 1.995, 0.819, 2.913, PHS=-0.795,-0.873,-2.139, RAW= 33.0, 45.8, CAL= 31.2, 50.8, ROT= 118.8, -50.8
2025-08-20T02:44:11.733Z,1755657851.733 [DAT](INFO): got valid direction response:
02:44:09.6977 LVL= 32752, 15793, 23666, 32755, AGC= 47, IDX= 500, 0.04, 2.017, 1.995, 0.819, 2.913, PHS=-0.795,-0.873,-2.139, RAW= 33.0, 45.8, CAL= 31.2, 50.8, ROT= 118.8, -50.8
2025-08-20T02:44:11.766Z,1755657851.766 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-20T02:44:11.768Z,1755657851.768 [DAT](INFO): direction in FSK: [-0.304483,0.553851,0.774944]
2025-08-20T02:44:11.768Z,1755657851.768 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:11.784Z,1755657851.784 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.254642
2025-08-20T02:44:11.970Z,1755657851.970 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.441452
2025-08-20T02:44:12.108Z,1755657852.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:44:12.224Z,1755657852.224 [DAT](INFO): DAT read: Rx Time:02:44:10.1977
2025-08-20T02:44:12.224Z,1755657852.224 [DAT](INFO): Rx dataTimestamp_ set to:1755657852.224211
2025-08-20T02:44:12.227Z,1755657852.227 [DAT](INFO): DAT read: Bearing 319.7, 39.6 (Local)
2025-08-20T02:44:12.227Z,1755657852.227 [DAT](INFO): Local bearing/azimuth received:
Bearing 319.7, 39.6 (Local)
2025-08-20T02:44:12.229Z,1755657852.229 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:12.235Z,1755657852.235 [DAT](INFO): DAT read: 02:44:10.1977 LVL= 29680, 15921, 22562, 32755, AGC= 45, IDX= 500, 0.14, 2.311, 2.289, 1.129,-3.069, PHS=-0.801,-0.881,-2.129, RAW= 33.0, 46.3, CAL= 31.2, 51.1, ROT= 118.8, -51.1
2025-08-20T02:44:12.239Z,1755657852.239 [DAT](INFO): got valid direction response:
02:44:10.1977 LVL= 29680, 15921, 22562, 32755, AGC= 45, IDX= 500, 0.14, 2.311, 2.289, 1.129,-3.069, PHS=-0.801,-0.881,-2.129, RAW= 33.0, 46.3, CAL= 31.2, 51.1, ROT= 118.8, -51.1
2025-08-20T02:44:12.240Z,1755657852.240 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-20T02:44:12.244Z,1755657852.244 [DAT](INFO): direction in FSK: [-0.302524,0.550288,0.778243]
2025-08-20T02:44:12.244Z,1755657852.244 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:12.258Z,1755657852.258 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.728832
2025-08-20T02:44:12.474Z,1755657852.474 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.945400
2025-08-20T02:44:12.727Z,1755657852.727 [DAT](INFO): DAT read: Rx Time:02:44:10.6976
2025-08-20T02:44:12.727Z,1755657852.727 [DAT](INFO): Rx dataTimestamp_ set to:1755657852.727111
2025-08-20T02:44:12.729Z,1755657852.729 [DAT](INFO): DAT read: Bearing 318.9, 38.9 (Local)
2025-08-20T02:44:12.729Z,1755657852.729 [DAT](INFO): Local bearing/azimuth received:
Bearing 318.9, 38.9 (Local)
2025-08-20T02:44:12.735Z,1755657852.735 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:12.739Z,1755657852.739 [DAT](INFO): DAT read: 02:44:10.6976 LVL= 29424, 15905, 19442, 32755, AGC= 45, IDX= 499, 0.29, 1.335, 1.300, 0.178, 2.248, PHS=-0.812,-0.903,-2.115, RAW= 33.6, 47.1, CAL= 31.8, 51.9, ROT= 118.2, -51.9
2025-08-20T02:44:12.740Z,1755657852.740 [DAT](INFO): got valid direction response:
02:44:10.6976 LVL= 29424, 15905, 19442, 32755, AGC= 45, IDX= 499, 0.29, 1.335, 1.300, 0.178, 2.248, PHS=-0.812,-0.903,-2.115, RAW= 33.6, 47.1, CAL= 31.8, 51.9, ROT= 118.2, -51.9
2025-08-20T02:44:12.741Z,1755657852.741 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-20T02:44:12.745Z,1755657852.745 [DAT](INFO): direction in FSK: [-0.291581,0.543796,0.786935]
2025-08-20T02:44:12.745Z,1755657852.745 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:12.754Z,1755657852.754 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.224346
2025-08-20T02:44:12.936Z,1755657852.936 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-20T02:44:12.936Z,1755657852.936 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-20T02:44:12.936Z,1755657852.936 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-20T02:44:12.936Z,1755657852.936 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-20T02:44:12.981Z,1755657852.981 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.451447
2025-08-20T02:44:13.231Z,1755657853.231 [DAT](INFO): DAT read: Rx Time:02:44:11.1977
2025-08-20T02:44:13.232Z,1755657853.232 [DAT](INFO): Rx dataTimestamp_ set to:1755657853.231234
2025-08-20T02:44:13.233Z,1755657853.233 [DAT](INFO): DAT read: Bearing 319.4, 37.8 (Local)
2025-08-20T02:44:13.233Z,1755657853.233 [DAT](INFO): Local bearing/azimuth received:
Bearing 319.4, 37.8 (Local)
2025-08-20T02:44:13.235Z,1755657853.235 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:13.240Z,1755657853.240 [DAT](INFO): DAT read: 02:44:11.1977 LVL= 29136, 15921, 20050, 32755, AGC= 45, IDX= 500, 0.48, 2.006, 1.998, 0.899, 2.929, PHS=-0.821,-0.886,-2.075, RAW= 32.6, 47.6, CAL= 30.9, 52.3, ROT= 119.1, -52.3
2025-08-20T02:44:13.241Z,1755657853.241 [DAT](INFO): got valid direction response:
02:44:11.1977 LVL= 29136, 15921, 20050, 32755, AGC= 45, IDX= 500, 0.48, 2.006, 1.998, 0.899, 2.929, PHS=-0.821,-0.886,-2.075, RAW= 32.6, 47.6, CAL= 30.9, 52.3, ROT= 119.1, -52.3
2025-08-20T02:44:13.241Z,1755657853.241 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-20T02:44:13.242Z,1755657853.242 [DAT](INFO): direction in FSK: [-0.297407,0.534335,0.791224]
2025-08-20T02:44:13.243Z,1755657853.243 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:13.247Z,1755657853.247 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.717625
2025-08-20T02:44:13.485Z,1755657853.485 [DAT](INFO): DAT read: Rx Time:02:44:11.6976
2025-08-20T02:44:13.486Z,1755657853.486 [DAT](INFO): Rx dataTimestamp_ set to:1755657853.485131
2025-08-20T02:44:13.488Z,1755657853.488 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.958149
2025-08-20T02:44:13.534Z,1755657853.534 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count
2025-08-20T02:44:13.535Z,1755657853.535 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture] Stopped
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-20T02:44:13.543Z,1755657853.543 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-20T02:44:13.544Z,1755657853.544 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-20T02:44:13.719Z,1755657853.719 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-20T02:44:13.719Z,1755657853.719 [lineCaptureHoming:Lap:B] Stopped
2025-08-20T02:44:13.719Z,1755657853.719 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-20T02:44:13.720Z,1755657853.720 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-20T02:44:13.735Z,1755657853.735 [DAT](INFO): DAT read: Bearing 320.7, 37.1 (Local)
2025-08-20T02:44:13.735Z,1755657853.735 [DAT](INFO): Local bearing/azimuth received:
Bearing 320.7, 37.1 (Local)
2025-08-20T02:44:13.738Z,1755657853.738 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:13.742Z,1755657853.742 [DAT](INFO): DAT read: 02:44:11.6976 LVL= 26064, 15601, 19234, 32755, AGC= 45, IDX= 500,-0.29,-1.006,-0.975,-2.062,-0.089, PHS=-0.815,-0.840,-2.017, RAW= 31.1, 47.5, CAL= 29.4, 52.2, ROT= 120.6, -52.2
2025-08-20T02:44:13.743Z,1755657853.743 [DAT](INFO): got valid direction response:
02:44:11.6976 LVL= 26064, 15601, 19234, 32755, AGC= 45, IDX= 500,-0.29,-1.006,-0.975,-2.062,-0.089, PHS=-0.815,-0.840,-2.017, RAW= 31.1, 47.5, CAL= 29.4, 52.2, ROT= 120.6, -52.2
2025-08-20T02:44:13.743Z,1755657853.743 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-20T02:44:13.744Z,1755657853.744 [DAT](INFO): direction in FSK: [-0.311995,0.527555,0.790155]
2025-08-20T02:44:13.745Z,1755657853.745 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:13.748Z,1755657853.748 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.219097
2025-08-20T02:44:13.988Z,1755657853.988 [DAT](INFO): DAT read: Rx Time:02:44:12.1978
2025-08-20T02:44:13.990Z,1755657853.990 [DAT](INFO): Rx dataTimestamp_ set to:1755657853.988947
2025-08-20T02:44:13.992Z,1755657853.992 [DAT](INFO): DAT read: Bearing 320.1, 37.5 (Local)
2025-08-20T02:44:13.992Z,1755657853.992 [DAT](INFO): Local bearing/azimuth received:
Bearing 320.1, 37.5 (Local)
2025-08-20T02:44:13.994Z,1755657853.994 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.465084
2025-08-20T02:44:14.127Z,1755657854.127 [lineCaptureHoming:Lap:C] Stopped
2025-08-20T02:44:14.127Z,1755657854.127 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-20T02:44:14.240Z,1755657854.240 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:44:14.245Z,1755657854.245 [DAT](INFO): DAT read: 02:44:12.1978 LVL= 24816, 15649, 19506, 31987, AGC= 45, IDX= 501,-0.15, 0.494, 0.490,-0.579, 1.401, PHS=-0.805,-0.866,-2.024, RAW= 32.5, 47.7, CAL= 30.8, 52.4, ROT= 119.2, -52.4
2025-08-20T02:44:14.246Z,1755657854.246 [DAT](INFO): got valid direction response:
02:44:12.1978 LVL= 24816, 15649, 19506, 31987, AGC= 45, IDX= 501,-0.15, 0.494, 0.490,-0.579, 1.401, PHS=-0.805,-0.866,-2.024, RAW= 32.5, 47.7, CAL= 30.8, 52.4, ROT= 119.2, -52.4
2025-08-20T02:44:14.246Z,1755657854.246 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-20T02:44:14.248Z,1755657854.248 [DAT](INFO): direction in FSK: [-0.297665,0.532609,0.792290]
2025-08-20T02:44:14.249Z,1755657854.249 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:14.255Z,1755657854.255 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.726078
2025-08-20T02:44:14.493Z,1755657854.493 [DAT](INFO): DAT read: Rx Time:02:44:12.6977
2025-08-20T02:44:14.519Z,1755657854.519 [DAT](INFO): Rx dataTimestamp_ set to:1755657854.517884
2025-08-20T02:44:14.522Z,1755657854.522 [DAT](INFO): DAT read: Bearing 319.2, 38.2 (Local)
2025-08-20T02:44:14.523Z,1755657854.523 [DAT](INFO): Local bearing/azimuth received:
Bearing 319.2, 38.2 (Local)
2025-08-20T02:44:14.532Z,1755657854.532 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:14.534Z,1755657854.534 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-08-20T02:44:14.537Z,1755657854.537 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.007526
2025-08-20T02:44:14.663Z,1755657854.663 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count
2025-08-20T02:44:14.663Z,1755657854.663 [lineCaptureHoming:Lap:D] Stopped
2025-08-20T02:44:14.663Z,1755657854.663 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-20T02:44:14.663Z,1755657854.663 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-20T02:44:14.747Z,1755657854.747 [DAT](INFO): DAT read: 02:44:12.6977 LVL= 27152, 14769, 19218, 32755, AGC= 45, IDX= 500,-0.05,-0.330,-0.382,-1.426, 0.558, PHS=-0.786,-0.895,-2.028, RAW= 34.5, 47.8, CAL= 32.7, 52.5, ROT= 117.3, -52.5
2025-08-20T02:44:14.748Z,1755657854.748 [DAT](INFO): got valid direction response:
02:44:12.6977 LVL= 27152, 14769, 19218, 32755, AGC= 45, IDX= 500,-0.05,-0.330,-0.382,-1.426, 0.558, PHS=-0.786,-0.895,-2.028, RAW= 34.5, 47.8, CAL= 32.7, 52.5, ROT= 117.3, -52.5
2025-08-20T02:44:14.749Z,1755657854.749 [DAT](INFO): #Rx 116: Read direction message, but no range.
2025-08-20T02:44:14.762Z,1755657854.762 [DAT](INFO): direction in FSK: [-0.279208,0.540956,0.793353]
2025-08-20T02:44:14.766Z,1755657854.766 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.236721
2025-08-20T02:44:14.935Z,1755657854.935 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-20T02:44:14.935Z,1755657854.935 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-20T02:44:14.935Z,1755657854.935 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-20T02:44:14.936Z,1755657854.936 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-20T02:44:14.936Z,1755657854.936 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-20T02:44:14.936Z,1755657854.936 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-20T02:44:14.936Z,1755657854.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:44:14.997Z,1755657854.997 [DAT](INFO): DAT read: Rx Time:02:44:13.1978
2025-08-20T02:44:14.999Z,1755657854.999 [DAT](INFO): Rx dataTimestamp_ set to:1755657854.997861
2025-08-20T02:44:15.001Z,1755657855.001 [DAT](INFO): DAT read: Bearing 317.4, 39.4 (Local)
2025-08-20T02:44:15.010Z,1755657855.010 [DAT](INFO): Local bearing/azimuth received:
Bearing 317.4, 39.4 (Local)
2025-08-20T02:44:15.014Z,1755657855.014 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:44:15.016Z,1755657855.016 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-08-20T02:44:15.039Z,1755657855.039 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.510139
2025-08-20T02:44:15.250Z,1755657855.250 [DAT](INFO): DAT read: 02:44:13.1978 LVL= 23296, 13041, 17218, 31555, AGC= 45, IDX= 501, 0.06, 1.886, 1.748, 0.725, 2.757, PHS=-0.768,-0.963,-2.076, RAW= 38.0, 47.8, CAL= 36.1, 52.7, ROT= 113.9, -52.7
2025-08-20T02:44:15.251Z,1755657855.251 [DAT](INFO): got valid direction response:
02:44:13.1978 LVL= 23296, 13041, 17218, 31555, AGC= 45, IDX= 501, 0.06, 1.886, 1.748, 0.725, 2.757, PHS=-0.768,-0.963,-2.076, RAW= 38.0, 47.8, CAL= 36.1, 52.7, ROT= 113.9, -52.7
2025-08-20T02:44:15.251Z,1755657855.251 [DAT](INFO): #Rx 118: Read direction message, but no range.
2025-08-20T02:44:15.252Z,1755657855.252 [DAT](INFO): direction in FSK: [-0.245511,0.554027,0.795473]
2025-08-20T02:44:15.256Z,1755657855.256 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.726742
2025-08-20T02:44:15.440Z,1755657855.440 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-20T02:44:15.440Z,1755657855.440 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-20T02:44:15.440Z,1755657855.440 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-20T02:44:15.440Z,1755657855.440 [lineCaptureHoming:restartDHCP] Stopped
2025-08-20T02:44:15.440Z,1755657855.440 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-20T02:44:15.464Z,1755657855.464 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-20T02:44:15.511Z,1755657855.511 [DAT](INFO): DAT read: Rx Time:02:44:13.6977
2025-08-20T02:44:15.515Z,1755657855.515 [DAT](INFO): Rx dataTimestamp_ set to:1755657855.512169
2025-08-20T02:44:15.523Z,1755657855.523 [DAT](INFO): DAT read: Bearing 317.1, 39.5 (Local)
2025-08-20T02:44:15.524Z,1755657855.524 [DAT](INFO): Local bearing/azimuth received:
Bearing 317.1, 39.5 (Local)
2025-08-20T02:44:15.535Z,1755657855.535 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:15.562Z,1755657855.562 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-08-20T02:44:15.567Z,1755657855.567 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.038021
2025-08-20T02:44:15.761Z,1755657855.761 [DAT](INFO): DAT read: 02:44:13.6977 LVL= 22736, 12769, 17698, 30451, AGC= 45, IDX= 500, 0.19, 1.058, 0.893,-0.109, 1.927, PHS=-0.767,-0.989,-2.080, RAW= 39.1, 48.1, CAL= 37.2, 53.0, ROT= 112.8, -53.0
2025-08-20T02:44:15.763Z,1755657855.763 [DAT](INFO): got valid direction response:
02:44:13.6977 LVL= 22736, 12769, 17698, 30451, AGC= 45, IDX= 500, 0.19, 1.058, 0.893,-0.109, 1.927, PHS=-0.767,-0.989,-2.080, RAW= 39.1, 48.1, CAL= 37.2, 53.0, ROT= 112.8, -53.0
2025-08-20T02:44:15.763Z,1755657855.763 [DAT](INFO): #Rx 120: Read direction message, but no range.
2025-08-20T02:44:15.764Z,1755657855.764 [DAT](INFO): direction in FSK: [-0.233213,0.554791,0.798636]
2025-08-20T02:44:15.773Z,1755657855.773 [DAT](INFO): ****** received valid address query ******
2025-08-20T02:44:15.773Z,1755657855.773 [DAT](INFO): ****** received valid ping request ******
2025-08-20T02:44:15.774Z,1755657855.774 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:15.811Z,1755657855.811 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-20T02:44:15.811Z,1755657855.811 [lineCaptureHoming:Lap:E] Stopped
2025-08-20T02:44:15.811Z,1755657855.811 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-20T02:44:15.811Z,1755657855.811 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-20T02:44:15.811Z,1755657855.811 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-20T02:44:15.812Z,1755657855.812 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-20T02:44:16.005Z,1755657856.005 [DAT](INFO): DAT read: Rx Time:02:44:14.1977
2025-08-20T02:44:16.009Z,1755657856.009 [DAT](INFO): Rx dataTimestamp_ set to:1755657856.008143
2025-08-20T02:44:16.012Z,1755657856.012 [DAT](INFO): DAT read: Bearing 317.6, 39.0 (Local)
2025-08-20T02:44:16.013Z,1755657856.013 [DAT](INFO): Local bearing/azimuth received:
Bearing 317.6, 39.0 (Local)
2025-08-20T02:44:16.018Z,1755657856.018 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:16.020Z,1755657856.020 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-20T02:44:16.022Z,1755657856.022 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:16.023Z,1755657856.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:16.189Z,1755657856.189 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 15.000000 min
2025-08-20T02:44:16.189Z,1755657856.189 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-20T02:44:16.189Z,1755657856.189 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-20T02:44:16.260Z,1755657856.260 [DAT](INFO): DAT read: 02:44:14.1977 LVL= 22816, 12593, 17810, 31155, AGC= 45, IDX= 500, 0.36, 1.324, 1.169, 0.177, 2.204, PHS=-0.77,-.990,-2.070, RAW= 38.8, 48.5, CAL= 36.9, 53.3, ROT= 113.1, -53.3
2025-08-20T02:44:16.262Z,1755657856.262 [DAT](INFO): got valid direction response:
02:44:14.1977 LVL= 22816, 12593, 17810, 31155, AGC= 45, IDX= 500, 0.36, 1.324, 1.169, 0.177, 2.204, PHS=-0.77,-.990,-2.070, RAW= 38.8, 48.5, CAL= 36.9, 53.3, ROT= 113.1, -53.3
2025-08-20T02:44:16.262Z,1755657856.262 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-20T02:44:16.263Z,1755657856.263 [DAT](INFO): direction in FSK: [-0.234470,0.549708,0.801776]
2025-08-20T02:44:16.268Z,1755657856.268 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:16.268Z,1755657856.268 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:16.269Z,1755657856.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:16.511Z,1755657856.511 [DAT](INFO): DAT read: Rx Time:02:44:14.6976
2025-08-20T02:44:16.512Z,1755657856.512 [DAT](INFO): Rx dataTimestamp_ set to:1755657856.511643
2025-08-20T02:44:16.520Z,1755657856.520 [DAT](INFO): DAT read: Bearing 319.9, 38.6 (Local)
2025-08-20T02:44:16.521Z,1755657856.521 [DAT](INFO): Local bearing/azimuth received:
Bearing 319.9, 38.6 (Local)
2025-08-20T02:44:16.534Z,1755657856.534 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:16.536Z,1755657856.536 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-20T02:44:16.554Z,1755657856.554 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:16.554Z,1755657856.554 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:16.671Z,1755657856.671 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-20T02:44:16.671Z,1755657856.671 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-20T02:44:16.764Z,1755657856.764 [DAT](INFO): DAT read: 02:44:14.6976 LVL= 22848, 12657, 18034, 30675, AGC= 47, IDX= 500,-0.42,-1.732,-1.834,-2.835,-0.866, PHS=-0.763,-0.922,-2.012, RAW= 36.7, 48.0, CAL= 34.9, 52.8, ROT= 115.1, -52.8
2025-08-20T02:44:16.765Z,1755657856.765 [DAT](INFO): got valid direction response:
02:44:14.6976 LVL= 22848, 12657, 18034, 30675, AGC= 47, IDX= 500,-0.42,-1.732,-1.834,-2.835,-0.866, PHS=-0.763,-0.922,-2.012, RAW= 36.7, 48.0, CAL= 34.9, 52.8, ROT= 115.1, -52.8
2025-08-20T02:44:16.766Z,1755657856.766 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-20T02:44:16.767Z,1755657856.767 [DAT](INFO): direction in FSK: [-0.256471,0.547506,0.796530]
2025-08-20T02:44:16.770Z,1755657856.770 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:16.770Z,1755657856.770 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:16.771Z,1755657856.771 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:16.998Z,1755657856.998 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-20T02:44:16.999Z,1755657856.999 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-20T02:44:16.999Z,1755657856.999 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-20T02:44:16.000Z,1755657857.000 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-20T02:44:17.014Z,1755657857.014 [DAT](INFO): DAT read: Rx Time:02:44:15.1977
2025-08-20T02:44:17.015Z,1755657857.015 [DAT](INFO): Rx dataTimestamp_ set to:1755657857.014461
2025-08-20T02:44:17.019Z,1755657857.019 [DAT](INFO): DAT read: Bearing 321.9, 37.9 (Local)
2025-08-20T02:44:17.020Z,1755657857.020 [DAT](INFO): Local bearing/azimuth received:
Bearing 321.9, 37.9 (Local)
2025-08-20T02:44:17.024Z,1755657857.024 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:17.031Z,1755657857.031 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-20T02:44:17.033Z,1755657857.033 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:17.042Z,1755657857.042 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:17.266Z,1755657857.266 [DAT](INFO): DAT read: 02:44:15.1977 LVL= 20784, 11665, 18466, 27219, AGC= 46, IDX= 501,-0.24,-1.026,-1.080,-2.100,-0.155, PHS=-0.768,-0.880,-1.989, RAW= 34.7, 47.7, CAL= 32.9, 52.5, ROT= 117.1, -52.5
2025-08-20T02:44:17.267Z,1755657857.267 [DAT](INFO): got valid direction response:
02:44:15.1977 LVL= 20784, 11665, 18466, 27219, AGC= 46, IDX= 501,-0.24,-1.026,-1.080,-2.100,-0.155, PHS=-0.768,-0.880,-1.989, RAW= 34.7, 47.7, CAL= 32.9, 52.5, ROT= 117.1, -52.5
2025-08-20T02:44:17.268Z,1755657857.268 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-20T02:44:17.268Z,1755657857.268 [DAT](INFO): direction in FSK: [-0.277318,0.541927,0.793353]
2025-08-20T02:44:17.272Z,1755657857.272 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:17.272Z,1755657857.272 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:17.272Z,1755657857.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:17.449Z,1755657857.449 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-20T02:44:17.450Z,1755657857.450 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Found local IP address 10.89.11.2 for eth0
2025-08-20T02:44:17.451Z,1755657857.451 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): No IP address on dock subnet, restarting DHCP
2025-08-20T02:44:17.489Z,1755657857.489 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-20T02:44:17.558Z,1755657857.558 [DAT](INFO): DAT read: Rx Time:02:44:15.6977
2025-08-20T02:44:17.558Z,1755657857.558 [DAT](INFO): Rx dataTimestamp_ set to:1755657857.557974
2025-08-20T02:44:17.560Z,1755657857.560 [DAT](INFO): DAT read: Bearing 321.4, 38.4 (Local)
2025-08-20T02:44:17.560Z,1755657857.560 [DAT](INFO): Local bearing/azimuth received:
Bearing 321.4, 38.4 (Local)
2025-08-20T02:44:17.563Z,1755657857.563 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:17.568Z,1755657857.568 [DAT](INFO): DAT read: 02:44:15.6977 LVL= 21232, 10129, 16850, 26915, AGC= 46, IDX= 500,-0.11,-1.888,-1.983,-2.982,-1.033, PHS=-0.753,-0.905,-1.993, RAW= 36.4, 47.8, CAL= 34.6, 52.6, ROT= 115.4, -52.6
2025-08-20T02:44:17.569Z,1755657857.569 [DAT](INFO): got valid direction response:
02:44:15.6977 LVL= 21232, 10129, 16850, 26915, AGC= 46, IDX= 500,-0.11,-1.888,-1.983,-2.982,-1.033, PHS=-0.753,-0.905,-1.993, RAW= 36.4, 47.8, CAL= 34.6, 52.6, ROT= 115.4, -52.6
2025-08-20T02:44:17.570Z,1755657857.570 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:44:17.571Z,1755657857.571 [DAT](INFO): direction in FSK: [-0.260525,0.548664,0.794415]
2025-08-20T02:44:17.572Z,1755657857.572 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:17.587Z,1755657857.587 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:17.587Z,1755657857.587 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:17.766Z,1755657857.766 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:17.766Z,1755657857.766 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:17.767Z,1755657857.767 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:18.022Z,1755657858.022 [DAT](INFO): DAT read: Rx Time:02:44:16.1978
2025-08-20T02:44:18.024Z,1755657858.024 [DAT](INFO): Rx dataTimestamp_ set to:1755657858.022617
2025-08-20T02:44:18.028Z,1755657858.028 [DAT](INFO): DAT read: Bearing 320.1, 38.8 (Local)
2025-08-20T02:44:18.029Z,1755657858.029 [DAT](INFO): Local bearing/azimuth received:
Bearing 320.1, 38.8 (Local)
2025-08-20T02:44:18.039Z,1755657858.039 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:44:18.048Z,1755657858.048 [DAT](INFO): DAT read: 02:44:16.1978 LVL= 22160, 9489, 17538, 26867, AGC= 46, IDX= 501,-0.01, 0.365, 0.210,-0.760, 1.215, PHS=-0.748,-0.960,-2.019, RAW= 39.0, 48.2, CAL= 37.1, 53.0, ROT= 112.9, -53.0
2025-08-20T02:44:18.054Z,1755657858.054 [DAT](INFO): got valid direction response:
02:44:16.1978 LVL= 22160, 9489, 17538, 26867, AGC= 46, IDX= 501,-0.01, 0.365, 0.210,-0.760, 1.215, PHS=-0.748,-0.960,-2.019, RAW= 39.0, 48.2, CAL= 37.1, 53.0, ROT= 112.9, -53.0
2025-08-20T02:44:18.054Z,1755657858.054 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:44:18.055Z,1755657858.055 [DAT](INFO): direction in FSK: [-0.234181,0.554383,0.798636]
2025-08-20T02:44:18.056Z,1755657858.056 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:18.076Z,1755657858.076 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:18.076Z,1755657858.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:18.271Z,1755657858.271 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:18.271Z,1755657858.271 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:18.271Z,1755657858.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:18.527Z,1755657858.527 [DAT](INFO): DAT read: Rx Time:02:44:16.6977
2025-08-20T02:44:18.528Z,1755657858.528 [DAT](INFO): Rx dataTimestamp_ set to:1755657858.527237
2025-08-20T02:44:18.532Z,1755657858.532 [DAT](INFO): DAT read: Bearing 318.2, 39.2 (Local)
2025-08-20T02:44:18.534Z,1755657858.534 [DAT](INFO): Local bearing/azimuth received:
Bearing 318.2, 39.2 (Local)
2025-08-20T02:44:18.540Z,1755657858.540 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:18.544Z,1755657858.544 [DAT](INFO): DAT read: 02:44:16.6977 LVL= 20032, 9457, 17810, 24563, AGC= 45, IDX= 500, 0.10, 0.214,-0.012,-0.931, 1.063, PHS=-0.747,-1.030,-2.038, RAW= 42.0, 48.9, CAL= 40.1, 53.8, ROT= 109.9, -53.8
2025-08-20T02:44:18.546Z,1755657858.546 [DAT](INFO): got valid direction response:
02:44:16.6977 LVL= 20032, 9457, 17810, 24563, AGC= 45, IDX= 500, 0.10, 0.214,-0.012,-0.931, 1.063, PHS=-0.747,-1.030,-2.038, RAW= 42.0, 48.9, CAL= 40.1, 53.8, ROT= 109.9, -53.8
2025-08-20T02:44:18.546Z,1755657858.546 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:44:18.547Z,1755657858.547 [DAT](INFO): direction in FSK: [-0.201030,0.555339,0.806960]
2025-08-20T02:44:18.547Z,1755657858.547 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:18.552Z,1755657858.552 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:18.552Z,1755657858.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:18.775Z,1755657858.775 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:18.775Z,1755657858.775 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:18.775Z,1755657858.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:19.031Z,1755657859.031 [DAT](INFO): DAT read: Rx Time:02:44:17.1978
2025-08-20T02:44:19.033Z,1755657859.033 [DAT](INFO): Rx dataTimestamp_ set to:1755657859.031610
2025-08-20T02:44:19.039Z,1755657859.039 [DAT](INFO): DAT read: Bearing 318.2, 39.7 (Local)
2025-08-20T02:44:19.040Z,1755657859.040 [DAT](INFO): Local bearing/azimuth received:
Bearing 318.2, 39.7 (Local)
2025-08-20T02:44:19.042Z,1755657859.042 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0
2025-08-20T02:44:19.063Z,1755657859.063 [DAT](INFO): DAT read: 02:44:17.1978 LVL= 19936, 9553, 19170, 23683, AGC= 45, IDX= 501, 0.23, 1.709, 1.453, 0.550, 2.543, PHS=-0.733,-1.046,-2.037, RAW= 43.3, 48.8, CAL= 41.2, 53.7, ROT= 108.8, -53.7
2025-08-20T02:44:19.064Z,1755657859.064 [DAT](INFO): got valid direction response:
02:44:17.1978 LVL= 19936, 9553, 19170, 23683, AGC= 45, IDX= 501, 0.23, 1.709, 1.453, 0.550, 2.543, PHS=-0.733,-1.046,-2.037, RAW= 43.3, 48.8, CAL= 41.2, 53.7, ROT= 108.8, -53.7
2025-08-20T02:44:19.064Z,1755657859.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:44:19.074Z,1755657859.074 [DAT](INFO): direction in FSK: [-0.190786,0.560429,0.805928]
2025-08-20T02:44:19.074Z,1755657859.074 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:19.082Z,1755657859.082 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:19.082Z,1755657859.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:19.235Z,1755657859.235 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:44:19.278Z,1755657859.278 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:19.278Z,1755657859.278 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:19.279Z,1755657859.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:19.535Z,1755657859.535 [DAT](INFO): DAT read: Rx Time:02:44:17.6977
2025-08-20T02:44:19.537Z,1755657859.537 [DAT](INFO): Rx dataTimestamp_ set to:1755657859.535875
2025-08-20T02:44:19.540Z,1755657859.540 [DAT](INFO): DAT read: Bearing 319.6, 39.8 (Local)
2025-08-20T02:44:19.541Z,1755657859.541 [DAT](INFO): Local bearing/azimuth received:
Bearing 319.6, 39.8 (Local)
2025-08-20T02:44:19.543Z,1755657859.543 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:19.552Z,1755657859.552 [DAT](INFO): DAT read: 02:44:17.6977 LVL= 19824, 9505, 18418, 24435, AGC= 45, IDX= 500, 0.40, 0.056,-0.179,-1.098, 0.885, PHS=-0.728,-1.019,-2.028, RAW= 42.4, 48.5, CAL= 40.4, 53.4, ROT= 109.6, -53.4
2025-08-20T02:44:19.553Z,1755657859.553 [DAT](INFO): got valid direction response:
02:44:17.6977 LVL= 19824, 9505, 18418, 24435, AGC= 45, IDX= 500, 0.40, 0.056,-0.179,-1.098, 0.885, PHS=-0.728,-1.019,-2.028, RAW= 42.4, 48.5, CAL= 40.4, 53.4, ROT= 109.6, -53.4
2025-08-20T02:44:19.553Z,1755657859.553 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:44:19.558Z,1755657859.558 [DAT](INFO): direction in FSK: [-0.200005,0.561678,0.802817]
2025-08-20T02:44:19.559Z,1755657859.559 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:19.566Z,1755657859.566 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:19.567Z,1755657859.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:19.782Z,1755657859.782 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:19.782Z,1755657859.782 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:19.782Z,1755657859.782 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:20.038Z,1755657860.038 [DAT](INFO): DAT read: Rx Time:02:44:18.1977
2025-08-20T02:44:20.039Z,1755657860.039 [DAT](INFO): Rx dataTimestamp_ set to:1755657860.038615
2025-08-20T02:44:20.041Z,1755657860.041 [DAT](INFO): DAT read: Bearing 324.9, 40.0 (Local)
2025-08-20T02:44:20.042Z,1755657860.042 [DAT](INFO): Local bearing/azimuth received:
Bearing 324.9, 40.0 (Local)
2025-08-20T02:44:20.044Z,1755657860.044 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0
2025-08-20T02:44:20.048Z,1755657860.048 [DAT](INFO): DAT read: 02:44:18.1977 LVL= 19696, 8801, 16770, 24291, AGC= 45, IDX= 501,-0.33,-1.625,-1.744,-2.760,-0.818, PHS=-0.705,-0.881,-1.986, RAW= 37.3, 46.4, CAL= 35.3, 51.4, ROT= 114.7, -51.4
2025-08-20T02:44:20.050Z,1755657860.050 [DAT](INFO): got valid direction response:
02:44:18.1977 LVL= 19696, 8801, 16770, 24291, AGC= 45, IDX= 501,-0.33,-1.625,-1.744,-2.760,-0.818, PHS=-0.705,-0.881,-1.986, RAW= 37.3, 46.4, CAL= 35.3, 51.4, ROT= 114.7, -51.4
2025-08-20T02:44:20.050Z,1755657860.050 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:44:20.051Z,1755657860.051 [DAT](INFO): direction in FSK: [-0.260699,0.566800,0.781520]
2025-08-20T02:44:20.051Z,1755657860.051 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:20.055Z,1755657860.055 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:20.055Z,1755657860.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:20.238Z,1755657860.238 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:44:20.286Z,1755657860.286 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:20.286Z,1755657860.286 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:20.287Z,1755657860.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:20.541Z,1755657860.541 [DAT](INFO): DAT read: Rx Time:02:44:18.6976
2025-08-20T02:44:20.541Z,1755657860.541 [DAT](INFO): Rx dataTimestamp_ set to:1755657860.541061
2025-08-20T02:44:20.543Z,1755657860.543 [DAT](INFO): DAT read: Bearing 327.2, 40.2 (Local)
2025-08-20T02:44:20.543Z,1755657860.543 [DAT](INFO): Local bearing/azimuth received:
Bearing 327.2, 40.2 (Local)
2025-08-20T02:44:20.545Z,1755657860.545 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0
2025-08-20T02:44:20.550Z,1755657860.550 [DAT](INFO): DAT read: 02:44:18.6976 LVL= 19776, 9793, 20194, 23427, AGC= 45, IDX= 500,-0.18, 3.141, 3.059, 2.004,-2.348, PHS=-0.692,-0.831,-1.975, RAW= 35.7, 45.4, CAL= 33.7, 50.5, ROT= 116.3, -50.5
2025-08-20T02:44:20.551Z,1755657860.551 [DAT](INFO): got valid direction response:
02:44:18.6976 LVL= 19776, 9793, 20194, 23427, AGC= 45, IDX= 500,-0.18, 3.141, 3.059, 2.004,-2.348, PHS=-0.692,-0.831,-1.975, RAW= 35.7, 45.4, CAL= 33.7, 50.5, ROT= 116.3, -50.5
2025-08-20T02:44:20.551Z,1755657860.551 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:44:20.552Z,1755657860.552 [DAT](INFO): direction in FSK: [-0.281828,0.570235,0.771625]
2025-08-20T02:44:20.552Z,1755657860.552 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:20.556Z,1755657860.556 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:20.556Z,1755657860.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:20.791Z,1755657860.791 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:20.791Z,1755657860.791 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:20.791Z,1755657860.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:21.042Z,1755657861.042 [DAT](INFO): DAT read: user:3272>
2025-08-20T02:44:21.043Z,1755657861.043 [DAT](INFO): Reached modem response timeout
2025-08-20T02:44:21.043Z,1755657861.043 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:44:21.043Z,1755657861.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:44:21.295Z,1755657861.295 [DAT](INFO): DAT read: 0
2025-08-20T02:44:21.295Z,1755657861.295 [DAT](INFO): unknown deviceResponse_: 0
2025-08-20T02:44:21.295Z,1755657861.295 [DAT](INFO): DAT read: Ok
2025-08-20T02:44:21.295Z,1755657861.295 [DAT](INFO): unknown deviceResponse_: Ok
2025-08-20T02:44:21.296Z,1755657861.296 [DAT](INFO): DAT read: user:3273>
2025-08-20T02:44:21.297Z,1755657861.297 [DAT](INFO): DAT read: Tx time:02:44:19.7037
2025-08-20T02:44:21.297Z,1755657861.297 [DAT](INFO): Ping request sent.
2025-08-20T02:44:21.297Z,1755657861.297 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:21.297Z,1755657861.297 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:21.298Z,1755657861.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000945
2025-08-20T02:44:21.547Z,1755657861.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249563
2025-08-20T02:44:21.799Z,1755657861.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501516
2025-08-20T02:44:22.050Z,1755657862.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753406
2025-08-20T02:44:22.303Z,1755657862.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005872
2025-08-20T02:44:22.554Z,1755657862.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257477
2025-08-20T02:44:22.807Z,1755657862.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509769
2025-08-20T02:44:23.059Z,1755657863.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761518
2025-08-20T02:44:23.310Z,1755657863.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013483
2025-08-20T02:44:23.563Z,1755657863.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265985
2025-08-20T02:44:23.814Z,1755657863.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517327
2025-08-20T02:44:24.067Z,1755657864.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769522
2025-08-20T02:44:24.318Z,1755657864.318 [DAT](INFO): DAT read: Rx Time:02:44:22.1112
2025-08-20T02:44:24.319Z,1755657864.319 [DAT](INFO): Rx dataTimestamp_ set to:1755657864.318615
2025-08-20T02:44:24.319Z,1755657864.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022493
2025-08-20T02:44:24.570Z,1755657864.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273473
2025-08-20T02:44:24.828Z,1755657864.828 [DAT](INFO): DAT read: 02:44:22.1112 LVL= 24976, 11201, 21682, 27875, AGC= 46, IDX= 351,-0.03, 2.687, 2.434, 1.409,-2.929, PHS=-0.566,-0.875,-1.989, RAW= 41.9, 43.1, CAL= 39.7, 48.6, ROT= 110.3, -48.6
2025-08-20T02:44:24.829Z,1755657864.829 [DAT](INFO): got valid direction response:
02:44:22.1112 LVL= 24976, 11201, 21682, 27875, AGC= 46, IDX= 351,-0.03, 2.687, 2.434, 1.409,-2.929, PHS=-0.566,-0.875,-1.989, RAW= 41.9, 43.1, CAL= 39.7, 48.6, ROT= 110.3, -48.6
2025-08-20T02:44:24.830Z,1755657864.830 [DAT](INFO): DAT read: Bearing 325.9, 45.7 (Local)
2025-08-20T02:44:24.831Z,1755657864.831 [DAT](INFO): Local bearing/azimuth received:
Bearing 325.9, 45.7 (Local)
2025-08-20T02:44:24.832Z,1755657864.832 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-20T02:44:24.833Z,1755657864.833 [DAT](INFO): DAT read: user:3274>
2025-08-20T02:44:24.834Z,1755657864.834 [DAT](INFO): DAT read: Tx time:02:44:23.2037
2025-08-20T02:44:24.834Z,1755657864.834 [DAT](INFO): Ping request sent.
2025-08-20T02:44:24.834Z,1755657864.834 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:24.834Z,1755657864.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:44:24.835Z,1755657864.835 [DAT](INFO): direction in FSK: [-0.229433,0.620237,0.750111]
2025-08-20T02:44:24.836Z,1755657864.836 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:24.836Z,1755657864.836 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:24.839Z,1755657864.839 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:24.840Z,1755657864.840 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:24.843Z,1755657864.843 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:44:25.074Z,1755657865.074 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:44:25.326Z,1755657865.326 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:44:27.599Z,1755657867.599 [DAT](INFO): DAT read: Rx Time:02:44:25.6112
2025-08-20T02:44:27.599Z,1755657867.599 [DAT](INFO): Rx dataTimestamp_ set to:1755657867.598737
2025-08-20T02:44:28.331Z,1755657868.331 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-20T02:34:28.0Z
2025-08-20T02:44:28.331Z,1755657868.331 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-20T02:44:28.332Z,1755657868.332 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-20T02:44:28.332Z,1755657868.332 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-20T02:44:28.332Z,1755657868.332 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-20T02:44:28.332Z,1755657868.332 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-20T02:44:28.362Z,1755657868.362 [DAT](INFO): DAT read: 02:44:25.6112 LVL= 22032, 9969, 22594, 24883, AGC= 46, IDX= 447, 0.04, 2.637, 2.191, 1.365,-2.947, PHS=-0.597,-1.101,-2.016, RAW= 50.5, 46.5, CAL= 47.8, 51.5, ROT= 102.2, -51.5
2025-08-20T02:44:28.363Z,1755657868.363 [DAT](INFO): got valid direction response:
02:44:25.6112 LVL= 22032, 9969, 22594, 24883, AGC= 46, IDX= 447, 0.04, 2.637, 2.191, 1.365,-2.947, PHS=-0.597,-1.101,-2.016, RAW= 50.5, 46.5, CAL= 47.8, 51.5, ROT= 102.2, -51.5
2025-08-20T02:44:28.365Z,1755657868.365 [DAT](INFO): DAT read: Bearing 316.4, 45.0 (Local)
2025-08-20T02:44:28.365Z,1755657868.365 [DAT](INFO): Local bearing/azimuth received:
Bearing 316.4, 45.0 (Local)
2025-08-20T02:44:28.367Z,1755657868.367 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-20T02:44:28.368Z,1755657868.368 [DAT](INFO): DAT read: user:3275>
2025-08-20T02:44:28.369Z,1755657868.369 [DAT](INFO): DAT read: Tx time:02:44:26.7037
2025-08-20T02:44:28.374Z,1755657868.374 [DAT](INFO): Ping request sent.
2025-08-20T02:44:28.374Z,1755657868.374 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:28.374Z,1755657868.374 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-20T02:44:28.376Z,1755657868.376 [DAT](INFO): direction in FSK: [-0.131553,0.608456,0.782608]
2025-08-20T02:44:28.376Z,1755657868.376 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:28.376Z,1755657868.376 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:28.393Z,1755657868.393 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:28.393Z,1755657868.393 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:28.765Z,1755657868.765 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-20T02:44:28.765Z,1755657868.765 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-20T02:44:28.765Z,1755657868.765 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-20T02:44:28.765Z,1755657868.765 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-20T02:44:28.765Z,1755657868.765 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-20T02:44:31.127Z,1755657871.127 [DAT](INFO): DAT read: Rx Time:02:44:29.1112
2025-08-20T02:44:31.127Z,1755657871.127 [DAT](INFO): Rx dataTimestamp_ set to:1755657871.126689
2025-08-20T02:44:31.650Z,1755657871.650 [DAT](INFO): DAT read: 02:44:29.1112 LVL= 27232, 15105, 22066, 32755, AGC= 46, IDX= 447, 0.10, 1.527, 1.488, 0.389, 2.447, PHS=-0.817,-0.914,-2.102, RAW= 33.9, 47.6, CAL= 32.1, 52.3, ROT= 117.9, -52.3
2025-08-20T02:44:31.651Z,1755657871.651 [DAT](INFO): got valid direction response:
02:44:29.1112 LVL= 27232, 15105, 22066, 32755, AGC= 46, IDX= 447, 0.10, 1.527, 1.488, 0.389, 2.447, PHS=-0.817,-0.914,-2.102, RAW= 33.9, 47.6, CAL= 32.1, 52.3, ROT= 117.9, -52.3
2025-08-20T02:44:31.652Z,1755657871.652 [DAT](INFO): DAT read: Bearing 326.1, 39.8 (Local)
2025-08-20T02:44:31.652Z,1755657871.652 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.1, 39.8 (Local)
2025-08-20T02:44:31.662Z,1755657871.662 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-20T02:44:31.662Z,1755657871.662 [DAT](INFO): DAT read: user:3276>
2025-08-20T02:44:31.663Z,1755657871.663 [DAT](INFO): DAT read: Tx time:02:44:30.2037
2025-08-20T02:44:31.663Z,1755657871.663 [DAT](INFO): Ping request sent.
2025-08-20T02:44:31.663Z,1755657871.663 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:31.664Z,1755657871.664 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-20T02:44:31.665Z,1755657871.665 [DAT](INFO): direction in FSK: [-0.286152,0.540447,0.791224]
2025-08-20T02:44:31.665Z,1755657871.665 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:31.665Z,1755657871.665 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:31.672Z,1755657871.672 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:31.673Z,1755657871.673 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:34.656Z,1755657874.656 [DAT](INFO): DAT read: Rx Time:02:44:32.6112
2025-08-20T02:44:34.657Z,1755657874.657 [DAT](INFO): Rx dataTimestamp_ set to:1755657874.656641
2025-08-20T02:44:35.171Z,1755657875.171 [DAT](INFO): DAT read: 02:44:32.6111 LVL= 23424, 20529, 21106, 29779, AGC= 48, IDX= 447, 0.30,-0.683,-0.569,-1.822, 0.444, PHS=-1.025,-0.968,-2.311, RAW= 27.8, 49.2, CAL= 26.3, 53.7, ROT= 123.7, -53.7
2025-08-20T02:44:35.172Z,1755657875.172 [DAT](INFO): got valid direction response:
02:44:32.6111 LVL= 23424, 20529, 21106, 29779, AGC= 48, IDX= 447, 0.30,-0.683,-0.569,-1.822, 0.444, PHS=-1.025,-0.968,-2.311, RAW= 27.8, 49.2, CAL= 26.3, 53.7, ROT= 123.7, -53.7
2025-08-20T02:44:35.174Z,1755657875.174 [DAT](INFO): DAT read: Bearing 328.3, 38.6 (Local)
2025-08-20T02:44:35.174Z,1755657875.174 [DAT](INFO): Local bearing/azimuth received:
Bearing 328.3, 38.6 (Local)
2025-08-20T02:44:35.176Z,1755657875.176 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-20T02:44:35.177Z,1755657875.177 [DAT](INFO): DAT read: user:3277>
2025-08-20T02:44:35.190Z,1755657875.190 [DAT](INFO): DAT read: Tx time:02:44:33.7036
2025-08-20T02:44:35.191Z,1755657875.191 [DAT](INFO): Ping request sent.
2025-08-20T02:44:35.191Z,1755657875.191 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:35.191Z,1755657875.191 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-20T02:44:35.192Z,1755657875.192 [DAT](INFO): direction in FSK: [-0.328475,0.492528,0.805928]
2025-08-20T02:44:35.192Z,1755657875.192 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:35.193Z,1755657875.193 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:35.200Z,1755657875.200 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:35.200Z,1755657875.200 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:38.187Z,1755657878.187 [DAT](INFO): DAT read: Rx Time:02:44:36.1111
2025-08-20T02:44:38.188Z,1755657878.188 [DAT](INFO): Rx dataTimestamp_ set to:1755657878.187407
2025-08-20T02:44:38.697Z,1755657878.697 [DAT](INFO): DAT read: 02:44:36.1111 LVL= 25712, 23425, 22482, 28483, AGC= 48, IDX= 447, 0.38,-3.019,-2.736, 2.498,-1.760, PHS=-1.157,-0.931,-2.069, RAW= 19.2, 54.6, CAL= 18.0, 58.5, ROT= 132.0, -58.5
2025-08-20T02:44:38.698Z,1755657878.698 [DAT](INFO): got valid direction response:
02:44:36.1111 LVL= 25712, 23425, 22482, 28483, AGC= 48, IDX= 447, 0.38,-3.019,-2.736, 2.498,-1.760, PHS=-1.157,-0.931,-2.069, RAW= 19.2, 54.6, CAL= 18.0, 58.5, ROT= 132.0, -58.5
2025-08-20T02:44:38.699Z,1755657878.699 [DAT](INFO): DAT read: Bearing 328.5, 31.5 (Local)
2025-08-20T02:44:38.699Z,1755657878.699 [DAT](INFO): Local bearing/azimuth received:
Bearing 328.5, 31.5 (Local)
2025-08-20T02:44:38.700Z,1755657878.700 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-20T02:44:38.701Z,1755657878.701 [DAT](INFO): DAT read: user:3278>
2025-08-20T02:44:38.735Z,1755657878.735 [DAT](INFO): DAT read: Tx time:02:44:37.2036
2025-08-20T02:44:38.735Z,1755657878.735 [DAT](INFO): Ping request sent.
2025-08-20T02:44:38.735Z,1755657878.735 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:38.735Z,1755657878.735 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-20T02:44:38.736Z,1755657878.736 [DAT](INFO): direction in FSK: [-0.349620,0.388292,0.852640]
2025-08-20T02:44:38.737Z,1755657878.737 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:38.737Z,1755657878.737 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:38.748Z,1755657878.748 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:38.748Z,1755657878.748 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:41.717Z,1755657881.717 [DAT](INFO): DAT read: Rx Time:02:44:39.6111
2025-08-20T02:44:41.718Z,1755657881.718 [DAT](INFO): Rx dataTimestamp_ set to:1755657881.717421
2025-08-20T02:44:42.224Z,1755657882.224 [DAT](INFO): DAT read: 02:44:39.6111 LVL= 20960, 23505, 19346, 23875, AGC= 48, IDX= 447, 0.49, 1.975, 2.401, 1.130,-2.966, PHS=-1.240,-0.872,-2.231, RAW= 14.8, 51.6, CAL= 13.6, 55.7, ROT= 136.4, -55.7
2025-08-20T02:44:42.225Z,1755657882.225 [DAT](INFO): got valid direction response:
02:44:39.6111 LVL= 20960, 23505, 19346, 23875, AGC= 48, IDX= 447, 0.49, 1.975, 2.401, 1.130,-2.966, PHS=-1.240,-0.872,-2.231, RAW= 14.8, 51.6, CAL= 13.6, 55.7, ROT= 136.4, -55.7
2025-08-20T02:44:42.226Z,1755657882.226 [DAT](INFO): DAT read: Bearing 329.8, 32.1 (Local)
2025-08-20T02:44:42.227Z,1755657882.227 [DAT](INFO): Local bearing/azimuth received:
Bearing 329.8, 32.1 (Local)
2025-08-20T02:44:42.228Z,1755657882.228 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-20T02:44:42.229Z,1755657882.229 [DAT](INFO): DAT read: user:3279>
2025-08-20T02:44:42.229Z,1755657882.229 [DAT](INFO): DAT read: Tx time:02:44:40.7036
2025-08-20T02:44:42.230Z,1755657882.230 [DAT](INFO): Ping request sent.
2025-08-20T02:44:42.230Z,1755657882.230 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:42.230Z,1755657882.230 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-20T02:44:42.231Z,1755657882.231 [DAT](INFO): direction in FSK: [-0.408090,0.388619,0.826098]
2025-08-20T02:44:42.231Z,1755657882.231 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:42.232Z,1755657882.232 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:42.243Z,1755657882.243 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:42.243Z,1755657882.243 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:45.242Z,1755657885.242 [DAT](INFO): DAT read: Rx Time:02:44:43.1111
2025-08-20T02:44:45.243Z,1755657885.243 [DAT](INFO): Rx dataTimestamp_ set to:1755657885.242667
2025-08-20T02:44:45.768Z,1755657885.768 [DAT](INFO): DAT read: 02:44:43.1111 LVL= 18912, 18465, 18914, 26291, AGC= 47, IDX= 448,-0.40,-0.075, 0.055,-0.966, 1.100, PHS=-1.072,-0.999,-2.110, RAW= 26.6, 54.0, CAL= 25.3, 58.0, ROT= 124.7, -58.0
2025-08-20T02:44:45.807Z,1755657885.807 [DAT](INFO): got valid direction response:
02:44:43.1111 LVL= 18912, 18465, 18914, 26291, AGC= 47, IDX= 448,-0.40,-0.075, 0.055,-0.966, 1.100, PHS=-1.072,-0.999,-2.110, RAW= 26.6, 54.0, CAL= 25.3, 58.0, ROT= 124.7, -58.0
2025-08-20T02:44:45.814Z,1755657885.814 [DAT](INFO): DAT read: Bearing 320.0, 33.9 (Local)
2025-08-20T02:44:45.814Z,1755657885.814 [DAT](INFO): Local bearing/azimuth received:
Bearing 320.0, 33.9 (Local)
2025-08-20T02:44:45.816Z,1755657885.816 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-20T02:44:45.816Z,1755657885.816 [DAT](INFO): DAT read: user:3280>
2025-08-20T02:44:45.817Z,1755657885.817 [DAT](INFO): DAT read: Tx time:02:44:44.2036
2025-08-20T02:44:45.823Z,1755657885.823 [DAT](INFO): Ping request sent.
2025-08-20T02:44:45.823Z,1755657885.823 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:45.823Z,1755657885.823 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-20T02:44:45.824Z,1755657885.824 [DAT](INFO): direction in FSK: [-0.301672,0.435670,0.848048]
2025-08-20T02:44:45.824Z,1755657885.824 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:45.824Z,1755657885.824 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:45.852Z,1755657885.852 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:45.852Z,1755657885.852 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:48.777Z,1755657888.777 [DAT](INFO): DAT read: Rx Time:02:44:46.6111
2025-08-20T02:44:48.779Z,1755657888.779 [DAT](INFO): Rx dataTimestamp_ set to:1755657888.777783
2025-08-20T02:44:49.286Z,1755657889.286 [DAT](INFO): DAT read: 02:44:46.6111 LVL= 24160, 19409, 20162, 32755, AGC= 48, IDX= 448,-0.37,-1.845,-1.702,-2.694,-0.768, PHS=-0.974,-0.889,-1.970, RAW= 25.9, 52.5, CAL= 24.6, 56.6, ROT= 125.4, -56.6
2025-08-20T02:44:49.287Z,1755657889.287 [DAT](INFO): got valid direction response:
02:44:46.6111 LVL= 24160, 19409, 20162, 32755, AGC= 48, IDX= 448,-0.37,-1.845,-1.702,-2.694,-0.768, PHS=-0.974,-0.889,-1.970, RAW= 25.9, 52.5, CAL= 24.6, 56.6, ROT= 125.4, -56.6
2025-08-20T02:44:49.288Z,1755657889.288 [DAT](INFO): DAT read: Bearing 325.5, 32.9 (Local)
2025-08-20T02:44:49.289Z,1755657889.289 [DAT](INFO): Local bearing/azimuth received:
Bearing 325.5, 32.9 (Local)
2025-08-20T02:44:49.301Z,1755657889.301 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s
2025-08-20T02:44:49.308Z,1755657889.308 [DAT](INFO): DAT read: user:3281>
2025-08-20T02:44:49.309Z,1755657889.309 [DAT](INFO): DAT read: Tx time:02:44:47.7036
2025-08-20T02:44:49.309Z,1755657889.309 [DAT](INFO): Ping request sent.
2025-08-20T02:44:49.322Z,1755657889.322 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:49.322Z,1755657889.322 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-20T02:44:49.323Z,1755657889.323 [DAT](INFO): direction in FSK: [-0.318883,0.448712,0.834848]
2025-08-20T02:44:49.323Z,1755657889.323 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:49.323Z,1755657889.323 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:49.331Z,1755657889.331 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:49.331Z,1755657889.331 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:50.362Z,1755657890.362 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:44:51.370Z,1755657891.370 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:44:52.303Z,1755657892.303 [DAT](INFO): DAT read: Rx Time:02:44:50.1110
2025-08-20T02:44:52.303Z,1755657892.303 [DAT](INFO): Rx dataTimestamp_ set to:1755657892.302698
2025-08-20T02:44:52.813Z,1755657892.813 [DAT](INFO): DAT read: 02:44:50.1110 LVL= 20256, 10097, 18386, 24435, AGC= 45, IDX= 446, 0.32,-0.191,-0.299,-1.171, 0.736, PHS=-0.825,-0.990,-1.951, RAW= 37.8, 51.7, CAL= 36.1, 56.1, ROT= 113.9, -56.1
2025-08-20T02:44:52.814Z,1755657892.814 [DAT](INFO): got valid direction response:
02:44:50.1110 LVL= 20256, 10097, 18386, 24435, AGC= 45, IDX= 446, 0.32,-0.191,-0.299,-1.171, 0.736, PHS=-0.825,-0.990,-1.951, RAW= 37.8, 51.7, CAL= 36.1, 56.1, ROT= 113.9, -56.1
2025-08-20T02:44:52.815Z,1755657892.815 [DAT](INFO): DAT read: Bearing 326.1, 35.0 (Local)
2025-08-20T02:44:52.816Z,1755657892.816 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.1, 35.0 (Local)
2025-08-20T02:44:52.820Z,1755657892.820 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-20T02:44:52.822Z,1755657892.822 [DAT](INFO): DAT read: user:3282>
2025-08-20T02:44:52.823Z,1755657892.823 [DAT](INFO): DAT read: Tx time:02:44:51.2036
2025-08-20T02:44:52.824Z,1755657892.824 [DAT](INFO): Ping request sent.
2025-08-20T02:44:52.824Z,1755657892.824 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:52.824Z,1755657892.824 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-20T02:44:52.846Z,1755657892.846 [DAT](INFO): direction in FSK: [-0.225966,0.509921,0.830012]
2025-08-20T02:44:52.846Z,1755657892.846 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:52.847Z,1755657892.847 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:52.900Z,1755657892.900 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:52.900Z,1755657892.900 [DAT](INFO): publishing direction and range info
2025-08-20T02:44:55.578Z,1755657895.578 [DAT](INFO): DAT read: Rx Time:02:44:53.6110
2025-08-20T02:44:55.579Z,1755657895.579 [DAT](INFO): Rx dataTimestamp_ set to:1755657895.578526
2025-08-20T02:44:56.335Z,1755657896.335 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-20T02:44:56.336Z,1755657896.336 [DAT](INFO): DAT read: user:3283>
2025-08-20T02:44:56.337Z,1755657896.337 [DAT](INFO): DAT read: Tx time:02:44:54.7036
2025-08-20T02:44:56.337Z,1755657896.337 [DAT](INFO): Ping request sent.
2025-08-20T02:44:56.337Z,1755657896.337 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:56.337Z,1755657896.337 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-08-20T02:44:56.338Z,1755657896.338 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:56.338Z,1755657896.338 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:59.126Z,1755657899.126 [DAT](INFO): DAT read: Rx Time:02:44:57.1109
2025-08-20T02:44:59.127Z,1755657899.127 [DAT](INFO): Rx dataTimestamp_ set to:1755657899.126638
2025-08-20T02:44:59.631Z,1755657899.631 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-20T02:44:59.632Z,1755657899.632 [DAT](INFO): DAT read: user:3284>
2025-08-20T02:44:59.633Z,1755657899.633 [DAT](INFO): DAT read: Tx time:02:44:58.2035
2025-08-20T02:44:59.633Z,1755657899.633 [DAT](INFO): Ping request sent.
2025-08-20T02:44:59.633Z,1755657899.633 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:44:59.634Z,1755657899.634 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-08-20T02:44:59.634Z,1755657899.634 [DAT](INFO): publishing transmit ping time
2025-08-20T02:44:59.634Z,1755657899.634 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:02.654Z,1755657902.654 [DAT](INFO): DAT read: Rx Time:02:45:00.6109
2025-08-20T02:45:02.655Z,1755657902.655 [DAT](INFO): Rx dataTimestamp_ set to:1755657902.654612
2025-08-20T02:45:03.159Z,1755657903.159 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-20T02:45:03.160Z,1755657903.160 [DAT](INFO): DAT read: user:3285>
2025-08-20T02:45:03.161Z,1755657903.161 [DAT](INFO): DAT read: Tx time:02:45:01.7035
2025-08-20T02:45:03.161Z,1755657903.161 [DAT](INFO): Ping request sent.
2025-08-20T02:45:03.161Z,1755657903.161 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:45:03.162Z,1755657903.162 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-08-20T02:45:03.162Z,1755657903.162 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:03.162Z,1755657903.162 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:06.183Z,1755657906.183 [DAT](INFO): DAT read: Rx Time:02:45:04.1109
2025-08-20T02:45:06.184Z,1755657906.184 [DAT](INFO): Rx dataTimestamp_ set to:1755657906.183135
2025-08-20T02:45:06.687Z,1755657906.687 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s
2025-08-20T02:45:06.688Z,1755657906.688 [DAT](INFO): DAT read: user:3286>
2025-08-20T02:45:06.689Z,1755657906.689 [DAT](INFO): DAT read: Tx time:02:45:05.2025
2025-08-20T02:45:06.689Z,1755657906.689 [DAT](INFO): Ping request sent.
2025-08-20T02:45:06.689Z,1755657906.689 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:45:06.690Z,1755657906.690 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-20T02:45:06.690Z,1755657906.690 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:06.690Z,1755657906.690 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:09.206Z,1755657909.206 [DAT](INFO): DAT read: Rx Time:02:45:07.0688
2025-08-20T02:45:09.207Z,1755657909.207 [DAT](INFO): Rx dataTimestamp_ set to:1755657909.206605
2025-08-20T02:45:09.710Z,1755657909.710 [DAT](INFO): DAT read: OK
2025-08-20T02:45:09.711Z,1755657909.711 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:45:09.711Z,1755657909.711 [DAT](INFO): DAT read: user:3287>
2025-08-20T02:45:09.712Z,1755657909.712 [DAT](INFO): DAT read: Tx time:02:45:08.1525
2025-08-20T02:45:09.712Z,1755657909.712 [DAT](INFO): Ping request sent.
2025-08-20T02:45:09.712Z,1755657909.712 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:45:09.712Z,1755657909.712 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:11.978Z,1755657911.978 [DAT](INFO): DAT read: Rx Time:02:45:10.0189
2025-08-20T02:45:11.979Z,1755657911.979 [DAT](INFO): Rx dataTimestamp_ set to:1755657911.978680
2025-08-20T02:45:12.734Z,1755657912.734 [DAT](INFO): DAT read: OK
2025-08-20T02:45:12.735Z,1755657912.735 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:45:12.735Z,1755657912.735 [DAT](INFO): DAT read: user:3288>
2025-08-20T02:45:12.736Z,1755657912.736 [DAT](INFO): DAT read: Tx time:02:45:11.1025
2025-08-20T02:45:12.736Z,1755657912.736 [DAT](INFO): Ping request sent.
2025-08-20T02:45:12.736Z,1755657912.736 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:45:12.736Z,1755657912.736 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:15.003Z,1755657915.003 [DAT](INFO): DAT read: Rx Time:02:45:12.9690
2025-08-20T02:45:15.004Z,1755657915.004 [DAT](INFO): Rx dataTimestamp_ set to:1755657915.003747
2025-08-20T02:45:15.510Z,1755657915.510 [DAT](INFO): DAT read: 02:45:12.9690 LVL= 21872, 11169, 19042, 27043, AGC= 46, IDX= 449, 0.43, 1.953, 1.655, 0.695, 2.765, PHS=-0.710,-1.066,-2.114, RAW= 44.1, 47.4, CAL= 41.9, 52.4, ROT= 108.1, -52.4
2025-08-20T02:45:15.511Z,1755657915.511 [DAT](INFO): got valid direction response:
02:45:12.9690 LVL= 21872, 11169, 19042, 27043, AGC= 46, IDX= 449, 0.43, 1.953, 1.655, 0.695, 2.765, PHS=-0.710,-1.066,-2.114, RAW= 44.1, 47.4, CAL= 41.9, 52.4, ROT= 108.1, -52.4
2025-08-20T02:45:15.512Z,1755657915.512 [DAT](INFO): DAT read: OK
2025-08-20T02:45:15.512Z,1755657915.512 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:45:15.512Z,1755657915.512 [DAT](INFO): #Rx 14: Read direction message, but no range.
2025-08-20T02:45:15.514Z,1755657915.514 [DAT](INFO): direction in FSK: [-0.189558,0.579953,0.792290]
2025-08-20T02:45:17.786Z,1755657917.786 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-20T02:45:17.786Z,1755657917.786 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-20T02:45:17.942Z,1755657917.942 [DockingStepper](INFO): Changing to mode: 4
2025-08-20T02:45:18.027Z,1755657918.027 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:45:18.282Z,1755657918.282 [DAT](INFO): DAT read: user:3289>
2025-08-20T02:45:18.285Z,1755657918.285 [DAT](INFO): DAT read: Tx time:02:45:16.6525
2025-08-20T02:45:18.286Z,1755657918.286 [DAT](INFO): Ping request sent.
2025-08-20T02:45:18.287Z,1755657918.287 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:45:18.287Z,1755657918.287 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:18.288Z,1755657918.288 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:45:18.530Z,1755657918.530 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:45:18.596Z,1755657918.596 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 83.59, 97.28, 94.80
2025-08-20T02:45:20.546Z,1755657920.546 [DAT](INFO): DAT read: Rx Time:02:45:18.5192
2025-08-20T02:45:20.547Z,1755657920.547 [DAT](INFO): Rx dataTimestamp_ set to:1755657920.546592
2025-08-20T02:45:21.055Z,1755657921.055 [DAT](INFO): DAT read: 02:45:18.5191 LVL= 22352, 26097, 22754, 28867, AGC= 50, IDX= 451, 0.46,-1.587,-1.202,-2.592,-0.225, PHS=-1.260,-0.932,-2.411, RAW= 17.8, 50.4, CAL= 16.5, 54.8, ROT= 133.5, -54.8
2025-08-20T02:45:21.056Z,1755657921.056 [DAT](INFO): got valid direction response:
02:45:18.5191 LVL= 22352, 26097, 22754, 28867, AGC= 50, IDX= 451, 0.46,-1.587,-1.202,-2.592,-0.225, PHS=-1.260,-0.932,-2.411, RAW= 17.8, 50.4, CAL= 16.5, 54.8, ROT= 133.5, -54.8
2025-08-20T02:45:21.056Z,1755657921.056 [DAT](INFO): DAT read: OK
2025-08-20T02:45:21.056Z,1755657921.056 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:45:21.057Z,1755657921.057 [DAT](INFO): DAT read: user:3290>
2025-08-20T02:45:21.057Z,1755657921.057 [DAT](INFO): #Rx 15: Read direction message, but no range.
2025-08-20T02:45:21.058Z,1755657921.058 [DAT](INFO): direction in FSK: [-0.396790,0.418129,0.817145]
2025-08-20T02:45:21.306Z,1755657921.306 [DAT](INFO): DAT read: Tx time:02:45:19.6524
2025-08-20T02:45:21.307Z,1755657921.307 [DAT](INFO): Ping request sent.
2025-08-20T02:45:21.307Z,1755657921.307 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:45:21.308Z,1755657921.308 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:21.494Z,1755657921.494 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:45:22.498Z,1755657922.498 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:45:23.583Z,1755657923.583 [DAT](INFO): DAT read: Rx Time:02:45:21.5192
2025-08-20T02:45:23.584Z,1755657923.584 [DAT](INFO): Rx dataTimestamp_ set to:1755657923.583420
2025-08-20T02:45:24.086Z,1755657924.086 [DAT](INFO): DAT read: OK
2025-08-20T02:45:24.087Z,1755657924.087 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:45:24.087Z,1755657924.087 [DAT](INFO): DAT read: user:3291>
2025-08-20T02:45:24.088Z,1755657924.088 [DAT](INFO): DAT read: Tx time:02:45:22.6024
2025-08-20T02:45:24.088Z,1755657924.088 [DAT](INFO): Ping request sent.
2025-08-20T02:45:24.088Z,1755657924.088 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:45:24.088Z,1755657924.088 [DAT](INFO): publishing transmit ping time
2025-08-20T02:45:26.606Z,1755657926.606 [DAT](INFO): DAT read: Rx Time:02:45:24.4693
2025-08-20T02:45:26.607Z,1755657926.607 [DAT](INFO): Rx dataTimestamp_ set to:1755657926.606593
2025-08-20T02:45:27.123Z,1755657927.123 [DAT](INFO): DAT read: OK
2025-08-20T02:45:27.124Z,1755657927.124 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:45:33.560Z,1755657933.560 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -2 +1263.59, -47.53, 8.92, 0.00
2025-08-20T02:45:52.631Z,1755657952.631 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:45:53.634Z,1755657953.634 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:46:15.200Z,1755657975.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:46:15.286Z,1755657975.286 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:46:15.286Z,1755657975.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:46:15.538Z,1755657975.538 [DAT](INFO): DAT read: user:3292>
2025-08-20T02:46:15.539Z,1755657975.539 [DAT](INFO): DAT read: Tx time:02:46:13.9531
2025-08-20T02:46:15.539Z,1755657975.539 [DAT](INFO): Ping request sent.
2025-08-20T02:46:15.539Z,1755657975.539 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:46:15.540Z,1755657975.540 [DAT](INFO): publishing transmit ping time
2025-08-20T02:46:15.540Z,1755657975.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-20T02:46:15.791Z,1755657975.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251723
2025-08-20T02:46:16.043Z,1755657976.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503048
2025-08-20T02:46:16.297Z,1755657976.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757821
2025-08-20T02:46:16.546Z,1755657976.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006900
2025-08-20T02:46:16.799Z,1755657976.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259069
2025-08-20T02:46:17.050Z,1755657977.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510984
2025-08-20T02:46:17.303Z,1755657977.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763885
2025-08-20T02:46:17.554Z,1755657977.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932
2025-08-20T02:46:17.807Z,1755657977.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267744
2025-08-20T02:46:18.059Z,1755657978.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519161
2025-08-20T02:46:18.311Z,1755657978.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771191
2025-08-20T02:46:18.562Z,1755657978.562 [DAT](INFO): DAT read: Rx Time:02:46:16.3599
2025-08-20T02:46:18.563Z,1755657978.563 [DAT](INFO): Rx dataTimestamp_ set to:1755657978.562672
2025-08-20T02:46:18.564Z,1755657978.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024040
2025-08-20T02:46:18.815Z,1755657978.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275809
2025-08-20T02:46:19.071Z,1755657979.071 [DAT](INFO): DAT read: 02:46:16.3599 LVL= 26352, 23617, 26402, 32051, AGC= 48, IDX= 327, 0.35, 0.010, 0.255,-1.000, 1.161, PHS=-1.049,-0.861,-2.205, RAW= 22.6, 49.1, CAL= 21.3, 53.6, ROT= 128.7, -53.6
2025-08-20T02:46:19.072Z,1755657979.072 [DAT](INFO): got valid direction response:
02:46:16.3599 LVL= 26352, 23617, 26402, 32051, AGC= 48, IDX= 327, 0.35, 0.010, 0.255,-1.000, 1.161, PHS=-1.049,-0.861,-2.205, RAW= 22.6, 49.1, CAL= 21.3, 53.6, ROT= 128.7, -53.6
2025-08-20T02:46:19.074Z,1755657979.074 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s
2025-08-20T02:46:19.075Z,1755657979.075 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:46:19.076Z,1755657979.076 [DAT](INFO): direction in FSK: [-0.371031,0.463122,0.804894]
2025-08-20T02:46:19.076Z,1755657979.076 [DAT](INFO): publishing direction and range info
2025-08-20T02:46:23.773Z,1755657983.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:46:24.774Z,1755657984.774 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:46:47.915Z,1755658007.915 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-20T02:46:47.915Z,1755658007.915 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-20T02:46:47.946Z,1755658007.946 [DockingStepper](INFO): Changing to mode: 1
2025-08-20T02:46:48.306Z,1755658008.306 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:46:48.561Z,1755658008.561 [DAT](INFO): DAT read: user:3293>
2025-08-20T02:46:48.563Z,1755658008.563 [DAT](INFO): DAT read: Tx time:02:46:46.9520
2025-08-20T02:46:48.564Z,1755658008.564 [DAT](INFO): Ping request sent.
2025-08-20T02:46:48.565Z,1755658008.565 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:46:48.566Z,1755658008.566 [DAT](INFO): publishing transmit ping time
2025-08-20T02:46:48.568Z,1755658008.568 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:46:48.810Z,1755658008.810 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:46:50.830Z,1755658010.830 [DAT](INFO): DAT read: Rx Time:02:46:48.8214
2025-08-20T02:46:50.831Z,1755658010.831 [DAT](INFO): Rx dataTimestamp_ set to:1755658010.830598
2025-08-20T02:46:51.338Z,1755658011.338 [DAT](INFO): DAT read: 02:46:48.8214 LVL= 12384, 21825, 13538, 30195, AGC= 48, IDX= 63,-0.32,-1.012,-0.794,-1.690, 0.103, PHS=-1.013,-0.853,-1.837, RAW= 21.3, 55.0, CAL= 20.2, 58.9, ROT= 129.8, -58.9
2025-08-20T02:46:51.339Z,1755658011.339 [DAT](INFO): got valid direction response:
02:46:48.8214 LVL= 12384, 21825, 13538, 30195, AGC= 48, IDX= 63,-0.32,-1.012,-0.794,-1.690, 0.103, PHS=-1.013,-0.853,-1.837, RAW= 21.3, 55.0, CAL= 20.2, 58.9, ROT= 129.8, -58.9
2025-08-20T02:46:51.340Z,1755658011.340 [DAT](INFO): DAT read: OK
2025-08-20T02:46:51.340Z,1755658011.340 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:46:51.340Z,1755658011.340 [DAT](INFO): DAT read: user:3294>
2025-08-20T02:46:51.341Z,1755658011.341 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-20T02:46:51.343Z,1755658011.343 [DAT](INFO): direction in FSK: [-0.330638,0.396844,0.856267]
2025-08-20T02:46:51.589Z,1755658011.589 [DAT](INFO): DAT read: Tx time:02:46:49.9520
2025-08-20T02:46:51.589Z,1755658011.589 [DAT](INFO): Ping request sent.
2025-08-20T02:46:51.589Z,1755658011.589 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:46:51.590Z,1755658011.590 [DAT](INFO): publishing transmit ping time
2025-08-20T02:46:53.854Z,1755658013.854 [DAT](INFO): DAT read: Rx Time:02:46:51.8214
2025-08-20T02:46:53.855Z,1755658013.855 [DAT](INFO): Rx dataTimestamp_ set to:1755658013.854545
2025-08-20T02:46:54.362Z,1755658014.362 [DAT](INFO): DAT read: 02:46:51.8214 LVL= 21440, 18561, 26002, 29507, AGC= 45, IDX= 448,-0.30,-1.903,-1.758,-2.533,-0.853, PHS=-0.949,-0.860,-1.724, RAW= 24.7, 56.6, CAL= 23.5, 60.3, ROT= 126.5, -60.3
2025-08-20T02:46:54.364Z,1755658014.364 [DAT](INFO): got valid direction response:
02:46:51.8214 LVL= 21440, 18561, 26002, 29507, AGC= 45, IDX= 448,-0.30,-1.903,-1.758,-2.533,-0.853, PHS=-0.949,-0.860,-1.724, RAW= 24.7, 56.6, CAL= 23.5, 60.3, ROT= 126.5, -60.3
2025-08-20T02:46:54.364Z,1755658014.364 [DAT](INFO): DAT read: OK
2025-08-20T02:46:54.364Z,1755658014.364 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:46:54.365Z,1755658014.365 [DAT](INFO): DAT read: user:3295>
2025-08-20T02:46:54.365Z,1755658014.365 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-20T02:46:54.367Z,1755658014.367 [DAT](INFO): direction in FSK: [-0.294710,0.398278,0.868631]
2025-08-20T02:46:54.610Z,1755658014.610 [DAT](INFO): DAT read: Tx time:02:46:52.9519
2025-08-20T02:46:54.611Z,1755658014.611 [DAT](INFO): Ping request sent.
2025-08-20T02:46:54.611Z,1755658014.611 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:46:54.611Z,1755658014.611 [DAT](INFO): publishing transmit ping time
2025-08-20T02:46:54.894Z,1755658014.894 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:46:55.898Z,1755658015.898 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:46:56.879Z,1755658016.879 [DAT](INFO): DAT read: Rx Time:02:46:54.8215
2025-08-20T02:46:56.880Z,1755658016.880 [DAT](INFO): Rx dataTimestamp_ set to:1755658016.879675
2025-08-20T02:46:57.386Z,1755658017.386 [DAT](INFO): DAT read: 02:46:54.8215 LVL= 22736, 19697, 28514, 28275, AGC= 45, IDX= 449,-0.32,-1.694,-1.546,-2.413,-0.632, PHS=-0.960,-0.868,-1.825, RAW= 25.0, 54.7, CAL= 23.8, 58.6, ROT= 126.2, -58.6
2025-08-20T02:46:57.387Z,1755658017.387 [DAT](INFO): got valid direction response:
02:46:54.8215 LVL= 22736, 19697, 28514, 28275, AGC= 45, IDX= 449,-0.32,-1.694,-1.546,-2.413,-0.632, PHS=-0.960,-0.868,-1.825, RAW= 25.0, 54.7, CAL= 23.8, 58.6, ROT= 126.2, -58.6
2025-08-20T02:46:57.388Z,1755658017.388 [DAT](INFO): DAT read: OK
2025-08-20T02:46:57.388Z,1755658017.388 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:46:57.388Z,1755658017.388 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-20T02:46:57.390Z,1755658017.390 [DAT](INFO): direction in FSK: [-0.307711,0.420434,0.853551]
2025-08-20T02:47:26.026Z,1755658046.026 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:47:27.031Z,1755658047.031 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:47:31.527Z,1755658051.527 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022506344885,35.0 0.0,1492.7, 0
2025-08-20T02:47:48.119Z,1755658068.119 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-20T02:47:48.119Z,1755658068.119 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-20T02:47:48.142Z,1755658068.142 [DockingStepper](INFO): Changing to mode: 4
2025-08-20T02:47:48.338Z,1755658068.338 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:47:48.590Z,1755658068.590 [DAT](INFO): DAT read: user:3296>
2025-08-20T02:47:48.591Z,1755658068.591 [DAT](INFO): DAT read: Tx time:02:47:47.0017
2025-08-20T02:47:48.591Z,1755658068.591 [DAT](INFO): Ping request sent.
2025-08-20T02:47:48.591Z,1755658068.591 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:47:48.592Z,1755658068.592 [DAT](INFO): publishing transmit ping time
2025-08-20T02:47:48.592Z,1755658068.592 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:47:48.842Z,1755658068.842 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:47:50.858Z,1755658070.858 [DAT](INFO): DAT read: Rx Time:02:47:48.8731
2025-08-20T02:47:50.859Z,1755658070.859 [DAT](INFO): Rx dataTimestamp_ set to:1755658070.858624
2025-08-20T02:47:51.619Z,1755658071.619 [DAT](INFO): DAT read: 02:47:48.8731 LVL= 21072, 28945, 24770, 32755, AGC= 46, IDX= 467,-0.19,-0.857,-0.543,-1.815, 0.346, PHS=-1.101,-0.844,-2.205, RAW= 19.8, 49.5, CAL= 18.5, 54.0, ROT= 131.5, -54.0
2025-08-20T02:47:51.620Z,1755658071.620 [DAT](INFO): got valid direction response:
02:47:48.8731 LVL= 21072, 28945, 24770, 32755, AGC= 46, IDX= 467,-0.19,-0.857,-0.543,-1.815, 0.346, PHS=-1.101,-0.844,-2.205, RAW= 19.8, 49.5, CAL= 18.5, 54.0, ROT= 131.5, -54.0
2025-08-20T02:47:51.620Z,1755658071.620 [DAT](INFO): DAT read: OK
2025-08-20T02:47:51.620Z,1755658071.620 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:47:51.621Z,1755658071.621 [DAT](INFO): DAT read: user:3297>
2025-08-20T02:47:51.622Z,1755658071.622 [DAT](INFO): DAT read: Tx time:02:47:50.0017
2025-08-20T02:47:51.622Z,1755658071.622 [DAT](INFO): Ping request sent.
2025-08-20T02:47:51.622Z,1755658071.622 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:47:51.622Z,1755658071.622 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-20T02:47:51.623Z,1755658071.623 [DAT](INFO): direction in FSK: [-0.389478,0.440225,0.809017]
2025-08-20T02:47:51.623Z,1755658071.623 [DAT](INFO): publishing transmit ping time
2025-08-20T02:47:51.647Z,1755658071.647 [DAT](INFO): publishing transmit ping time
2025-08-20T02:47:53.882Z,1755658073.882 [DAT](INFO): DAT read: Rx Time:02:47:51.8732
2025-08-20T02:47:53.883Z,1755658073.883 [DAT](INFO): Rx dataTimestamp_ set to:1755658073.882675
2025-08-20T02:47:54.390Z,1755658074.390 [DAT](INFO): DAT read: 02:47:51.8732 LVL= 19728, 22577, 20690, 32755, AGC= 47, IDX= 436,-0.22,-1.810,-1.615,-2.671,-0.684, PHS=-1.025,-0.887,-2.031, RAW= 23.7, 52.2, CAL= 22.4, 56.4, ROT= 127.6, -56.4
2025-08-20T02:47:54.391Z,1755658074.391 [DAT](INFO): got valid direction response:
02:47:51.8732 LVL= 19728, 22577, 20690, 32755, AGC= 47, IDX= 436,-0.22,-1.810,-1.615,-2.671,-0.684, PHS=-1.025,-0.887,-2.031, RAW= 23.7, 52.2, CAL= 22.4, 56.4, ROT= 127.6, -56.4
2025-08-20T02:47:54.392Z,1755658074.392 [DAT](INFO): DAT read: OK
2025-08-20T02:47:54.392Z,1755658074.392 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:47:54.393Z,1755658074.393 [DAT](INFO): DAT read: user:3298>
2025-08-20T02:47:54.395Z,1755658074.395 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-20T02:47:54.399Z,1755658074.399 [DAT](INFO): direction in FSK: [-0.337649,0.438446,0.832921]
2025-08-20T02:47:54.639Z,1755658074.639 [DAT](INFO): DAT read: Tx time:02:47:53.0017
2025-08-20T02:47:54.639Z,1755658074.639 [DAT](INFO): Ping request sent.
2025-08-20T02:47:54.639Z,1755658074.639 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:47:54.639Z,1755658074.639 [DAT](INFO): publishing transmit ping time
2025-08-20T02:47:56.911Z,1755658076.911 [DAT](INFO): DAT read: Rx Time:02:47:54.8732
2025-08-20T02:47:56.911Z,1755658076.911 [DAT](INFO): Rx dataTimestamp_ set to:1755658076.910690
2025-08-20T02:47:57.154Z,1755658077.154 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:47:57.420Z,1755658077.420 [DAT](INFO): DAT read: 02:47:54.8732 LVL= 19664, 22081, 21954, 32755, AGC= 47, IDX= 437,-0.28,-1.847,-1.715,-2.610,-0.772, PHS=-0.973,-0.898,-1.882, RAW= 26.1, 54.4, CAL= 24.8, 58.4, ROT= 125.2, -58.4
2025-08-20T02:47:57.422Z,1755658077.422 [DAT](INFO): got valid direction response:
02:47:54.8732 LVL= 19664, 22081, 21954, 32755, AGC= 47, IDX= 437,-0.28,-1.847,-1.715,-2.610,-0.772, PHS=-0.973,-0.898,-1.882, RAW= 26.1, 54.4, CAL= 24.8, 58.4, ROT= 125.2, -58.4
2025-08-20T02:47:57.422Z,1755658077.422 [DAT](INFO): DAT read: OK
2025-08-20T02:47:57.422Z,1755658077.422 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:47:57.423Z,1755658077.423 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-20T02:47:57.424Z,1755658077.424 [DAT](INFO): direction in FSK: [-0.302042,0.428172,0.851727]
2025-08-20T02:47:58.158Z,1755658078.158 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:48:15.558Z,1755658095.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:48:15.591Z,1755658095.591 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:48:15.591Z,1755658095.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:48:15.845Z,1755658095.845 [DAT](INFO): DAT read: user:3299>
2025-08-20T02:48:15.847Z,1755658095.847 [DAT](INFO): DAT read: Tx time:02:48:14.2526
2025-08-20T02:48:15.848Z,1755658095.848 [DAT](INFO): Ping request sent.
2025-08-20T02:48:15.848Z,1755658095.848 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:48:15.849Z,1755658095.849 [DAT](INFO): publishing transmit ping time
2025-08-20T02:48:15.853Z,1755658095.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004543
2025-08-20T02:48:16.095Z,1755658096.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246443
2025-08-20T02:48:16.347Z,1755658096.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498363
2025-08-20T02:48:16.598Z,1755658096.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750291
2025-08-20T02:48:16.851Z,1755658096.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002430
2025-08-20T02:48:17.102Z,1755658097.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254227
2025-08-20T02:48:17.354Z,1755658097.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506304
2025-08-20T02:48:17.607Z,1755658097.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758424
2025-08-20T02:48:17.861Z,1755658097.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012251
2025-08-20T02:48:18.110Z,1755658098.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262294
2025-08-20T02:48:18.362Z,1755658098.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514236
2025-08-20T02:48:18.616Z,1755658098.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767857
2025-08-20T02:48:18.878Z,1755658098.878 [DAT](INFO): DAT read: Rx Time:02:48:16.6594
2025-08-20T02:48:18.878Z,1755658098.878 [DAT](INFO): Rx dataTimestamp_ set to:1755658098.878124
2025-08-20T02:48:18.879Z,1755658098.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030849
2025-08-20T02:48:19.133Z,1755658099.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284133
2025-08-20T02:48:19.388Z,1755658099.388 [DAT](INFO): DAT read: 02:48:16.6594 LVL= 24288, 26177, 20706, 32755, AGC= 48, IDX= 280,-0.35, 0.924, 1.163,-0.049, 2.056, PHS=-1.030,-0.848,-2.149, RAW= 22.6, 49.4, CAL= 21.2, 53.9, ROT= 128.8, -53.9
2025-08-20T02:48:19.389Z,1755658099.389 [DAT](INFO): got valid direction response:
02:48:16.6594 LVL= 24288, 26177, 20706, 32755, AGC= 48, IDX= 280,-0.35, 0.924, 1.163,-0.049, 2.056, PHS=-1.030,-0.848,-2.149, RAW= 22.6, 49.4, CAL= 21.2, 53.9, ROT= 128.8, -53.9
2025-08-20T02:48:19.397Z,1755658099.397 [DAT](INFO): DAT read: Bearing 341.9, 34.9 (Local)
2025-08-20T02:48:19.406Z,1755658099.406 [DAT](INFO): Local bearing/azimuth received:
Bearing 341.9, 34.9 (Local)
2025-08-20T02:48:19.408Z,1755658099.408 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s
2025-08-20T02:48:19.408Z,1755658099.408 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:48:19.409Z,1755658099.409 [DAT](INFO): direction in FSK: [-0.369193,0.459183,0.807990]
2025-08-20T02:48:19.410Z,1755658099.410 [DAT](INFO): publishing direction and range info
2025-08-20T02:48:28.278Z,1755658108.278 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:48:29.282Z,1755658109.282 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:48:59.406Z,1755658139.406 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:49:00.410Z,1755658140.410 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:49:18.216Z,1755658158.216 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-20T02:49:18.216Z,1755658158.216 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-20T02:49:18.227Z,1755658158.227 [DockingStepper](INFO): Changing to mode: 1
2025-08-20T02:49:18.646Z,1755658158.646 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:49:18.899Z,1755658158.899 [DAT](INFO): DAT read: user:3300>
2025-08-20T02:49:18.900Z,1755658158.900 [DAT](INFO): DAT read: Tx time:02:49:17.3013
2025-08-20T02:49:18.900Z,1755658158.900 [DAT](INFO): Ping request sent.
2025-08-20T02:49:18.900Z,1755658158.900 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:49:18.900Z,1755658158.900 [DAT](INFO): publishing transmit ping time
2025-08-20T02:49:18.901Z,1755658158.901 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:49:19.150Z,1755658159.150 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:49:21.167Z,1755658161.167 [DAT](INFO): DAT read: Rx Time:02:49:19.1756
2025-08-20T02:49:21.168Z,1755658161.168 [DAT](INFO): Rx dataTimestamp_ set to:1755658161.167403
2025-08-20T02:49:21.927Z,1755658161.927 [DAT](INFO): DAT read: 02:49:19.1756 LVL= 15120, 22321, 12034, 29395, AGC= 46, IDX= 113,-0.14,-1.663,-1.716,-2.174,-0.767, PHS=-0.794,-0.903,-1.451, RAW= 38.9, 61.3, CAL= 37.6, 64.6, ROT= 112.4, -64.6
2025-08-20T02:49:21.929Z,1755658161.929 [DAT](INFO): got valid direction response:
02:49:19.1756 LVL= 15120, 22321, 12034, 29395, AGC= 46, IDX= 113,-0.14,-1.663,-1.716,-2.174,-0.767, PHS=-0.794,-0.903,-1.451, RAW= 38.9, 61.3, CAL= 37.6, 64.6, ROT= 112.4, -64.6
2025-08-20T02:49:21.930Z,1755658161.930 [DAT](INFO): DAT read: OK
2025-08-20T02:49:21.930Z,1755658161.930 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:49:21.931Z,1755658161.931 [DAT](INFO): DAT read: user:3301>
2025-08-20T02:49:21.932Z,1755658161.932 [DAT](INFO): DAT read: Tx time:02:49:20.3013
2025-08-20T02:49:21.932Z,1755658161.932 [DAT](INFO): Ping request sent.
2025-08-20T02:49:21.932Z,1755658161.932 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:49:21.933Z,1755658161.933 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-20T02:49:21.934Z,1755658161.934 [DAT](INFO): direction in FSK: [-0.163455,0.396570,0.903335]
2025-08-20T02:49:21.935Z,1755658161.935 [DAT](INFO): publishing transmit ping time
2025-08-20T02:49:21.955Z,1755658161.955 [DAT](INFO): publishing transmit ping time
2025-08-20T02:49:24.190Z,1755658164.190 [DAT](INFO): DAT read: Rx Time:02:49:22.1757
2025-08-20T02:49:24.191Z,1755658164.191 [DAT](INFO): Rx dataTimestamp_ set to:1755658164.190674
2025-08-20T02:49:24.699Z,1755658164.699 [DAT](INFO): DAT read: 02:49:22.1757 LVL= 28240, 21105, 26818, 29171, AGC= 44, IDX= 450,-0.16,-1.842,-1.891,-2.344,-0.909, PHS=-0.831,-0.937,-1.479, RAW= 38.7, 62.3, CAL= 37.5, 65.6, ROT= 112.5, -65.6
2025-08-20T02:49:24.700Z,1755658164.700 [DAT](INFO): got valid direction response:
02:49:22.1757 LVL= 28240, 21105, 26818, 29171, AGC= 44, IDX= 450,-0.16,-1.842,-1.891,-2.344,-0.909, PHS=-0.831,-0.937,-1.479, RAW= 38.7, 62.3, CAL= 37.5, 65.6, ROT= 112.5, -65.6
2025-08-20T02:49:24.700Z,1755658164.700 [DAT](INFO): DAT read: OK
2025-08-20T02:49:24.700Z,1755658164.700 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:49:24.701Z,1755658164.701 [DAT](INFO): DAT read: user:3302>
2025-08-20T02:49:24.701Z,1755658164.701 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-20T02:49:24.702Z,1755658164.702 [DAT](INFO): direction in FSK: [-0.158088,0.381659,0.910684]
2025-08-20T02:49:24.947Z,1755658164.947 [DAT](INFO): DAT read: Tx time:02:49:23.3013
2025-08-20T02:49:24.947Z,1755658164.947 [DAT](INFO): Ping request sent.
2025-08-20T02:49:24.947Z,1755658164.947 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:49:24.947Z,1755658164.947 [DAT](INFO): publishing transmit ping time
2025-08-20T02:49:27.214Z,1755658167.214 [DAT](INFO): DAT read: Rx Time:02:49:25.1758
2025-08-20T02:49:27.215Z,1755658167.215 [DAT](INFO): Rx dataTimestamp_ set to:1755658167.214626
2025-08-20T02:49:27.722Z,1755658167.722 [DAT](INFO): DAT read: 02:49:25.1758 LVL= 25296, 15825, 26290, 27635, AGC= 45, IDX= 435,-0.27,-1.207,-1.261,-1.838,-0.250, PHS=-0.855,-0.966,-1.632, RAW= 37.5, 59.2, CAL= 36.2, 62.7, ROT= 113.8, -62.7
2025-08-20T02:49:27.723Z,1755658167.723 [DAT](INFO): got valid direction response:
02:49:25.1758 LVL= 25296, 15825, 26290, 27635, AGC= 45, IDX= 435,-0.27,-1.207,-1.261,-1.838,-0.250, PHS=-0.855,-0.966,-1.632, RAW= 37.5, 59.2, CAL= 36.2, 62.7, ROT= 113.8, -62.7
2025-08-20T02:49:27.724Z,1755658167.724 [DAT](INFO): DAT read: OK
2025-08-20T02:49:27.724Z,1755658167.724 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:49:27.724Z,1755658167.724 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-20T02:49:27.725Z,1755658167.725 [DAT](INFO): direction in FSK: [-0.185086,0.419646,0.888617]
2025-08-20T02:49:30.530Z,1755658170.530 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:49:31.534Z,1755658171.534 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:49:50.183Z,1755658190.183 [CTD_Seabird](ERROR): Failed to parse device response: ,10.7225,3.76344,3006.62
2025-08-20T02:50:01.658Z,1755658201.658 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:50:02.674Z,1755658202.674 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:50:15.971Z,1755658215.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:50:16.122Z,1755658216.122 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:50:16.122Z,1755658216.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:50:16.374Z,1755658216.374 [DAT](INFO): DAT read: user:3303>
2025-08-20T02:50:16.375Z,1755658216.375 [DAT](INFO): DAT read: Tx time:02:50:14.7520
2025-08-20T02:50:16.375Z,1755658216.375 [DAT](INFO): Ping request sent.
2025-08-20T02:50:16.376Z,1755658216.376 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:50:16.376Z,1755658216.376 [DAT](INFO): publishing transmit ping time
2025-08-20T02:50:16.376Z,1755658216.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-20T02:50:16.629Z,1755658216.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252701
2025-08-20T02:50:16.878Z,1755658216.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502767
2025-08-20T02:50:17.130Z,1755658217.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754744
2025-08-20T02:50:17.382Z,1755658217.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006684
2025-08-20T02:50:17.637Z,1755658217.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260493
2025-08-20T02:50:17.887Z,1755658217.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510849
2025-08-20T02:50:18.138Z,1755658218.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762737
2025-08-20T02:50:18.391Z,1755658218.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914
2025-08-20T02:50:18.398Z,1755658218.398 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-20T02:50:18.398Z,1755658218.398 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-20T02:50:18.410Z,1755658218.410 [DockingStepper](INFO): Changing to mode: 4
2025-08-20T02:50:18.645Z,1755658218.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269071
2025-08-20T02:50:18.894Z,1755658218.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518698
2025-08-20T02:50:19.148Z,1755658219.148 [DAT](INFO): DAT read: Rx Time:02:50:17.1588
2025-08-20T02:50:19.149Z,1755658219.149 [DAT](INFO): Rx dataTimestamp_ set to:1755658219.148244
2025-08-20T02:50:19.159Z,1755658219.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783015
2025-08-20T02:50:19.399Z,1755658219.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022854
2025-08-20T02:50:19.657Z,1755658219.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277418
2025-08-20T02:50:19.908Z,1755658219.908 [DAT](INFO): DAT read: 02:50:17.1588 LVL= 22944, 18353, 18098, 27811, AGC= 47, IDX= 248,-0.22,-2.714,-2.805, 2.865,-1.779, PHS=-0.833,-0.981,-1.682, RAW= 39.4, 57.5, CAL= 37.9, 61.3, ROT= 112.1, -61.3
2025-08-20T02:50:19.909Z,1755658219.909 [DAT](INFO): got valid direction response:
02:50:17.1588 LVL= 22944, 18353, 18098, 27811, AGC= 47, IDX= 248,-0.22,-2.714,-2.805, 2.865,-1.779, PHS=-0.833,-0.981,-1.682, RAW= 39.4, 57.5, CAL= 37.9, 61.3, ROT= 112.1, -61.3
2025-08-20T02:50:19.910Z,1755658219.910 [DAT](INFO): DAT read: Bearing 326.6, 30.1 (Local)
2025-08-20T02:50:19.910Z,1755658219.910 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.6, 30.1 (Local)
2025-08-20T02:50:19.912Z,1755658219.912 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s
2025-08-20T02:50:19.912Z,1755658219.912 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:50:19.913Z,1755658219.913 [DAT](INFO): direction in FSK: [-0.180672,0.444941,0.877146]
2025-08-20T02:50:19.913Z,1755658219.913 [DAT](INFO): publishing direction and range info
2025-08-20T02:50:19.917Z,1755658219.917 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:50:20.156Z,1755658220.156 [DAT](INFO): DAT read: user:3304>
2025-08-20T02:50:20.157Z,1755658220.157 [DAT](INFO): DAT read: Tx time:02:50:18.5510
2025-08-20T02:50:20.158Z,1755658220.158 [DAT](INFO): Ping request sent.
2025-08-20T02:50:20.158Z,1755658220.158 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:50:20.158Z,1755658220.158 [DAT](INFO): publishing transmit ping time
2025-08-20T02:50:20.159Z,1755658220.159 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:50:20.406Z,1755658220.406 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:50:22.423Z,1755658222.423 [DAT](INFO): DAT read: Rx Time:02:50:20.4273
2025-08-20T02:50:22.423Z,1755658222.423 [DAT](INFO): Rx dataTimestamp_ set to:1755658222.422834
2025-08-20T02:50:22.933Z,1755658222.933 [DAT](INFO): DAT read: 02:50:20.4273 LVL= 19856, 18481, 12738, 26707, AGC= 48, IDX= 133,-0.20,-1.122,-1.173,-1.997,-0.156, PHS=-0.865,-0.972,-1.885, RAW= 35.5, 53.6, CAL= 33.9, 57.7, ROT= 116.1, -57.7
2025-08-20T02:50:22.934Z,1755658222.934 [DAT](INFO): got valid direction response:
02:50:20.4273 LVL= 19856, 18481, 12738, 26707, AGC= 48, IDX= 133,-0.20,-1.122,-1.173,-1.997,-0.156, PHS=-0.865,-0.972,-1.885, RAW= 35.5, 53.6, CAL= 33.9, 57.7, ROT= 116.1, -57.7
2025-08-20T02:50:22.935Z,1755658222.935 [DAT](INFO): DAT read: OK
2025-08-20T02:50:22.935Z,1755658222.935 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:50:22.935Z,1755658222.935 [DAT](INFO): DAT read: user:3305>
2025-08-20T02:50:22.936Z,1755658222.936 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-20T02:50:22.937Z,1755658222.937 [DAT](INFO): direction in FSK: [-0.235082,0.479863,0.845262]
2025-08-20T02:50:23.179Z,1755658223.179 [DAT](INFO): DAT read: Tx time:02:50:21.5510
2025-08-20T02:50:23.179Z,1755658223.179 [DAT](INFO): Ping request sent.
2025-08-20T02:50:23.179Z,1755658223.179 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:50:23.180Z,1755658223.180 [DAT](INFO): publishing transmit ping time
2025-08-20T02:50:25.446Z,1755658225.446 [DAT](INFO): DAT read: Rx Time:02:50:23.4274
2025-08-20T02:50:25.447Z,1755658225.447 [DAT](INFO): Rx dataTimestamp_ set to:1755658225.446669
2025-08-20T02:50:25.954Z,1755658225.954 [DAT](INFO): DAT read: 02:50:23.4274 LVL= 26768, 20705, 27202, 29171, AGC= 44, IDX= 438,-0.28,-1.588,-1.606,-2.408,-0.578, PHS=-0.908,-0.982,-1.874, RAW= 34.0, 55.0, CAL= 32.5, 59.0, ROT= 117.5, -59.0
2025-08-20T02:50:25.955Z,1755658225.955 [DAT](INFO): got valid direction response:
02:50:23.4274 LVL= 26768, 20705, 27202, 29171, AGC= 44, IDX= 438,-0.28,-1.588,-1.606,-2.408,-0.578, PHS=-0.908,-0.982,-1.874, RAW= 34.0, 55.0, CAL= 32.5, 59.0, ROT= 117.5, -59.0
2025-08-20T02:50:25.956Z,1755658225.956 [DAT](INFO): DAT read: OK
2025-08-20T02:50:25.956Z,1755658225.956 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:50:25.956Z,1755658225.956 [DAT](INFO): DAT read: user:3306>
2025-08-20T02:50:25.957Z,1755658225.957 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-20T02:50:25.958Z,1755658225.958 [DAT](INFO): direction in FSK: [-0.237818,0.456844,0.857167]
2025-08-20T02:50:26.203Z,1755658226.203 [DAT](INFO): DAT read: Tx time:02:50:24.5510
2025-08-20T02:50:26.203Z,1755658226.203 [DAT](INFO): Ping request sent.
2025-08-20T02:50:26.203Z,1755658226.203 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:50:26.203Z,1755658226.203 [DAT](INFO): publishing transmit ping time
2025-08-20T02:50:28.471Z,1755658228.471 [DAT](INFO): DAT read: Rx Time:02:50:26.4274
2025-08-20T02:50:28.471Z,1755658228.471 [DAT](INFO): Rx dataTimestamp_ set to:1755658228.470734
2025-08-20T02:50:28.987Z,1755658228.987 [DAT](INFO): DAT read: 02:50:26.4274 LVL= 25664, 20113, 25506, 28115, AGC= 46, IDX= 439,-0.39,-1.666,-1.661,-2.394,-0.654, PHS=-0.910,-0.962,-1.785, RAW= 33.0, 56.7, CAL= 31.6, 60.4, ROT= 118.4, -60.4
2025-08-20T02:50:28.988Z,1755658228.988 [DAT](INFO): got valid direction response:
02:50:26.4274 LVL= 25664, 20113, 25506, 28115, AGC= 46, IDX= 439,-0.39,-1.666,-1.661,-2.394,-0.654, PHS=-0.910,-0.962,-1.785, RAW= 33.0, 56.7, CAL= 31.6, 60.4, ROT= 118.4, -60.4
2025-08-20T02:50:28.989Z,1755658228.989 [DAT](INFO): DAT read: OK
2025-08-20T02:50:28.989Z,1755658228.989 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:50:28.990Z,1755658228.990 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-20T02:50:28.991Z,1755658228.991 [DAT](INFO): direction in FSK: [-0.234931,0.434495,0.869495]
2025-08-20T02:50:32.794Z,1755658232.794 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:50:33.798Z,1755658233.798 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:51:03.918Z,1755658263.918 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:51:04.923Z,1755658264.923 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:51:35.042Z,1755658295.042 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:51:36.046Z,1755658296.046 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:51:48.491Z,1755658308.491 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-20T02:51:48.491Z,1755658308.491 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-20T02:51:48.501Z,1755658308.501 [DockingStepper](INFO): Changing to mode: 1
2025-08-20T02:51:49.159Z,1755658309.159 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:51:49.411Z,1755658309.411 [DAT](INFO): DAT read: user:3307>
2025-08-20T02:51:49.412Z,1755658309.412 [DAT](INFO): DAT read: Tx time:02:51:47.8007
2025-08-20T02:51:49.413Z,1755658309.413 [DAT](INFO): Ping request sent.
2025-08-20T02:51:49.413Z,1755658309.413 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:51:49.413Z,1755658309.413 [DAT](INFO): publishing transmit ping time
2025-08-20T02:51:49.414Z,1755658309.414 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:51:49.662Z,1755658309.662 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:51:51.678Z,1755658311.678 [DAT](INFO): DAT read: Rx Time:02:51:49.6797
2025-08-20T02:51:51.679Z,1755658311.679 [DAT](INFO): Rx dataTimestamp_ set to:1755658311.678635
2025-08-20T02:51:52.187Z,1755658312.187 [DAT](INFO): DAT read: 02:51:49.6797 LVL= 22336, 18769, 24562, 27635, AGC= 44, IDX= 466, 0.18, 0.340, 0.512,-0.209, 1.396, PHS=-0.953,-0.839,-1.648, RAW= 22.5, 58.0, CAL= 21.4, 61.6, ROT= 128.6, -61.6
2025-08-20T02:51:52.188Z,1755658312.188 [DAT](INFO): got valid direction response:
02:51:49.6797 LVL= 22336, 18769, 24562, 27635, AGC= 44, IDX= 466, 0.18, 0.340, 0.512,-0.209, 1.396, PHS=-0.953,-0.839,-1.648, RAW= 22.5, 58.0, CAL= 21.4, 61.6, ROT= 128.6, -61.6
2025-08-20T02:51:52.188Z,1755658312.188 [DAT](INFO): DAT read: OK
2025-08-20T02:51:52.188Z,1755658312.188 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:51:52.189Z,1755658312.189 [DAT](INFO): DAT read: user:3308>
2025-08-20T02:51:52.189Z,1755658312.189 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-20T02:51:52.191Z,1755658312.191 [DAT](INFO): direction in FSK: [-0.296732,0.371710,0.879649]
2025-08-20T02:51:52.434Z,1755658312.434 [DAT](INFO): DAT read: Tx time:02:51:50.8006
2025-08-20T02:51:52.435Z,1755658312.435 [DAT](INFO): Ping request sent.
2025-08-20T02:51:52.435Z,1755658312.435 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:51:52.435Z,1755658312.435 [DAT](INFO): publishing transmit ping time
2025-08-20T02:51:54.707Z,1755658314.707 [DAT](INFO): DAT read: Rx Time:02:51:52.6798
2025-08-20T02:51:54.707Z,1755658314.707 [DAT](INFO): Rx dataTimestamp_ set to:1755658314.706737
2025-08-20T02:51:55.216Z,1755658315.216 [DAT](INFO): DAT read: 02:51:52.6798 LVL= 21408, 21345, 24882, 26787, AGC= 44, IDX= 435, 0.16,-0.114,-0.017,-0.693, 0.918, PHS=-0.930,-0.890,-1.655, RAW= 27.4, 58.7, CAL= 26.2, 62.2, ROT= 123.8, -62.2
2025-08-20T02:51:55.217Z,1755658315.217 [DAT](INFO): got valid direction response:
02:51:52.6798 LVL= 21408, 21345, 24882, 26787, AGC= 44, IDX= 435, 0.16,-0.114,-0.017,-0.693, 0.918, PHS=-0.930,-0.890,-1.655, RAW= 27.4, 58.7, CAL= 26.2, 62.2, ROT= 123.8, -62.2
2025-08-20T02:51:55.218Z,1755658315.218 [DAT](INFO): DAT read: OK
2025-08-20T02:51:55.218Z,1755658315.218 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:51:55.218Z,1755658315.218 [DAT](INFO): DAT read: user:3309>
2025-08-20T02:51:55.219Z,1755658315.219 [DAT](INFO): DAT read: Tx time:02:51:53.8006
2025-08-20T02:51:55.219Z,1755658315.219 [DAT](INFO): Ping request sent.
2025-08-20T02:51:55.219Z,1755658315.219 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:51:55.220Z,1755658315.220 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-20T02:51:55.221Z,1755658315.221 [DAT](INFO): direction in FSK: [-0.259449,0.387560,0.884581]
2025-08-20T02:51:55.221Z,1755658315.221 [DAT](INFO): publishing transmit ping time
2025-08-20T02:51:55.224Z,1755658315.224 [DAT](INFO): publishing transmit ping time
2025-08-20T02:51:57.734Z,1755658317.734 [DAT](INFO): DAT read: Rx Time:02:51:55.6799
2025-08-20T02:51:57.735Z,1755658317.735 [DAT](INFO): Rx dataTimestamp_ set to:1755658317.734673
2025-08-20T02:51:58.248Z,1755658318.248 [DAT](INFO): DAT read: 02:51:55.6799 LVL= 27472, 21281, 25538, 28099, AGC= 43, IDX= 436, 0.12,-0.038, 0.022,-0.598, 0.995, PHS=-0.931,-0.928,-1.637, RAW= 29.8, 60.2, CAL= 28.6, 63.5, ROT= 121.4, -63.5
2025-08-20T02:51:58.249Z,1755658318.249 [DAT](INFO): got valid direction response:
02:51:55.6799 LVL= 27472, 21281, 25538, 28099, AGC= 43, IDX= 436, 0.12,-0.038, 0.022,-0.598, 0.995, PHS=-0.931,-0.928,-1.637, RAW= 29.8, 60.2, CAL= 28.6, 63.5, ROT= 121.4, -63.5
2025-08-20T02:51:58.249Z,1755658318.249 [DAT](INFO): DAT read: OK
2025-08-20T02:51:58.250Z,1755658318.250 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:51:58.250Z,1755658318.250 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-20T02:51:58.251Z,1755658318.251 [DAT](INFO): direction in FSK: [-0.232473,0.380852,0.894934]
2025-08-20T02:52:06.178Z,1755658326.178 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:52:07.182Z,1755658327.182 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:52:16.373Z,1755658336.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:52:16.399Z,1755658336.399 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:52:16.400Z,1755658336.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:52:16.650Z,1755658336.650 [DAT](INFO): DAT read: user:3310>
2025-08-20T02:52:16.651Z,1755658336.651 [DAT](INFO): DAT read: Tx time:02:52:15.0515
2025-08-20T02:52:16.651Z,1755658336.651 [DAT](INFO): Ping request sent.
2025-08-20T02:52:16.652Z,1755658336.652 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:52:16.652Z,1755658336.652 [DAT](INFO): publishing transmit ping time
2025-08-20T02:52:16.652Z,1755658336.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-20T02:52:16.902Z,1755658336.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250893
2025-08-20T02:52:17.155Z,1755658337.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503250
2025-08-20T02:52:17.410Z,1755658337.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757117
2025-08-20T02:52:17.658Z,1755658337.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006845
2025-08-20T02:52:17.911Z,1755658337.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259103
2025-08-20T02:52:18.163Z,1755658338.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511200
2025-08-20T02:52:18.415Z,1755658338.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762990
2025-08-20T02:52:18.667Z,1755658338.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015239
2025-08-20T02:52:18.919Z,1755658338.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267619
2025-08-20T02:52:19.171Z,1755658339.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519286
2025-08-20T02:52:19.425Z,1755658339.425 [DAT](INFO): DAT read: Rx Time:02:52:17.4583
2025-08-20T02:52:19.427Z,1755658339.427 [DAT](INFO): Rx dataTimestamp_ set to:1755658339.425707
2025-08-20T02:52:19.428Z,1755658339.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776211
2025-08-20T02:52:19.676Z,1755658339.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024367
2025-08-20T02:52:19.928Z,1755658339.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276292
2025-08-20T02:52:20.184Z,1755658340.184 [DAT](INFO): DAT read: 02:52:17.4583 LVL= 18672, 16241, 18210, 24979, AGC= 47, IDX= 199, 0.26, 1.770, 1.791, 1.085, 2.794, PHS=-0.921,-0.958,-1.752, RAW= 32.2, 57.7, CAL= 30.9, 61.3, ROT= 119.1, -61.3
2025-08-20T02:52:20.186Z,1755658340.186 [DAT](INFO): got valid direction response:
02:52:17.4583 LVL= 18672, 16241, 18210, 24979, AGC= 47, IDX= 199, 0.26, 1.770, 1.791, 1.085, 2.794, PHS=-0.921,-0.958,-1.752, RAW= 32.2, 57.7, CAL= 30.9, 61.3, ROT= 119.1, -61.3
2025-08-20T02:52:20.186Z,1755658340.186 [DAT](INFO): DAT read: Bearing 331.4, 28.9 (Local)
2025-08-20T02:52:20.187Z,1755658340.187 [DAT](INFO): Local bearing/azimuth received:
Bearing 331.4, 28.9 (Local)
2025-08-20T02:52:20.188Z,1755658340.188 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m (Round-trip 2.6 ms) speed 0.0 m/s
2025-08-20T02:52:20.189Z,1755658340.189 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:52:20.190Z,1755658340.190 [DAT](INFO): direction in FSK: [-0.233550,0.419606,0.877146]
2025-08-20T02:52:20.190Z,1755658340.190 [DAT](INFO): publishing direction and range info
2025-08-20T02:52:37.307Z,1755658357.307 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:52:38.310Z,1755658358.310 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:52:47.957Z,1755658367.957 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +7, -2,A
2025-08-20T02:52:48.758Z,1755658368.758 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-20T02:52:48.758Z,1755658368.758 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-20T02:52:48.770Z,1755658368.770 [DockingStepper](INFO): Changing to mode: 4
2025-08-20T02:52:48.938Z,1755658368.938 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:52:49.190Z,1755658369.190 [DAT](INFO): DAT read: user:3311>
2025-08-20T02:52:49.191Z,1755658369.191 [DAT](INFO): DAT read: Tx time:02:52:47.6004
2025-08-20T02:52:49.191Z,1755658369.191 [DAT](INFO): Ping request sent.
2025-08-20T02:52:49.192Z,1755658369.192 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:52:49.192Z,1755658369.192 [DAT](INFO): publishing transmit ping time
2025-08-20T02:52:49.192Z,1755658369.192 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:52:49.442Z,1755658369.442 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:52:51.458Z,1755658371.458 [DAT](INFO): DAT read: Rx Time:02:52:49.4815
2025-08-20T02:52:51.459Z,1755658371.459 [DAT](INFO): Rx dataTimestamp_ set to:1755658371.458601
2025-08-20T02:52:52.219Z,1755658372.219 [DAT](INFO): DAT read: 02:52:49.4815 LVL= 21168, 20513, 15634, 25219, AGC= 46, IDX= 182, 0.02,-0.325,-0.328,-1.237, 0.695, PHS=-0.918,-0.977,-1.975, RAW= 32.9, 53.1, CAL= 31.3, 57.2, ROT= 118.7, -57.2
2025-08-20T02:52:52.220Z,1755658372.220 [DAT](INFO): got valid direction response:
02:52:49.4815 LVL= 21168, 20513, 15634, 25219, AGC= 46, IDX= 182, 0.02,-0.325,-0.328,-1.237, 0.695, PHS=-0.918,-0.977,-1.975, RAW= 32.9, 53.1, CAL= 31.3, 57.2, ROT= 118.7, -57.2
2025-08-20T02:52:52.221Z,1755658372.221 [DAT](INFO): DAT read: OK
2025-08-20T02:52:52.230Z,1755658372.230 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:52:52.230Z,1755658372.230 [DAT](INFO): DAT read: user:3312>
2025-08-20T02:52:52.231Z,1755658372.231 [DAT](INFO): DAT read: Tx time:02:52:50.6004
2025-08-20T02:52:52.232Z,1755658372.232 [DAT](INFO): Ping request sent.
2025-08-20T02:52:52.232Z,1755658372.232 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:52:52.233Z,1755658372.233 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-20T02:52:52.234Z,1755658372.234 [DAT](INFO): direction in FSK: [-0.260141,0.475157,0.840567]
2025-08-20T02:52:52.235Z,1755658372.235 [DAT](INFO): publishing transmit ping time
2025-08-20T02:52:52.239Z,1755658372.239 [DAT](INFO): publishing transmit ping time
2025-08-20T02:52:54.482Z,1755658374.482 [DAT](INFO): DAT read: Rx Time:02:52:52.4815
2025-08-20T02:52:54.483Z,1755658374.483 [DAT](INFO): Rx dataTimestamp_ set to:1755658374.482654
2025-08-20T02:52:55.002Z,1755658375.002 [DAT](INFO): DAT read: 02:52:52.4815 LVL= 27040, 23761, 24562, 29283, AGC= 44, IDX= 439,-0.03,-1.251,-1.296,-1.936,-0.264, PHS=-0.885,-0.987,-1.716, RAW= 36.5, 58.3, CAL= 35.1, 61.9, ROT= 114.9, -61.9
2025-08-20T02:52:55.005Z,1755658375.005 [DAT](INFO): got valid direction response:
02:52:52.4815 LVL= 27040, 23761, 24562, 29283, AGC= 44, IDX= 439,-0.03,-1.251,-1.296,-1.936,-0.264, PHS=-0.885,-0.987,-1.716, RAW= 36.5, 58.3, CAL= 35.1, 61.9, ROT= 114.9, -61.9
2025-08-20T02:52:55.006Z,1755658375.006 [DAT](INFO): DAT read: OK
2025-08-20T02:52:55.007Z,1755658375.007 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:52:55.008Z,1755658375.008 [DAT](INFO): DAT read: user:3313>
2025-08-20T02:52:55.025Z,1755658375.025 [DAT](INFO): DAT read: Tx time:02:52:53.6003
2025-08-20T02:52:55.026Z,1755658375.026 [DAT](INFO): Ping request sent.
2025-08-20T02:52:55.026Z,1755658375.026 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:52:55.027Z,1755658375.027 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-20T02:52:55.028Z,1755658375.028 [DAT](INFO): direction in FSK: [-0.198313,0.427228,0.882127]
2025-08-20T02:52:55.029Z,1755658375.029 [DAT](INFO): publishing transmit ping time
2025-08-20T02:52:55.036Z,1755658375.036 [DAT](INFO): publishing transmit ping time
2025-08-20T02:52:57.507Z,1755658377.507 [DAT](INFO): DAT read: Rx Time:02:52:55.4816
2025-08-20T02:52:57.507Z,1755658377.507 [DAT](INFO): Rx dataTimestamp_ set to:1755658377.506717
2025-08-20T02:52:58.026Z,1755658378.026 [DAT](INFO): DAT read: 02:52:55.4816 LVL= 26144, 23329, 27538, 28067, AGC= 44, IDX= 440,-0.05,-1.589,-1.552,-2.363,-0.580, PHS=-0.906,-0.927,-1.827, RAW= 31.1, 54.9, CAL= 29.7, 58.8, ROT= 120.3, -58.8
2025-08-20T02:52:58.030Z,1755658378.030 [DAT](INFO): got valid direction response:
02:52:55.4816 LVL= 26144, 23329, 27538, 28067, AGC= 44, IDX= 440,-0.05,-1.589,-1.552,-2.363,-0.580, PHS=-0.906,-0.927,-1.827, RAW= 31.1, 54.9, CAL= 29.7, 58.8, ROT= 120.3, -58.8
2025-08-20T02:52:58.031Z,1755658378.031 [DAT](INFO): DAT read: OK
2025-08-20T02:52:58.032Z,1755658378.032 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:52:58.033Z,1755658378.033 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-20T02:52:58.036Z,1755658378.036 [DAT](INFO): direction in FSK: [-0.261359,0.447262,0.855364]
2025-08-20T02:53:08.446Z,1755658388.446 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:53:09.450Z,1755658389.450 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:53:39.578Z,1755658419.578 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:53:40.582Z,1755658420.582 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:54:10.702Z,1755658450.702 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:54:11.706Z,1755658451.706 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:54:16.396Z,1755658456.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:54:16.406Z,1755658456.406 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:54:16.407Z,1755658456.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:54:16.658Z,1755658456.658 [DAT](INFO): DAT read: user:3314>
2025-08-20T02:54:16.659Z,1755658456.659 [DAT](INFO): DAT read: Tx time:02:54:15.0510
2025-08-20T02:54:16.659Z,1755658456.659 [DAT](INFO): Ping request sent.
2025-08-20T02:54:16.659Z,1755658456.659 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:54:16.660Z,1755658456.660 [DAT](INFO): publishing transmit ping time
2025-08-20T02:54:16.660Z,1755658456.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-20T02:54:16.911Z,1755658456.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251044
2025-08-20T02:54:17.165Z,1755658457.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505057
2025-08-20T02:54:17.415Z,1755658457.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755012
2025-08-20T02:54:17.667Z,1755658457.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007001
2025-08-20T02:54:17.918Z,1755658457.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258976
2025-08-20T02:54:18.171Z,1755658458.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511126
2025-08-20T02:54:18.423Z,1755658458.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763089
2025-08-20T02:54:18.674Z,1755658458.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014882
2025-08-20T02:54:18.786Z,1755658458.786 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-20T02:54:18.786Z,1755658458.786 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-20T02:54:18.787Z,1755658458.787 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Found local IP address 10.89.11.2 for eth0
2025-08-20T02:54:18.787Z,1755658458.787 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): No IP address on dock subnet, restarting DHCP
2025-08-20T02:54:18.796Z,1755658458.796 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-20T02:54:18.838Z,1755658458.838 [DockingStepper](INFO): Changing to mode: 1
2025-08-20T02:54:18.927Z,1755658458.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267435
2025-08-20T02:54:19.179Z,1755658459.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519380
2025-08-20T02:54:19.431Z,1755658459.431 [DAT](INFO): DAT read: Rx Time:02:54:17.4578
2025-08-20T02:54:19.431Z,1755658459.431 [DAT](INFO): Rx dataTimestamp_ set to:1755658459.430727
2025-08-20T02:54:19.432Z,1755658459.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772161
2025-08-20T02:54:19.689Z,1755658459.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029587
2025-08-20T02:54:19.946Z,1755658459.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286541
2025-08-20T02:54:20.200Z,1755658460.200 [DAT](INFO): DAT read: 02:54:17.4578 LVL= 18272, 21841, 12786, 30451, AGC= 47, IDX= 184,-0.49,-2.652,-2.508, 3.001,-1.584, PHS=-0.966,-0.879,-1.742, RAW= 24.7, 57.0, CAL= 23.6, 60.7, ROT= 126.4, -60.7
2025-08-20T02:54:20.202Z,1755658460.202 [DAT](INFO): got valid direction response:
02:54:17.4578 LVL= 18272, 21841, 12786, 30451, AGC= 47, IDX= 184,-0.49,-2.652,-2.508, 3.001,-1.584, PHS=-0.966,-0.879,-1.742, RAW= 24.7, 57.0, CAL= 23.6, 60.7, ROT= 126.4, -60.7
2025-08-20T02:54:20.204Z,1755658460.204 [DAT](INFO): DAT read: Bearing 345.0, 28.6 (Local)
2025-08-20T02:54:20.206Z,1755658460.206 [DAT](INFO): Local bearing/azimuth received:
Bearing 345.0, 28.6 (Local)
2025-08-20T02:54:20.209Z,1755658460.209 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m (Round-trip 2.6 ms) speed 0.0 m/s
2025-08-20T02:54:20.210Z,1755658460.210 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:54:20.212Z,1755658460.212 [DAT](INFO): direction in FSK: [-0.290409,0.393901,0.872069]
2025-08-20T02:54:20.212Z,1755658460.212 [DAT](INFO): publishing direction and range info
2025-08-20T02:54:20.287Z,1755658460.287 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:54:20.454Z,1755658460.454 [DAT](INFO): DAT read: user:3315>
2025-08-20T02:54:20.455Z,1755658460.455 [DAT](INFO): DAT read: Tx time:02:54:18.9500
2025-08-20T02:54:20.455Z,1755658460.455 [DAT](INFO): Ping request sent.
2025-08-20T02:54:20.456Z,1755658460.456 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:54:20.456Z,1755658460.456 [DAT](INFO): publishing transmit ping time
2025-08-20T02:54:20.456Z,1755658460.456 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:54:20.706Z,1755658460.706 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:54:22.976Z,1755658462.976 [DAT](INFO): DAT read: Rx Time:02:54:20.8340
2025-08-20T02:54:22.977Z,1755658462.977 [DAT](INFO): Rx dataTimestamp_ set to:1755658462.975944
2025-08-20T02:54:23.485Z,1755658463.485 [DAT](INFO): DAT read: 02:54:20.8340 LVL= 20272, 21201, 15794, 32147, AGC= 46, IDX= 211, 0.42,-0.409,-0.312,-0.906, 0.592, PHS=-0.899,-0.859,-1.542, RAW= 27.0, 60.4, CAL= 25.9, 63.6, ROT= 124.1, -63.6
2025-08-20T02:54:23.486Z,1755658463.486 [DAT](INFO): got valid direction response:
02:54:20.8340 LVL= 20272, 21201, 15794, 32147, AGC= 46, IDX= 211, 0.42,-0.409,-0.312,-0.906, 0.592, PHS=-0.899,-0.859,-1.542, RAW= 27.0, 60.4, CAL= 25.9, 63.6, ROT= 124.1, -63.6
2025-08-20T02:54:23.487Z,1755658463.487 [DAT](INFO): DAT read: OK
2025-08-20T02:54:23.487Z,1755658463.487 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:54:23.488Z,1755658463.488 [DAT](INFO): DAT read: user:3316>
2025-08-20T02:54:23.489Z,1755658463.489 [DAT](INFO): DAT read: Tx time:02:54:21.9500
2025-08-20T02:54:23.490Z,1755658463.490 [DAT](INFO): Ping request sent.
2025-08-20T02:54:23.490Z,1755658463.490 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:54:23.490Z,1755658463.490 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-20T02:54:23.492Z,1755658463.492 [DAT](INFO): direction in FSK: [-0.249280,0.368185,0.895712]
2025-08-20T02:54:23.492Z,1755658463.492 [DAT](INFO): publishing transmit ping time
2025-08-20T02:54:23.497Z,1755658463.497 [DAT](INFO): publishing transmit ping time
2025-08-20T02:54:26.007Z,1755658466.007 [DAT](INFO): DAT read: Rx Time:02:54:23.8340
2025-08-20T02:54:26.007Z,1755658466.007 [DAT](INFO): Rx dataTimestamp_ set to:1755658466.006743
2025-08-20T02:54:26.515Z,1755658466.515 [DAT](INFO): DAT read: 02:54:23.8340 LVL= 21920, 23713, 28242, 27955, AGC= 43, IDX= 436, 0.30,-0.048,-0.002,-0.535, 0.925, PHS=-0.872,-0.883,-1.504, RAW= 30.9, 61.4, CAL= 29.7, 64.6, ROT= 120.3, -64.6
2025-08-20T02:54:26.516Z,1755658466.516 [DAT](INFO): got valid direction response:
02:54:23.8340 LVL= 21920, 23713, 28242, 27955, AGC= 43, IDX= 436, 0.30,-0.048,-0.002,-0.535, 0.925, PHS=-0.872,-0.883,-1.504, RAW= 30.9, 61.4, CAL= 29.7, 64.6, ROT= 120.3, -64.6
2025-08-20T02:54:26.516Z,1755658466.516 [DAT](INFO): DAT read: OK
2025-08-20T02:54:26.516Z,1755658466.516 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:54:26.517Z,1755658466.517 [DAT](INFO): DAT read: user:3317>
2025-08-20T02:54:26.518Z,1755658466.518 [DAT](INFO): DAT read: Tx time:02:54:24.9500
2025-08-20T02:54:26.518Z,1755658466.518 [DAT](INFO): Ping request sent.
2025-08-20T02:54:26.518Z,1755658466.518 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:54:26.519Z,1755658466.519 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-20T02:54:26.520Z,1755658466.520 [DAT](INFO): direction in FSK: [-0.216410,0.370341,0.903335]
2025-08-20T02:54:26.520Z,1755658466.520 [DAT](INFO): publishing transmit ping time
2025-08-20T02:54:26.523Z,1755658466.523 [DAT](INFO): publishing transmit ping time
2025-08-20T02:54:28.782Z,1755658468.782 [DAT](INFO): DAT read: Rx Time:02:54:26.8341
2025-08-20T02:54:28.783Z,1755658468.783 [DAT](INFO): Rx dataTimestamp_ set to:1755658468.782565
2025-08-20T02:54:28.985Z,1755658468.985 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-20T02:44:28.8Z
2025-08-20T02:54:28.989Z,1755658468.989 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-20T02:54:28.990Z,1755658468.990 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-20T02:54:28.990Z,1755658468.990 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-20T02:54:28.990Z,1755658468.990 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-20T02:54:28.990Z,1755658468.990 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-20T02:54:29.290Z,1755658469.290 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-20T02:54:29.290Z,1755658469.290 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-20T02:54:29.290Z,1755658469.290 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-20T02:54:29.290Z,1755658469.290 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-20T02:54:29.290Z,1755658469.290 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-20T02:54:29.542Z,1755658469.542 [DAT](INFO): DAT read: 02:54:26.8341 LVL= 20960, 17313, 23618, 25747, AGC= 44, IDX= 437, 0.11, 0.876, 0.911, 0.373, 1.895, PHS=-0.917,-0.939,-1.566, RAW= 31.7, 62.2, CAL= 30.6, 65.3, ROT= 119.4, -65.3
2025-08-20T02:54:29.543Z,1755658469.543 [DAT](INFO): got valid direction response:
02:54:26.8341 LVL= 20960, 17313, 23618, 25747, AGC= 44, IDX= 437, 0.11, 0.876, 0.911, 0.373, 1.895, PHS=-0.917,-0.939,-1.566, RAW= 31.7, 62.2, CAL= 30.6, 65.3, ROT= 119.4, -65.3
2025-08-20T02:54:29.544Z,1755658469.544 [DAT](INFO): DAT read: OK
2025-08-20T02:54:29.544Z,1755658469.544 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:54:29.544Z,1755658469.544 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-20T02:54:29.549Z,1755658469.549 [DAT](INFO): direction in FSK: [-0.205132,0.364052,0.908508]
2025-08-20T02:54:41.846Z,1755658481.846 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:54:42.850Z,1755658482.850 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:55:09.037Z,1755658509.037 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,+0.00, + +0.00, 20.00,1197.65
2025-08-20T02:55:12.991Z,1755658512.991 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:55:13.994Z,1755658513.994 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:55:19.057Z,1755658519.057 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-20T02:55:19.058Z,1755658519.058 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-20T02:55:19.068Z,1755658519.068 [DockingStepper](INFO): Changing to mode: 4
2025-08-20T02:55:19.238Z,1755658519.238 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:55:19.490Z,1755658519.490 [DAT](INFO): DAT read: user:3318>
2025-08-20T02:55:19.491Z,1755658519.491 [DAT](INFO): DAT read: Tx time:02:55:17.8999
2025-08-20T02:55:19.491Z,1755658519.491 [DAT](INFO): Ping request sent.
2025-08-20T02:55:19.492Z,1755658519.492 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:55:19.492Z,1755658519.492 [DAT](INFO): publishing transmit ping time
2025-08-20T02:55:19.492Z,1755658519.492 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:55:19.742Z,1755658519.742 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:55:21.759Z,1755658521.759 [DAT](INFO): DAT read: Rx Time:02:55:19.7856
2025-08-20T02:55:21.759Z,1755658521.759 [DAT](INFO): Rx dataTimestamp_ set to:1755658521.758879
2025-08-20T02:55:22.527Z,1755658522.527 [DAT](INFO): DAT read: 02:55:19.7856 LVL= 22752, 19105, 23730, 25043, AGC= 46, IDX= 454, 0.10, 0.433, 0.352,-0.586, 1.425, PHS=-0.890,-1.028,-2.055, RAW= 36.2, 51.9, CAL= 34.6, 56.2, ROT= 115.4, -56.2
2025-08-20T02:55:22.528Z,1755658522.528 [DAT](INFO): got valid direction response:
02:55:19.7856 LVL= 22752, 19105, 23730, 25043, AGC= 46, IDX= 454, 0.10, 0.433, 0.352,-0.586, 1.425, PHS=-0.890,-1.028,-2.055, RAW= 36.2, 51.9, CAL= 34.6, 56.2, ROT= 115.4, -56.2
2025-08-20T02:55:22.528Z,1755658522.528 [DAT](INFO): DAT read: OK
2025-08-20T02:55:22.528Z,1755658522.528 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:55:22.529Z,1755658522.529 [DAT](INFO): DAT read: user:3319>
2025-08-20T02:55:22.533Z,1755658522.533 [DAT](INFO): DAT read: Tx time:02:55:20.8999
2025-08-20T02:55:22.534Z,1755658522.534 [DAT](INFO): Ping request sent.
2025-08-20T02:55:22.534Z,1755658522.534 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:55:22.534Z,1755658522.534 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-20T02:55:22.535Z,1755658522.535 [DAT](INFO): direction in FSK: [-0.238615,0.502521,0.830984]
2025-08-20T02:55:22.535Z,1755658522.535 [DAT](INFO): publishing transmit ping time
2025-08-20T02:55:22.574Z,1755658522.574 [DAT](INFO): publishing transmit ping time
2025-08-20T02:55:24.791Z,1755658524.791 [DAT](INFO): DAT read: Rx Time:02:55:22.7857
2025-08-20T02:55:24.791Z,1755658524.791 [DAT](INFO): Rx dataTimestamp_ set to:1755658524.790906
2025-08-20T02:55:25.298Z,1755658525.298 [DAT](INFO): DAT read: 02:55:22.7857 LVL= 27360, 19361, 25586, 30995, AGC= 45, IDX= 439,-0.00,-0.662,-0.717,-1.349, 0.313, PHS=-0.873,-0.985,-1.706, RAW= 37.1, 58.1, CAL= 35.7, 61.8, ROT= 114.3, -61.8
2025-08-20T02:55:25.300Z,1755658525.300 [DAT](INFO): got valid direction response:
02:55:22.7857 LVL= 27360, 19361, 25586, 30995, AGC= 45, IDX= 439,-0.00,-0.662,-0.717,-1.349, 0.313, PHS=-0.873,-0.985,-1.706, RAW= 37.1, 58.1, CAL= 35.7, 61.8, ROT= 114.3, -61.8
2025-08-20T02:55:25.301Z,1755658525.301 [DAT](INFO): DAT read: OK
2025-08-20T02:55:25.301Z,1755658525.301 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:55:25.302Z,1755658525.302 [DAT](INFO): DAT read: user:3320>
2025-08-20T02:55:25.303Z,1755658525.303 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-20T02:55:25.305Z,1755658525.305 [DAT](INFO): direction in FSK: [-0.194461,0.430684,0.881303]
2025-08-20T02:55:25.547Z,1755658525.547 [DAT](INFO): DAT read: Tx time:02:55:23.8999
2025-08-20T02:55:25.547Z,1755658525.547 [DAT](INFO): Ping request sent.
2025-08-20T02:55:25.547Z,1755658525.547 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:55:25.547Z,1755658525.547 [DAT](INFO): publishing transmit ping time
2025-08-20T02:55:27.815Z,1755658527.815 [DAT](INFO): DAT read: Rx Time:02:55:25.7858
2025-08-20T02:55:27.815Z,1755658527.815 [DAT](INFO): Rx dataTimestamp_ set to:1755658527.815074
2025-08-20T02:55:28.324Z,1755658528.324 [DAT](INFO): DAT read: 02:55:25.7858 LVL= 22960, 20817, 26770, 29683, AGC= 46, IDX= 440,-0.05,-1.808,-1.792,-2.663,-0.786, PHS=-0.920,-0.962,-1.921, RAW= 32.1, 53.9, CAL= 30.6, 57.9, ROT= 119.4, -57.9
2025-08-20T02:55:28.325Z,1755658528.325 [DAT](INFO): got valid direction response:
02:55:25.7858 LVL= 22960, 20817, 26770, 29683, AGC= 46, IDX= 440,-0.05,-1.808,-1.792,-2.663,-0.786, PHS=-0.920,-0.962,-1.921, RAW= 32.1, 53.9, CAL= 30.6, 57.9, ROT= 119.4, -57.9
2025-08-20T02:55:28.326Z,1755658528.326 [DAT](INFO): DAT read: OK
2025-08-20T02:55:28.326Z,1755658528.326 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:55:28.326Z,1755658528.326 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-20T02:55:28.327Z,1755658528.327 [DAT](INFO): direction in FSK: [-0.260866,0.462962,0.847122]
2025-08-20T02:55:44.114Z,1755658544.114 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:55:45.118Z,1755658545.118 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:56:15.242Z,1755658575.242 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:56:16.246Z,1755658576.246 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:56:16.469Z,1755658576.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:56:16.507Z,1755658576.507 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:56:16.507Z,1755658576.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:56:16.758Z,1755658576.758 [DAT](INFO): DAT read: user:3321>
2025-08-20T02:56:16.759Z,1755658576.759 [DAT](INFO): DAT read: Tx time:02:56:15.1506
2025-08-20T02:56:16.759Z,1755658576.759 [DAT](INFO): Ping request sent.
2025-08-20T02:56:16.759Z,1755658576.759 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:56:16.760Z,1755658576.760 [DAT](INFO): publishing transmit ping time
2025-08-20T02:56:16.760Z,1755658576.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-20T02:56:17.010Z,1755658577.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250927
2025-08-20T02:56:17.263Z,1755658577.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503043
2025-08-20T02:56:17.515Z,1755658577.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755456
2025-08-20T02:56:17.767Z,1755658577.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007018
2025-08-20T02:56:18.021Z,1755658578.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261160
2025-08-20T02:56:18.270Z,1755658578.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510897
2025-08-20T02:56:18.523Z,1755658578.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763299
2025-08-20T02:56:18.774Z,1755658578.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014972
2025-08-20T02:56:19.027Z,1755658579.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267117
2025-08-20T02:56:19.278Z,1755658579.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518973
2025-08-20T02:56:19.530Z,1755658579.530 [DAT](INFO): DAT read: Rx Time:02:56:17.5574
2025-08-20T02:56:19.531Z,1755658579.531 [DAT](INFO): Rx dataTimestamp_ set to:1755658579.530626
2025-08-20T02:56:19.531Z,1755658579.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771972
2025-08-20T02:56:19.782Z,1755658579.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022897
2025-08-20T02:56:20.039Z,1755658580.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278414
2025-08-20T02:56:20.292Z,1755658580.292 [DAT](INFO): DAT read: 02:56:17.5574 LVL= 17344, 22657, 14178, 30499, AGC= 48, IDX= 135, 0.12,-1.099,-0.985,-1.908,-0.017, PHS=-0.980,-0.923,-1.935, RAW= 27.1, 54.0, CAL= 25.8, 58.0, ROT= 124.2, -58.0
2025-08-20T02:56:20.293Z,1755658580.293 [DAT](INFO): got valid direction response:
02:56:17.5574 LVL= 17344, 22657, 14178, 30499, AGC= 48, IDX= 135, 0.12,-1.099,-0.985,-1.908,-0.017, PHS=-0.980,-0.923,-1.935, RAW= 27.1, 54.0, CAL= 25.8, 58.0, ROT= 124.2, -58.0
2025-08-20T02:56:20.294Z,1755658580.294 [DAT](INFO): DAT read: Bearing 351.9, 31.6 (Local)
2025-08-20T02:56:20.294Z,1755658580.294 [DAT](INFO): Local bearing/azimuth received:
Bearing 351.9, 31.6 (Local)
2025-08-20T02:56:20.295Z,1755658580.295 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m (Round-trip 2.6 ms) speed 0.0 m/s
2025-08-20T02:56:20.296Z,1755658580.296 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:56:20.297Z,1755658580.297 [DAT](INFO): direction in FSK: [-0.297859,0.438286,0.848048]
2025-08-20T02:56:20.297Z,1755658580.297 [DAT](INFO): publishing direction and range info
2025-08-20T02:56:46.388Z,1755658606.388 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:56:47.391Z,1755658607.391 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:56:49.184Z,1755658609.184 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-20T02:56:49.184Z,1755658609.184 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-20T02:56:49.199Z,1755658609.199 [DockingStepper](INFO): Changing to mode: 1
2025-08-20T02:56:49.794Z,1755658609.794 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:56:50.046Z,1755658610.046 [DAT](INFO): DAT read: user:3322>
2025-08-20T02:56:50.047Z,1755658610.047 [DAT](INFO): DAT read: Tx time:02:56:48.4496
2025-08-20T02:56:50.047Z,1755658610.047 [DAT](INFO): Ping request sent.
2025-08-20T02:56:50.047Z,1755658610.047 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:56:50.048Z,1755658610.048 [DAT](INFO): publishing transmit ping time
2025-08-20T02:56:50.048Z,1755658610.048 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:56:50.298Z,1755658610.298 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-20T02:56:52.315Z,1755658612.315 [DAT](INFO): DAT read: Rx Time:02:56:50.3381
2025-08-20T02:56:52.315Z,1755658612.315 [DAT](INFO): Rx dataTimestamp_ set to:1755658612.314813
2025-08-20T02:56:52.818Z,1755658612.818 [DAT](INFO): DAT read: OK
2025-08-20T02:56:52.819Z,1755658612.819 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:56:52.819Z,1755658612.819 [DAT](INFO): DAT read: user:3323>
2025-08-20T02:56:53.071Z,1755658613.071 [DAT](INFO): DAT read: Tx time:02:56:51.4509
2025-08-20T02:56:53.072Z,1755658613.072 [DAT](INFO): Ping request sent.
2025-08-20T02:56:53.072Z,1755658613.072 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:56:53.072Z,1755658613.072 [DAT](INFO): publishing transmit ping time
2025-08-20T02:56:55.340Z,1755658615.340 [DAT](INFO): DAT read: Rx Time:02:56:53.3382
2025-08-20T02:56:55.340Z,1755658615.340 [DAT](INFO): Rx dataTimestamp_ set to:1755658615.340036
2025-08-20T02:56:55.842Z,1755658615.842 [DAT](INFO): DAT read: OK
2025-08-20T02:56:55.843Z,1755658615.843 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:56:55.843Z,1755658615.843 [DAT](INFO): DAT read: user:3324>
2025-08-20T02:56:56.095Z,1755658616.095 [DAT](INFO): DAT read: Tx time:02:56:54.4509
2025-08-20T02:56:56.096Z,1755658616.096 [DAT](INFO): Ping request sent.
2025-08-20T02:56:56.096Z,1755658616.096 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:56:56.096Z,1755658616.096 [DAT](INFO): publishing transmit ping time
2025-08-20T02:56:58.362Z,1755658618.362 [DAT](INFO): DAT read: Rx Time:02:56:56.3382
2025-08-20T02:56:58.363Z,1755658618.363 [DAT](INFO): Rx dataTimestamp_ set to:1755658618.362585
2025-08-20T02:56:58.870Z,1755658618.870 [DAT](INFO): DAT read: 02:56:56.3382 LVL= 21744, 16945, 23090, 26179, AGC= 44, IDX= 436, 0.44, 0.074, 0.041,-0.424, 1.052, PHS=-0.877,-0.966,-1.520, RAW= 37.4, 63.1, CAL= 36.2, 66.2, ROT= 113.8, -66.2
2025-08-20T02:56:58.871Z,1755658618.871 [DAT](INFO): got valid direction response:
02:56:56.3382 LVL= 21744, 16945, 23090, 26179, AGC= 44, IDX= 436, 0.44, 0.074, 0.041,-0.424, 1.052, PHS=-0.877,-0.966,-1.520, RAW= 37.4, 63.1, CAL= 36.2, 66.2, ROT= 113.8, -66.2
2025-08-20T02:56:58.872Z,1755658618.872 [DAT](INFO): DAT read: OK
2025-08-20T02:56:58.872Z,1755658618.872 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:56:58.872Z,1755658618.872 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-20T02:56:58.874Z,1755658618.874 [DAT](INFO): direction in FSK: [-0.162849,0.369228,0.914960]
2025-08-20T02:57:17.530Z,1755658637.530 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:57:18.534Z,1755658638.534 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:57:48.674Z,1755658668.674 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:57:49.451Z,1755658669.451 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-20T02:57:49.452Z,1755658669.452 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Reached max slide retries without successful comms or charge, attempt will be aborted
2025-08-20T02:57:49.452Z,1755658669.452 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-20T02:57:49.471Z,1755658669.471 [DockingStepper](INFO): Changing to mode: 4
2025-08-20T02:57:49.523Z,1755658669.523 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:57:49.678Z,1755658669.678 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:57:49.767Z,1755658669.767 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-20T02:57:49.774Z,1755658669.774 [DAT](INFO): DAT read: user:3325>
2025-08-20T02:57:49.775Z,1755658669.775 [DAT](INFO): DAT read: Tx time:02:57:48.2009
2025-08-20T02:57:49.775Z,1755658669.775 [DAT](INFO): Ping request sent.
2025-08-20T02:57:49.776Z,1755658669.776 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:57:49.776Z,1755658669.776 [DAT](INFO): publishing transmit ping time
2025-08-20T02:57:49.776Z,1755658669.776 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:57:50.026Z,1755658670.026 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-20T02:57:52.042Z,1755658672.042 [DAT](INFO): DAT read: Rx Time:02:57:50.0899
2025-08-20T02:57:52.043Z,1755658672.043 [DAT](INFO): Rx dataTimestamp_ set to:1755658672.042683
2025-08-20T02:57:52.803Z,1755658672.803 [DAT](INFO): DAT read: 02:57:50.0899 LVL= 22832, 18577, 24482, 27987, AGC= 45, IDX= 456,-0.49, 0.685, 0.680,-0.166, 1.710, PHS=-0.923,-0.985,-1.920, RAW= 33.2, 54.4, CAL= 31.7, 58.4, ROT= 118.3, -58.4
2025-08-20T02:57:52.804Z,1755658672.804 [DAT](INFO): got valid direction response:
02:57:50.0899 LVL= 22832, 18577, 24482, 27987, AGC= 45, IDX= 456,-0.49, 0.685, 0.680,-0.166, 1.710, PHS=-0.923,-0.985,-1.920, RAW= 33.2, 54.4, CAL= 31.7, 58.4, ROT= 118.3, -58.4
2025-08-20T02:57:52.804Z,1755658672.804 [DAT](INFO): DAT read: OK
2025-08-20T02:57:52.804Z,1755658672.804 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:57:52.805Z,1755658672.805 [DAT](INFO): DAT read: user:3326>
2025-08-20T02:57:52.806Z,1755658672.806 [DAT](INFO): DAT read: Tx time:02:57:51.1994
2025-08-20T02:57:52.806Z,1755658672.806 [DAT](INFO): Ping request sent.
2025-08-20T02:57:52.806Z,1755658672.806 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:57:52.806Z,1755658672.806 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-20T02:57:52.807Z,1755658672.807 [DAT](INFO): direction in FSK: [-0.248415,0.461358,0.851727]
2025-08-20T02:57:52.808Z,1755658672.808 [DAT](INFO): publishing transmit ping time
2025-08-20T02:57:52.810Z,1755658672.810 [DAT](INFO): publishing transmit ping time
2025-08-20T02:57:55.067Z,1755658675.067 [DAT](INFO): DAT read: Rx Time:02:57:53.0898
2025-08-20T02:57:55.068Z,1755658675.068 [DAT](INFO): Rx dataTimestamp_ set to:1755658675.067792
2025-08-20T02:57:55.827Z,1755658675.827 [DAT](INFO): DAT read: 02:57:53.0898 LVL= 20208, 17777, 22210, 24915, AGC= 45, IDX= 454, 0.27, 0.285, 0.149,-0.556, 1.255, PHS=-0.868,-1.062,-1.855, RAW= 40.7, 55.9, CAL= 39.1, 59.9, ROT= 110.9, -59.9
2025-08-20T02:57:55.828Z,1755658675.828 [DAT](INFO): got valid direction response:
02:57:53.0898 LVL= 20208, 17777, 22210, 24915, AGC= 45, IDX= 454, 0.27, 0.285, 0.149,-0.556, 1.255, PHS=-0.868,-1.062,-1.855, RAW= 40.7, 55.9, CAL= 39.1, 59.9, ROT= 110.9, -59.9
2025-08-20T02:57:55.828Z,1755658675.828 [DAT](INFO): DAT read: OK
2025-08-20T02:57:55.829Z,1755658675.829 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:57:55.829Z,1755658675.829 [DAT](INFO): DAT read: user:3327>
2025-08-20T02:57:55.830Z,1755658675.830 [DAT](INFO): DAT read: Tx time:02:57:54.1994
2025-08-20T02:57:55.830Z,1755658675.830 [DAT](INFO): Ping request sent.
2025-08-20T02:57:55.830Z,1755658675.830 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:57:55.831Z,1755658675.831 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-20T02:57:55.832Z,1755658675.832 [DAT](INFO): direction in FSK: [-0.178908,0.468514,0.865151]
2025-08-20T02:57:55.832Z,1755658675.832 [DAT](INFO): publishing transmit ping time
2025-08-20T02:57:55.835Z,1755658675.835 [DAT](INFO): publishing transmit ping time
2025-08-20T02:57:58.090Z,1755658678.090 [DAT](INFO): DAT read: Rx Time:02:57:56.0899
2025-08-20T02:57:58.091Z,1755658678.091 [DAT](INFO): Rx dataTimestamp_ set to:1755658678.090655
2025-08-20T02:57:58.603Z,1755658678.603 [DAT](INFO): DAT read: 02:57:56.0899 LVL= 21872, 20273, 21954, 26387, AGC= 46, IDX= 439, 0.18, 0.457, 0.396,-0.413, 1.457, PHS=-0.898,-1.016,-1.914, RAW= 36.1, 54.6, CAL= 34.5, 58.6, ROT= 115.5, -58.6
2025-08-20T02:57:58.604Z,1755658678.604 [DAT](INFO): got valid direction response:
02:57:56.0899 LVL= 21872, 20273, 21954, 26387, AGC= 46, IDX= 439, 0.18, 0.457, 0.396,-0.413, 1.457, PHS=-0.898,-1.016,-1.914, RAW= 36.1, 54.6, CAL= 34.5, 58.6, ROT= 115.5, -58.6
2025-08-20T02:57:58.605Z,1755658678.605 [DAT](INFO): DAT read: OK
2025-08-20T02:57:58.605Z,1755658678.605 [DAT](INFO): unknown deviceResponse_: OK
2025-08-20T02:57:58.605Z,1755658678.605 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-20T02:57:58.606Z,1755658678.606 [DAT](INFO): direction in FSK: [-0.224300,0.470256,0.853551]
2025-08-20T02:58:16.880Z,1755658696.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-20T02:58:17.021Z,1755658697.021 [DAT](DEBUG): Acoustic response timeout
2025-08-20T02:58:17.021Z,1755658697.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-20T02:58:17.270Z,1755658697.270 [DAT](INFO): DAT read: user:3328>
2025-08-20T02:58:17.271Z,1755658697.271 [DAT](INFO): DAT read: Tx time:02:58:15.7003
2025-08-20T02:58:17.271Z,1755658697.271 [DAT](INFO): Ping request sent.
2025-08-20T02:58:17.272Z,1755658697.272 [DAT](INFO): transmitted an acoustic signal
2025-08-20T02:58:17.272Z,1755658697.272 [DAT](INFO): publishing transmit ping time
2025-08-20T02:58:17.272Z,1755658697.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-20T02:58:17.523Z,1755658697.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251086
2025-08-20T02:58:17.777Z,1755658697.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504700
2025-08-20T02:58:18.026Z,1755658698.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878
2025-08-20T02:58:18.278Z,1755658698.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006812
2025-08-20T02:58:18.531Z,1755658698.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258922
2025-08-20T02:58:18.785Z,1755658698.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512791
2025-08-20T02:58:19.034Z,1755658699.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762839
2025-08-20T02:58:19.295Z,1755658699.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023437
2025-08-20T02:58:19.546Z,1755658699.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274882
2025-08-20T02:58:19.800Z,1755658699.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528385
2025-08-20T02:58:19.803Z,1755658699.803 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-20T02:58:20.055Z,1755658700.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782915
2025-08-20T02:58:20.115Z,1755658700.115 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-20T02:58:20.116Z,1755658700.116 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-20T02:58:20.117Z,1755658700.117 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-20T02:58:20.117Z,1755658700.117 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-20T02:58:20.117Z,1755658700.117 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-20T02:58:20.143Z,1755658700.143 [DockingStepper](INFO): Changing to mode: 2
2025-08-20T02:58:20.306Z,1755658700.306 [DAT](INFO): DAT read: Rx Time:02:58:18.1071
2025-08-20T02:58:20.307Z,1755658700.307 [DAT](INFO): Rx dataTimestamp_ set to:1755658700.306556
2025-08-20T02:58:20.307Z,1755658700.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035814
2025-08-20T02:58:20.484Z,1755658700.484 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-20T02:58:20.484Z,1755658700.484 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-20T02:58:20.484Z,1755658700.484 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-20T02:58:20.484Z,1755658700.484 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-20T02:58:20.484Z,1755658700.484 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-20T02:58:20.484Z,1755658700.484 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-20T02:58:20.559Z,1755658700.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287520
2025-08-20T02:58:20.807Z,1755658700.807 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-20T02:58:20.825Z,1755658700.825 [DAT](INFO): DAT read: 02:58:18.1071 LVL= 19056, 26801, 14322, 32755, AGC= 49, IDX= 87, 0.01,-2.347,-2.080, 3.098,-1.192, PHS=-1.052,-0.843,-2.037, RAW= 20.5, 51.5, CAL= 19.3, 55.8, ROT= 130.7, -55.8
2025-08-20T02:58:20.827Z,1755658700.827 [DAT](INFO): got valid direction response:
02:58:18.1071 LVL= 19056, 26801, 14322, 32755, AGC= 49, IDX= 87, 0.01,-2.347,-2.080, 3.098,-1.192, PHS=-1.052,-0.843,-2.037, RAW= 20.5, 51.5, CAL= 19.3, 55.8, ROT= 130.7, -55.8
2025-08-20T02:58:20.829Z,1755658700.829 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m (Round-trip 2.6 ms) speed 0.0 m/s
2025-08-20T02:58:20.831Z,1755658700.831 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-20T02:58:20.832Z,1755658700.832 [DAT](INFO): direction in FSK: [-0.366534,0.426135,0.827081]
2025-08-20T02:58:20.833Z,1755658700.833 [DAT](INFO): publishing direction and range info
2025-08-20T02:58:20.956Z,1755658700.956 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-20T02:58:20.956Z,1755658700.956 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-20T02:58:20.957Z,1755658700.957 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-20T02:58:20.957Z,1755658700.957 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-20T02:58:20.957Z,1755658700.957 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-20T02:58:20.957Z,1755658700.957 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-20T02:58:20.957Z,1755658700.957 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-20T02:58:20.958Z,1755658700.958 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-20T02:58:20.958Z,1755658700.958 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-20T02:58:20.958Z,1755658700.958 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-20T02:58:21.293Z,1755658701.293 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-20T02:58:21.293Z,1755658701.293 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-20T02:58:21.293Z,1755658701.293 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-20T02:58:21.294Z,1755658701.294 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-20T02:58:21.294Z,1755658701.294 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-20T02:58:21.294Z,1755658701.294 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-20T02:58:21.294Z,1755658701.294 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-20T02:58:21.294Z,1755658701.294 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-20T02:58:21.294Z,1755658701.294 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-20T02:58:21.294Z,1755658701.294 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-20T02:58:21.294Z,1755658701.294 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-20T02:58:21.294Z,1755658701.294 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-20T02:58:21.295Z,1755658701.295 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-20T02:58:21.295Z,1755658701.295 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-20T02:58:21.295Z,1755658701.295 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-20T02:58:21.295Z,1755658701.295 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-20T02:58:21.295Z,1755658701.295 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-20T02:58:21.708Z,1755658701.708 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-20T02:58:21.708Z,1755658701.708 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-20T02:58:21.708Z,1755658701.708 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-20T02:58:21.708Z,1755658701.708 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-20T02:58:21.708Z,1755658701.708 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-20T02:58:21.708Z,1755658701.708 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-20T02:58:21.708Z,1755658701.708 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-20T02:58:21.708Z,1755658701.708 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-20T02:58:21.708Z,1755658701.708 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-20T02:58:21.709Z,1755658701.709 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-20T02:58:21.709Z,1755658701.709 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-20T02:58:21.709Z,1755658701.709 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-20T02:58:21.709Z,1755658701.709 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-20T02:58:21.709Z,1755658701.709 [lineCaptureHoming:Lap] Stopped
2025-08-20T02:58:21.709Z,1755658701.709 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-20T02:58:21.714Z,1755658701.714 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-20T02:58:21.714Z,1755658701.714 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-20T02:58:21.714Z,1755658701.714 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-20T02:58:21.714Z,1755658701.714 [lineCaptureHoming] Stopped
2025-08-20T02:58:21.715Z,1755658701.715 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-20T02:58:21.715Z,1755658701.715 [lineCaptureHoming:Science] Stopped
2025-08-20T02:58:21.715Z,1755658701.715 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-20T02:58:21.715Z,1755658701.715 [lineCaptureHoming:Science:B] Stopped
2025-08-20T02:58:21.715Z,1755658701.715 [lineCaptureHoming:Science:C] Stopped
2025-08-20T02:58:21.715Z,1755658701.715 [lineCaptureHoming:Science:E] Stopped
2025-08-20T02:58:21.715Z,1755658701.715 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-20T02:58:21.715Z,1755658701.715 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-20T02:58:21.715Z,1755658701.715 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-20T02:58:21.716Z,1755658701.716 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-20T02:58:21.717Z,1755658701.717 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-20T02:58:21.717Z,1755658701.717 [lineCaptureHoming:TrackAC.] Stopped
2025-08-20T02:58:21.717Z,1755658701.717 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-20T02:58:21.924Z,1755658701.924 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-08-20T02:58:22.038Z,1755658702.038 [WetLabsBB2FL](INFO): Powering down
2025-08-20T02:58:22.059Z,1755658702.059 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-20T02:58:22.059Z,1755658702.059 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-20T02:58:22.060Z,1755658702.060 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-20T02:58:27.055Z,1755658707.055 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
8
2
1
5
2
2
5
5
Restarting logs
restart logs
! ifconfig
Mission ending, breaking off. Range:
.
2025-08-20T02:58:27.061Z,1755658707.061 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-20T02:58:27.064Z,1755658707.064 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-20T02:58:27.066Z,1755658707.066 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-20T02:58:27.069Z,1755658707.069 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-20T02:58:27.071Z,1755658707.071 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-20T02:58:27.090Z,1755658707.090 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-20T02:58:27.092Z,1755658707.092 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-20T02:58:27.155Z,1755658707.155 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-20T02:58:27.157Z,1755658707.157 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-20T02:58:27.164Z,1755658707.164 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-20T02:58:27.170Z,1755658707.170 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-20T02:58:27.172Z,1755658707.172 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-20T02:58:27.191Z,1755658707.191 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-20T02:58:27.191Z,1755658707.191 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-20T02:58:27.192Z,1755658707.192 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-20T02:58:27.193Z,1755658707.193 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-20T02:58:27.383Z,1755658707.383 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-08-20T02:58:27.387Z,1755658707.387 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-20T02:58:27.389Z,1755658707.389 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-20T02:58:27.405Z,1755658707.405 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-20T02:58:27.408Z,1755658707.408 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-20T02:58:27.409Z,1755658707.409 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-20T02:58:27.415Z,1755658707.415 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-20T02:58:27.421Z,1755658707.421 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-20T02:58:27.437Z,1755658707.437 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-20T02:58:27.437Z,1755658707.437 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-20T02:58:27.438Z,1755658707.438 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-20T02:58:27.481Z,1755658707.481 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-08-20T02:58:27.484Z,1755658707.484 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-20T02:58:27.488Z,1755658707.488 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-20T02:58:27.490Z,1755658707.490 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-20T02:58:27.490Z,1755658707.490 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-20T02:58:27.491Z,1755658707.491 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-20T02:58:27.708Z,1755658707.708 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-08-20T02:58:27.712Z,1755658707.712 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-20T02:58:27.714Z,1755658707.714 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-20T02:58:27.716Z,1755658707.716 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-20T02:58:27.718Z,1755658707.718 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-20T02:58:27.721Z,1755658707.721 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-20T02:58:27.728Z,1755658707.728 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-20T02:58:27.731Z,1755658707.731 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-20T02:58:27.734Z,1755658707.734 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-20T02:58:27.734Z,1755658707.734 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-20T02:58:27.739Z,1755658707.739 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-20T02:58:32.269Z,1755658712.269 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
NaN
3
100
80
20
5
NaN
NaN
2.0
NaN
NaN
0
1
NaN
NaN
5
0
0
0
0
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
NaN
PeakDetectVsDepth
EdgeDetectVsDepth
GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth =
,
,
,
,
,
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
PeakDetectVsDepth
_.planktivore_LM_AvgRois
EdgeDetectVsDepth
_.planktivore_LM_AvgRois
GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_HM_AvgRois
EdgeDetectVsDepth
_.planktivore_HM_AvgRois
GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_diatoms
EdgeDetectVsDepth
_.planktivore_diatoms
GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth =
,
,
,
,
,
PeakDetectVsDepth
_.planktivore_dinoflagellates
EdgeDetectVsDepth
_.planktivore_dinoflagellates
GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth =
,
,
,
,
,
Triggered. PeakChl values on
consecutive yo-yo profiles fall in [
] (NaN bound is ignored).
2025-08-20T02:58:32.311Z,1755658712.311 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-20T02:58:32.312Z,1755658712.312 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-20T02:58:32.315Z,1755658712.315 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-20T02:58:32.317Z,1755658712.317 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-20T02:58:32.319Z,1755658712.319 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-20T02:58:32.321Z,1755658712.321 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-20T02:58:32.323Z,1755658712.323 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-20T02:58:32.328Z,1755658712.328 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-20T02:58:32.330Z,1755658712.330 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-20T02:58:32.332Z,1755658712.332 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-20T02:58:32.335Z,1755658712.335 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-20T02:58:32.336Z,1755658712.336 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-20T02:58:32.339Z,1755658712.339 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-20T02:58:32.340Z,1755658712.340 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-20T02:58:32.343Z,1755658712.343 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-20T02:58:32.345Z,1755658712.345 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-20T02:58:32.399Z,1755658712.399 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-20T02:58:32.401Z,1755658712.401 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-20T02:58:32.412Z,1755658712.412 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-20T02:58:32.418Z,1755658712.418 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-20T02:58:32.420Z,1755658712.420 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-20T02:58:32.439Z,1755658712.439 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-20T02:58:32.441Z,1755658712.441 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-20T02:58:32.447Z,1755658712.447 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-20T02:58:32.455Z,1755658712.455 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-20T02:58:32.478Z,1755658712.478 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-20T02:58:32.481Z,1755658712.481 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-20T02:58:32.488Z,1755658712.488 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-20T02:58:32.493Z,1755658712.493 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-20T02:58:32.505Z,1755658712.505 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-20T02:58:32.512Z,1755658712.512 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-20T02:58:32.539Z,1755658712.539 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-20T02:58:32.550Z,1755658712.550 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-20T02:58:32.552Z,1755658712.552 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-20T02:58:32.555Z,1755658712.555 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-20T02:58:32.557Z,1755658712.557 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-20T02:58:32.572Z,1755658712.572 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-20T02:58:32.576Z,1755658712.576 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-20T02:58:32.586Z,1755658712.586 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-20T02:58:32.588Z,1755658712.588 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-20T02:58:32.595Z,1755658712.595 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-20T02:58:32.597Z,1755658712.597 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-20T02:58:32.604Z,1755658712.604 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-20T02:58:32.610Z,1755658712.610 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-20T02:58:32.612Z,1755658712.612 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-20T02:58:32.623Z,1755658712.623 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-20T02:58:32.625Z,1755658712.625 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-20T02:58:32.646Z,1755658712.646 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-20T02:58:32.648Z,1755658712.648 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-20T02:58:32.653Z,1755658712.653 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-20T02:58:32.668Z,1755658712.668 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-20T02:58:32.678Z,1755658712.678 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-20T02:58:32.681Z,1755658712.681 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-20T02:58:32.687Z,1755658712.687 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-20T02:58:32.692Z,1755658712.692 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-20T02:58:32.707Z,1755658712.707 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-20T02:58:32.718Z,1755658712.718 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-20T02:58:32.720Z,1755658712.720 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-20T02:58:32.798Z,1755658712.798 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-20T02:58:32.801Z,1755658712.801 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-20T02:58:32.815Z,1755658712.815 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-20T02:58:32.830Z,1755658712.830 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-20T02:58:32.832Z,1755658712.832 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-20T02:58:32.853Z,1755658712.853 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-20T02:58:32.874Z,1755658712.874 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-20T02:58:32.886Z,1755658712.886 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-20T02:58:32.899Z,1755658712.899 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-20T02:58:32.916Z,1755658712.916 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-20T02:58:32.926Z,1755658712.926 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-20T02:58:32.929Z,1755658712.929 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-20T02:58:32.957Z,1755658712.957 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-20T02:58:33.014Z,1755658713.014 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-20T02:58:33.016Z,1755658713.016 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-20T02:58:33.022Z,1755658713.022 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-20T02:58:33.025Z,1755658713.025 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-20T02:58:33.037Z,1755658713.037 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-20T02:58:33.041Z,1755658713.041 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-20T02:58:33.055Z,1755658713.055 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-20T02:58:33.061Z,1755658713.061 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-20T02:58:33.076Z,1755658713.076 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-20T02:58:33.081Z,1755658713.081 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-20T02:58:33.096Z,1755658713.096 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-20T02:58:33.114Z,1755658713.114 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-20T02:58:33.116Z,1755658713.116 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-20T02:58:33.123Z,1755658713.123 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-20T02:58:33.130Z,1755658713.130 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-20T02:58:33.132Z,1755658713.132 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-20T02:58:33.158Z,1755658713.158 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-20T02:58:33.172Z,1755658713.172 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-20T02:58:33.179Z,1755658713.179 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-20T02:58:33.194Z,1755658713.194 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-20T02:58:33.196Z,1755658713.196 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-20T02:58:33.207Z,1755658713.207 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-20T02:58:33.218Z,1755658713.218 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-20T02:58:33.221Z,1755658713.221 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-20T02:58:33.235Z,1755658713.235 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-20T02:58:33.246Z,1755658713.246 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-20T02:58:33.248Z,1755658713.248 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-20T02:58:33.259Z,1755658713.259 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-20T02:58:33.274Z,1755658713.274 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-20T02:58:33.276Z,1755658713.276 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-20T02:58:33.287Z,1755658713.287 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-20T02:58:33.289Z,1755658713.289 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-20T02:58:33.300Z,1755658713.300 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-20T02:58:33.308Z,1755658713.308 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-20T02:58:33.322Z,1755658713.322 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-20T02:58:33.337Z,1755658713.337 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-20T02:58:33.353Z,1755658713.353 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-20T02:58:33.366Z,1755658713.366 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-20T02:58:33.378Z,1755658713.378 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-20T02:58:33.380Z,1755658713.380 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-20T02:58:33.391Z,1755658713.391 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-20T02:58:33.398Z,1755658713.398 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-20T02:58:33.416Z,1755658713.416 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-20T02:58:33.425Z,1755658713.425 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-20T02:58:33.428Z,1755658713.428 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-20T02:58:33.430Z,1755658713.430 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-20T02:58:33.453Z,1755658713.453 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-20T02:58:33.455Z,1755658713.455 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-20T02:58:33.458Z,1755658713.458 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-20T02:58:33.460Z,1755658713.460 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-20T02:58:33.477Z,1755658713.477 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-20T02:58:33.480Z,1755658713.480 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-20T02:58:33.482Z,1755658713.482 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-20T02:58:33.484Z,1755658713.484 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-20T02:58:33.499Z,1755658713.499 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-20T02:58:33.502Z,1755658713.502 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-20T02:58:33.504Z,1755658713.504 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-20T02:58:33.507Z,1755658713.507 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-20T02:58:33.509Z,1755658713.509 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-20T02:58:33.532Z,1755658713.532 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-20T02:58:33.534Z,1755658713.534 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-20T02:58:33.536Z,1755658713.536 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-20T02:58:33.640Z,1755658713.640 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-20T02:58:33.681Z,1755658713.681 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-20T02:58:33.747Z,1755658713.747 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-20T02:58:33.785Z,1755658713.785 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-20T02:58:33.824Z,1755658713.824 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-20T02:58:33.867Z,1755658713.867 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-20T02:58:33.897Z,1755658713.897 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-20T02:58:33.937Z,1755658713.937 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-20T02:58:34.044Z,1755658714.044 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-20T02:58:34.090Z,1755658714.090 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-20T02:58:34.158Z,1755658714.158 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-20T02:58:34.214Z,1755658714.214 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-20T02:58:34.256Z,1755658714.256 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-20T02:58:34.322Z,1755658714.322 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-20T02:58:34.352Z,1755658714.352 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-20T02:58:34.437Z,1755658714.437 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-20T02:58:34.474Z,1755658714.474 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-20T02:58:34.505Z,1755658714.505 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-20T02:58:34.532Z,1755658714.532 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-20T02:58:34.536Z,1755658714.536 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-20T02:58:34.539Z,1755658714.539 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-20T02:58:34.541Z,1755658714.541 [OnDock:N.Docked](DEBUG): Construct.
2025-08-20T02:58:34.541Z,1755658714.541 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-20T02:58:34.572Z,1755658714.572 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-20T02:58:34.572Z,1755658714.572 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-20T02:58:34.638Z,1755658714.638 [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
}
}
}
2025-08-20T02:58:34.639Z,1755658714.639 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-08-20T02:58:34.824Z,1755658714.824 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-20T02:58:34.825Z,1755658714.825 [DefaultWithUndock] Running Loop=1
2025-08-20T02:58:34.825Z,1755658714.825 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-20T02:58:34.825Z,1755658714.825 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-20T02:58:34.825Z,1755658714.825 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-20T02:58:38.686Z,1755658718.686 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 3 hour
2025-08-20T02:58:38.687Z,1755658718.687 [CommandExec](IMPORTANT): got command run
2025-08-20T02:58:38.692Z,1755658718.692 [CommandExec](IMPORTANT): Running
2025-08-20T02:58:38.853Z,1755658718.853 [DefaultWithUndock] Stopped
2025-08-20T02:58:38.853Z,1755658718.853 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-20T02:58:38.853Z,1755658718.853 [DefaultWithUndock:A.Wait] Stopped
2025-08-20T02:58:38.853Z,1755658718.853 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-20T02:58:38.853Z,1755658718.853 [MissionManager](IMPORTANT): Started mission OnDock
2025-08-20T02:58:38.853Z,1755658718.853 [OnDock] Running Loop=1
2025-08-20T02:58:38.854Z,1755658718.854 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-08-20T02:58:38.854Z,1755658718.854 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-20T02:58:38.854Z,1755658718.854 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-08-20T02:58:38.854Z,1755658718.854 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-20T02:58:38.854Z,1755658718.854 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-20T02:58:38.854Z,1755658718.854 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-20T02:58:38.854Z,1755658718.854 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-20T02:58:38.854Z,1755658718.854 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-20T02:58:38.854Z,1755658718.854 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:BackseatDriver] Running Loop=1
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:PowerOnly] Running Loop=1
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:PowerOnly:A] Running Loop=1
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:PowerOnly:B] Running Loop=1
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:PowerOnly:C] Running Loop=1
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:PowerOnly:D] Running Loop=1
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-08-20T02:58:38.855Z,1755658718.855 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:dataRead] Running Loop=1
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:dataRead:A] Running Loop=1
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:science] Running Loop=1
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:science:Science] Running Loop=1
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:science:Science:A] Running Loop=1
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:science:Science:B] Running Loop=1
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:science:Science:C] Running Loop=1
2025-08-20T02:58:38.856Z,1755658718.856 [OnDock:science:Science:D] Running Loop=1
2025-08-20T02:58:38.857Z,1755658718.857 [OnDock:science:Science:E] Running Loop=1
2025-08-20T02:58:38.857Z,1755658718.857 [OnDock:science:Science:F] Running Loop=1
2025-08-20T02:58:38.857Z,1755658718.857 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-08-20T02:58:38.857Z,1755658718.857 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-08-20T02:58:38.857Z,1755658718.857 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-08-20T02:58:38.857Z,1755658718.857 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-08-20T02:58:38.857Z,1755658718.857 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-08-20T02:58:38.857Z,1755658718.857 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-08-20T02:58:38.857Z,1755658718.857 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-08-20T02:58:38.858Z,1755658718.858 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-08-20T02:58:38.858Z,1755658718.858 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-08-20T02:58:38.858Z,1755658718.858 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-20T02:58:38.858Z,1755658718.858 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-20T02:58:38.858Z,1755658718.858 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-08-20T02:58:38.858Z,1755658718.858 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-08-20T02:58:38.859Z,1755658718.859 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-08-20T02:58:38.859Z,1755658718.859 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-08-20T02:58:38.859Z,1755658718.859 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-08-20T02:58:38.859Z,1755658718.859 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-08-20T02:58:38.859Z,1755658718.859 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-08-20T02:58:38.859Z,1755658718.859 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-08-20T02:58:38.859Z,1755658718.859 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-20T02:58:38.859Z,1755658718.859 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-20T02:58:38.860Z,1755658718.860 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-08-20T02:58:38.860Z,1755658718.860 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-08-20T02:58:38.860Z,1755658718.860 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-20T02:58:38.860Z,1755658718.860 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-08-20T02:58:38.860Z,1755658718.860 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-08-20T02:58:38.860Z,1755658718.860 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-20T02:58:38.860Z,1755658718.860 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-08-20T02:58:38.860Z,1755658718.860 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-08-20T02:58:38.861Z,1755658718.861 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-20T02:58:38.861Z,1755658718.861 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-20T02:58:38.861Z,1755658718.861 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-20T02:58:38.861Z,1755658718.861 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-20T02:58:38.861Z,1755658718.861 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-20T02:58:38.861Z,1755658718.861 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-20T02:58:38.862Z,1755658718.862 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-20T02:58:38.862Z,1755658718.862 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-20T02:58:38.862Z,1755658718.862 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-20T02:58:38.862Z,1755658718.862 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-20T02:58:38.862Z,1755658718.862 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-20T02:58:38.862Z,1755658718.862 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-20T02:58:38.862Z,1755658718.862 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-20T02:58:38.862Z,1755658718.862 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-20T02:58:38.862Z,1755658718.862 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-20T02:58:38.863Z,1755658718.863 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-20T02:58:38.863Z,1755658718.863 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-20T02:58:38.863Z,1755658718.863 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-20T02:58:38.863Z,1755658718.863 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-20T02:58:38.863Z,1755658718.863 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-20T02:58:38.863Z,1755658718.863 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-20T02:58:38.864Z,1755658718.864 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-20T02:58:38.864Z,1755658718.864 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-20T02:58:38.864Z,1755658718.864 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-20T02:58:38.864Z,1755658718.864 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-20T02:58:38.864Z,1755658718.864 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-20T02:58:38.864Z,1755658718.864 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-08-20T02:58:38.864Z,1755658718.864 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-08-20T02:58:38.864Z,1755658718.864 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-20T02:58:38.864Z,1755658718.864 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-20T02:58:38.865Z,1755658718.865 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-08-20T02:58:38.865Z,1755658718.865 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-08-20T02:58:38.865Z,1755658718.865 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-08-20T02:58:38.865Z,1755658718.865 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-20T02:58:38.865Z,1755658718.865 [OnDock:J.] Running Loop=1
2025-08-20T02:58:38.865Z,1755658718.865 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-08-20T02:58:38.866Z,1755658718.866 [OnDock:PeriodicCheck] Running Loop=1
2025-08-20T02:58:38.866Z,1755658718.866 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-08-20T02:58:38.866Z,1755658718.866 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-08-20T02:58:38.866Z,1755658718.866 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-08-20T02:58:38.866Z,1755658718.866 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-08-20T02:58:38.866Z,1755658718.866 [OnDock:B] Running Loop=1
2025-08-20T02:58:38.867Z,1755658718.867 [OnDock:PeriodicCheck] Running Loop=1
2025-08-20T02:58:38.867Z,1755658718.867 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-08-20T02:58:38.867Z,1755658718.867 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-08-20T02:58:38.867Z,1755658718.867 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-08-20T02:58:38.867Z,1755658718.867 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-08-20T02:58:38.867Z,1755658718.867 [OnDock:J.] Running Loop=1
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:A] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:B] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:C] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:D] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:E] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:F] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:Read_Oil] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:OceanCurrent] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-08-20T02:58:38.871Z,1755658718.871 [OnDock:science:Science:PeakDetectChl] Stopped
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-08-20T02:58:38.872Z,1755658718.872 [OnDock:science:Science:PeakDetectOil] Stopped
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-08-20T02:58:38.873Z,1755658718.873 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-20T02:58:38.874Z,1755658718.874 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-20T02:58:38.875Z,1755658718.875 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-20T02:58:38.876Z,1755658718.876 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-20T02:58:38.876Z,1755658718.876 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-20T02:58:38.876Z,1755658718.876 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-20T02:58:38.876Z,1755658718.876 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-20T02:58:38.876Z,1755658718.876 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-08-20T02:58:38.876Z,1755658718.876 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-08-20T02:58:38.876Z,1755658718.876 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-20T02:58:38.876Z,1755658718.876 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-20T02:58:38.876Z,1755658718.876 [OnDock:dataRead] Running Loop=1
2025-08-20T02:58:38.877Z,1755658718.877 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-20T02:58:38.877Z,1755658718.877 [OnDock:PowerOnly] Running Loop=1
2025-08-20T02:58:38.878Z,1755658718.878 [OnDock:PowerOnly:D] Stopped
2025-08-20T02:58:38.878Z,1755658718.878 [OnDock:PowerOnly:C] Stopped
2025-08-20T02:58:38.878Z,1755658718.878 [OnDock:PowerOnly:B] Stopped
2025-08-20T02:58:38.878Z,1755658718.878 [OnDock:PowerOnly:A] Stopped
2025-08-20T02:58:38.878Z,1755658718.878 [OnDock:BackseatDriver] Running Loop=1
2025-08-20T02:58:38.879Z,1755658718.879 [OnDock:B] Stopped
2025-08-20T02:58:38.879Z,1755658718.879 [OnDock:C] Running Loop=1
2025-08-20T02:58:38.879Z,1755658718.879 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-20T02:58:38.879Z,1755658718.879 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-20T02:58:38.879Z,1755658718.879 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-20T02:58:38.880Z,1755658718.880 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-20T02:58:38.900Z,1755658718.900 [CommandExec](IMPORTANT): got command ! ifconfig
2025-08-20T02:58:39.203Z,1755658719.203 [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:25475 errors:0 dropped:0 overruns:0 frame:0
TX packets:37321 errors:0 dropped:0 overruns:0 carrier:0
collisions:108 txqueuelen:1000
RX bytes:6675757 (6.3 Mb) TX bytes:27875353 (26.5 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:2629 errors:0 dropped:0 overruns:0 frame:0
TX packets:2629 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:0
RX bytes:240487 (234.8 Kb) TX bytes:240487 (234.8 Kb)
2025-08-20T02:58:39.629Z,1755658719.629 [OnDock:C] Stopped
2025-08-20T02:58:39.629Z,1755658719.629 [OnDock:D] Running Loop=1
2025-08-20T02:58:39.957Z,1755658719.957 [OnDock:D] Stopped
2025-08-20T02:58:39.974Z,1755658719.974 [OnDock:E] Running Loop=1
2025-08-20T02:58:40.396Z,1755658720.396 [OnDock:E] Stopped
2025-08-20T02:58:40.396Z,1755658720.396 [OnDock:K] Running Loop=1
2025-08-20T02:58:40.766Z,1755658720.766 [OnDock:K](IMPORTANT): Restarting logs
2025-08-20T02:58:40.766Z,1755658720.766 [OnDock:K] Stopped
2025-08-20T02:58:40.766Z,1755658720.766 [OnDock:L.Execute] Running Loop=1
2025-08-20T02:58:41.202Z,1755658721.202 [OnDock:L.Execute](INFO): Executing command restart logs
2025-08-20T02:58:41.202Z,1755658721.202 [OnDock:L.Execute] Stopped
2025-08-20T02:58:41.202Z,1755658721.202 [OnDock:N.Docked] Running Loop=1
2025-08-20T02:58:41.202Z,1755658721.202 [OnDock:N.Docked](DEBUG): Initialize.
2025-08-20T02:58:41.202Z,1755658721.202 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-20T02:58:41.255Z,1755658721.255 [DockingStepper](INFO): Changing to mode: 1